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Fix the bugs locomotion problem

Rohan Budhiraja requested to merge proyan/crocoddyl:topic/dynchange into devel

I fixed the bugs in the locomotion problem. I added a spline as the initial trajectory, instead of the list that we had before. This makes the script a little messy, but it is now possible to change the timestep for the problem.

The new contact sequence is 3.3 seconds long. I tried with timestep 0.01s (330 nodes), and it behaves well, but is slow to converge. I haven't spent a lot of time in tuning the gains.

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