Walking animation between two positions

interpolated_walk.cs

IEnumerator Walk(Vector3 target, Transform tgt)
    {
        
        float t = 0;
        Vector3 start = tgt.position;
        while(t < 1)
        {
            LegMoving = true;
            t += Time.deltaTime*LegMoveSpeed;
            tgt.position = Vector3.Lerp(start, target, t) + Vector3.up * 1.3f*Mathf.Sin(t * Mathf.PI);
            yield return null;
        }
        LegState = (LegState + 1) % 2;
        LegMoving = false;
    }