Fixed some features in c-d and added hip vel IK
Fixed time bug
Added defines for arm and leg joint sequences
Hugely reduced CPU consumption of control-daemon
Added the option to wait for new state
Added calibration features
Fixed the return of nominal speeds
Made the calibration more meaningful
Merged with master
Did the requested cleaning and renaming
Added m4 directory
Added velocity feedback
Merged renaming with velocity addition
Corrected things for renaming