Spline for step trajectory in Target.py

config/walk_parameters.yaml

include/qrw/Params.hpp

python/Params.cpp

python/quadruped_reactive_walking/Controller.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/tools/LoggerControl.py

src/Params.cpp