Improve the SCP exit status #2
Description
Currently, if no convex optimizer issue came up, then the SCP solution will have in its status field "SCP_SOLVED". However, it may be the case that the dynamics are not satisfied, or the constraints are also infeasible (all due to relaxations via virtual controls/soft penalties in GuSTO).
Task: improve the exit status so that it tells the user if the converged solution is dynamically infeasible and/or does not satisfy the nonconvex constraints.