Li/differentiable plastic system#1631
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Introduce differentiable plasticity solver using staggered solver that updates displacement and internal variables (plastic strain and deformation gradient) seqentially, which mimics the classic plastic return map. The internal variables are represented by DG nodal fields which makes then differentiable through functional. The internal variables are computed via the return map with the latest estimate of displacement. The updated internal variables then feed back to produce the next estimate of the displacement. Convergence is achieved when all residuals evaluated with updated variables are below tolerance.