forward/backward/sidestep/turnInPlace all working but not tested with different values
turning in place working continuously expect upper body not rotating fully
turning in place. Changed slerp in zmpwalkgenerator
fixed some bugs with continuous and 0 walk dist
removed debug printfs and fixed 0 walk_dist issue
Merge branches 'risky/daemonize' and 'risky/daemonize' of https://github.com/golems/hubomz into previewController2
Working, but not converging because we needs actual gains for Q & R