Questions on Adjusting

[BeNavon]

Hello, Thank you for your work!
I have a few questions:

1. The current implementation uses 12 control points for Bezier curves. How can I modify the code to use a different number of control points, such as four for cubic Bezier curves?
2. I've already modeled a stance phase using fewer control points. What would be the best way to implement this within the existing framework, so that it serves as the initial joint position?
3. After running foot_trajectory_planner.py, I would like to print the control points used for the trajectory. Could you guide me on how to modify the code to achieve this?