after https://github.com/stack-of-tasks/sot-core/pull/148

ref. https://github.com/stack-of-tasks/dynamic-graph/pull/58

Return the torque_ctrl command except on the joint controlled by the ddp (here right elbow -> n°25)

Add the limits in torque, position and velocity to cost function.

Entity using the ddp_solver associated with the pyrene actuator (see ddp-actuator-solver/example/pyrene_actuator)