Merge branch 'whole-body-fixed-base' into whole-body

CMakeLists.txt

config/walk_parameters.yaml

include/bindings/python.hpp

include/qrw/ComplementaryFilter.hpp

include/qrw/Estimator.hpp

include/qrw/Filter.hpp

include/qrw/Params.hpp

python/CMakeLists.txt

python/Estimator.cpp

python/Filter.cpp

python/Params.cpp

python/main.cpp

python/quadruped_reactive_walking/Controller.py

...uadruped_reactive_walking/WB_MPC/BenchmarkCrocoddylOCP.py

python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py

python/quadruped_reactive_walking/WB_MPC/ProblemData.py

python/quadruped_reactive_walking/WB_MPC/Target.py

python/quadruped_reactive_walking/WB_MPC_Wrapper.py

python/quadruped_reactive_walking/main_solo12_control.py

python/quadruped_reactive_walking/tools/LoggerControl.py