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Change default solver for the dynamics from `solver.solve` to `solver.pinv_smooth`

Merged Change default solver for the dynamics from `solver.solve` to `solver.pinv_smooth`
github/fork/PhilipVinc/pv/change-solver into master
Merged Vicentini Filippo requested to merge github/fork/PhilipVinc/pv/change-solver into master

Created by: PhilipVinc

As discussed with @gcarleo , it seems that this solver is more stable.

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