Merge pull request #17 from pvieira3/manipulation

Added handle_arm_angles function. Reduced nominal vel/acc in control tab...
Merge branch 'manipulation' of https://github.com/hubo/hubo-motion-rt into manipulation
Merge pull request #18 from pvieira3/manipulation

updated hubo-zmp.h header
Merge branch 'manipulation' of https://github.com/hubo/hubo-motion-rt into manipulation