[RTR] Torque driven free floating base dynamics

[EveCharbie]

All Submissions:

• Have you followed the guidelines in our Contributing document [docs/contribution.md]?
• Have you checked to ensure there aren't other open [Pull Requests] for the same update/change?
• Have you opened/linked the issue related to your pull request? Issue # 773
• Have you used the tag [WIP] for on-going changes, and removed it when the pull request was ready?
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1. Does your submission pass the tests (if not please explain why this is intended)?
2. Did you write a proper documentation (docstrings and ReadMe)
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Changes to Core Features:

• Have you added an explanation of what your changes do and why you'd like us to include them?
• Have you written new examples for your core changes, as applicable?
• Have you written new tests for your core changes, as applicable?

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This change is 

[pariterre]

Reviewed 18 of 18 files at r1, all commit messages.
Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @EveCharbie)

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bioptim/dynamics/dynamics_functions.py line 597 at r1 (raw file):

            else:
                raise RuntimeError(f"{key} not found in states or controls")
            return out

Should this be used everywhere?

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bioptim/limits/penalty_controller.py line 366 at r1 (raw file):

    @property
    def qdot(self) -> OptimizationVariable:

Since q, qdot and tau are canonical in bioptim, I suggest that since you added q and qdot, that "tau" should be added as well for consistency

[EveCharbie]

Reviewable status: all files reviewed, 2 unresolved discussions (waiting on @pariterre)

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bioptim/dynamics/dynamics_functions.py line 597 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

Should this be used everywhere?

I think yes. Can I put this function as a method of nlp?

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bioptim/limits/penalty_controller.py line 366 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

Since q, qdot and tau are canonical in bioptim, I suggest that since you added q and qdot, that "tau" should be added as well for consistency

Done.

[pariterre]

Reviewed 2 of 2 files at r2, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @EveCharbie)

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bioptim/dynamics/dynamics_functions.py line 597 at r1 (raw file):

Previously, EveCharbie (Eve Charbonneau) wrote…

I think yes. Can I put this function as a method of nlp?

Sounds like a good idea!

[EveCharbie]

Reviewable status: 11 of 23 files reviewed, 1 unresolved discussion (waiting on @pariterre)

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bioptim/dynamics/dynamics_functions.py line 597 at r1 (raw file):

Previously, pariterre (Pariterre) wrote…

Sounds like a good idea!

Done.

[pariterre]

Reviewed 13 of 13 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @EveCharbie)

[EveCharbie]

@pariterre I need help for either:

• Fixing the tests on Ubuntu/Mac
• Or if you have any ideas on how to make the test more stable on Windows

[pariterre]

Close as it is a duplicate of #809