[20160909] New Valkyrie Controller

The current repository has this jpos control. People can start from it. The questions I have now

• Is this the maximum feedback gain? (currently using Kp < 30, Kd < 10)
• Is this a correct way to do torque control? ( SetForce(0, torque_command) ) – 80% sure
• Can I use the current way in the real competition?

To do,

• To reduce the DoF (currently 59 + 6), I will take off hand and Hokuyo joint in the RBDL model.
• Balance control...