[RTR] inverse defects on joint acceleration driven

[Ipuch]

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This change is 

[codecov]

Codecov Report

Base: 81.47% // Head: 81.48% // Increases project coverage by +0.01% 🎉

Coverage data is based on head (e47b847) compared to base (fd9a1fb).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #577      +/-   ##
==========================================
+ Coverage   81.47%   81.48%   +0.01%     
==========================================
  Files         105      105              
  Lines       11703    11712       +9     
==========================================
+ Hits         9535     9544       +9     
  Misses       2168     2168              

Impacted Files	Coverage Δ
bioptim/dynamics/configure_problem.py	90.97% <100.00%> (+0.04%)	⬆️
bioptim/dynamics/dynamics_functions.py	94.18% <100.00%> (+0.16%)	⬆️
bioptim/interfaces/solve_ivp_interface.py	96.77% <100.00%> (ø)
bioptim/optimization/solution.py	83.55% <100.00%> (ø)

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[Ipuch]

@pariterre, ready to merge, if the tests pass.

[pariterre]

They don't :P

[Ipuch]

@pariterre now they do

[pariterre]

LGTM