Switch from jaxopt to optax in relaxed rigid contact model
#244
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diegoferigo
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This PR substitutes the
jaxoptsolver with the one fromoptax, sincejaxoptwill be deprecated soon (see note in jaxopt/README.mdWarning
The RTD action requires conda-forge/optax-feedstock#21
📚 Documentation preview 📚: https://jaxsim--244.org.readthedocs.build//244/