Avoid unnecessary `jax.vmap` in `RelaxedRigidContacts` #3014

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Job	Run time
Package the project	19s
[email protected]	13m 14s
[email protected]	13m 26s
[email protected]	14m 28s
Python3.10@macos-latest	24s
Python3.11@macos-latest	24s
Python3.12@macos-latest	22s
Python3.10@windows-latest	1m 26s
Python3.11@windows-latest	1m 7s
Python3.12@windows-latest	1m 6s
Publish to PyPI	2s
	46m 18s