Torque driven predictive simulation example

[moorepants]

No description provided.

[moorepants]

Example solution (does not always converge to this):

solution-torque-driven-predictive.mp4

[moorepants]

Failure based on new scipy or numpy (I think):

[6](https://github.com/csu-hmc/gait2d/actions/runs/21561191668/job/62125432172?pr=28#step:6:197)

      File "/home/runner/miniconda3/envs/test/lib/python3.13/site-packages/sphinx_gallery/gen_gallery.py", line 1566, in summarize_failing_examples
        raise ExtensionError(fail_message)
    sphinx.errors.ExtensionError: Here is a summary of the problems encountered when running the examples:
    
    Unexpected failing examples (1):
    
        ../examples/plot_human_gait.py failed leaving traceback:
    
        Traceback (most recent call last):
          File "/home/runner/work/gait2d/gait2d/examples/plot_human_gait.py", line 236, in <module>
            solution, info = prob.solve(initial_guess)
                             ~~~~~~~~~~^^^^^^^^^^^^^^^
          File "/home/runner/miniconda3/envs/test/lib/python3.13/site-packages/opty/direct_collocation.py", line 313, in solve
            return super().solve(free, lagrange=lagrange, zl=zl, zu=zu)
                   ~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
          File "cyipopt/cython/ipopt_wrapper.pyx", line 730, in ipopt_wrapper.Problem.solve
          File "cyipopt/cython/ipopt_wrapper.pyx", line 947, in ipopt_wrapper.objective_cb
        TypeError: only 0-dimensional arrays can be converted to Python scalars