[20160921] Capture Point Control

In the video, valkyrie moves capture points in lateral direction.

At the same time, hand is following the desired trajectory generated by min jerk trajectory generator (made by Marcelino Mendes De Almeida Neto)

Task priority:

1. Centroidal Momentum (Target: CP + pelvis orientation)
2. Right Hand Global Position (That's the reason why right hand position is fixed in the air while body is moving and left hand is following the body movement)
3. Joint position (maintain the initial configuration)

I think we are ready to move on walking control