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

config/walk_parameters.yaml

include/qrw/Params.hpp

python/CMakeLists.txt

python/Params.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

python/quadruped_reactive_walking/tools/Utils.py

src/Params.cpp