[RTR] implicit defect works in torque driven.

[Ipuch]

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This change is 

[pariterre]

Reviewed all commit messages.
Reviewable status: 0 of 1 files reviewed, 1 unresolved discussion (waiting on @Ipuch and @pariterre)

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bioptim/dynamics/dynamics_functions.py line 642 at r1 (raw file):

        else:
            tau = nlp.model.InverseDynamics(q, qdot, qddot).to_mx()
        return tau_var.mapping.to_first.map(tau)

I am highly skeptical...

Code quote:

tau_var.mapping.to_first.map(tau)

[pariterre]

Reviewed 2 of 2 files at r2, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Ipuch)

[pariterre]

Reviewed 1 of 1 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @Ipuch)