Whole body changes

config/walk_parameters.yaml

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/WB_MPC_Wrapper.py

python/quadruped_reactive_walking/main_solo12_control.py

python/quadruped_reactive_walking/tools/LoggerControl.py

python/quadruped_reactive_walking/tools/PyBulletSimulator.py

python/quadruped_reactive_walking/tools/Utils.py