[RTR] Add state and control bounds using constraints

[mickaelbegon]

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This change is 

[codecov[bot]]

Codecov Report

Attention: 7 lines in your changes are missing coverage. Please review.

Comparison is base (0a6c34e) 78.72% compared to head (987f83a) 78.72%. Report is 1 commits behind head on master.

Files	Patch %	Lines
...ng_started/pendulum_constrained_states_controls.py	73.07%	7 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #817 +/- ## ======================================= Coverage 78.72% 78.72% ======================================= Files 139 140 +1 Lines 15709 15743 +34 ======================================= + Hits 12367 12394 +27 - Misses 3342 3349 +7 ``` | [Flag](https://app.codecov.io/gh/pyomeca/bioptim/pull/817/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=pyomeca) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/pyomeca/bioptim/pull/817/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=pyomeca) | `78.72% <79.41%> (+<0.01%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=pyomeca#carryforward-flags-in-the-pull-request-comment) to find out more.

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