Topic/armature

related to #91 (closed) . Low armature causes a divergence of the feasibility part of the ddp solver. This is an acceptable behavior, not a bug, that reaveales the weakness of this part of the solver. Too bad, it would be super easy to solve. We should be aware of that. In the meantime, I introduced a method in DAMFIC to set up a quasistatic initial guess. The ddp solver behaves much better with it with low armature. Give it a try.

Dont pay attention to the jump.py. It is a side project I am using to investigate the effect of the impact in the DDP solver. I get mixed up with the rebase and merge with the impact MR, so it finally ends up in the armature MR. Sorry for that, but I don't think it is a big problem and I am too lazy to unmelt the commits.