Remove config.h and finish integration of yaml config file

include/qrw/FootstepPlanner.hpp

include/qrw/Gait.hpp

include/qrw/MPC.hpp

include/qrw/config.h

python/gepadd.cpp

scripts/Controller.py

scripts/MPC_Wrapper.py

src/FootstepPlanner.cpp

src/Gait.cpp

src/MPC.cpp