[BREAKING] name_dof -> name_dofs, Simplified States and Controls methods and and more precise State Dynamics

[pariterre]

UPGRADE GUIDE FROM 3.3.1:

STEP 1
In your dynamic model, if you were declaring state_configuration, control_configuration, algebraic_configuration or functions, they must now be properties of the class and their names must be updated to state_configuration_functions, control_configuration_functions, algebraic_configuration_functions and extra_configuration_functions respectively.
These fields are not mandaroty properties of the dynamic class.

STEP 2
In your dynamic model, the field "name_dof" was changed to "name_dofs" and should now be a property of the class.

STEP 3
In your dynamic model, the field name is now mandatory and should be a property of the class.

STEP 4
In your dynamic model, for the class that inherits from StateDynamicsWithContacts, the field contact_types is now mandatory as a property and should not be passed anymore to the init method.

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This change is 

[codecov]

Codecov Report

❌ Patch coverage is 95.21127% with 17 lines in your changes missing coverage. Please review.
✅ Project coverage is 77.23%. Comparing base (b17bc1a) to head (108a490).
⚠️ Report is 11 commits behind head on master.

Files with missing lines	Patch %	Lines
bioptim/dynamics/configure_variables.py	93.75%	5 Missing ⚠️
...chastic_optimal_control/models/mass_point_model.py	83.87%	5 Missing ⚠️
...ples/toy_examples/moving_horizon_estimation/mhe.py	0.00%	2 Missing ⚠️
...dynamics/state_space_dynamics/abstract_dynamics.py	96.55%	1 Missing ⚠️
...namics/state_space_dynamics/stochastic_dynamics.py	95.83%	1 Missing ⚠️
...ntact_forces_inverse_dynamics_constraint_muscle.py	0.00%	1 Missing ⚠️
...ct_forces_inverse_dynamics_soft_contacts_muscle.py	0.00%	1 Missing ⚠️
bioptim/models/biorbd/multi_biorbd_model.py	88.88%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1033      +/-   ##
==========================================
+ Coverage   77.10%   77.23%   +0.13%     
==========================================
  Files         184      184              
  Lines       20424    20509      +85     
==========================================
+ Hits        15747    15840      +93     
+ Misses       4677     4669       -8     

Flag	Coverage Δ
unittests	77.23% <95.21%> (+0.13%)	⬆️

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[EveCharbie]

That is indeed cleaner, thanks !