GUI for ihmc Qual2

I created a simple GUI to run Qual2.

First of all, launch Qual2:

$ roslaunch srcsim qual2.launch init:=true walk_test:=false

Go to /hcrl_src/ihmc_development/Matlab/Qual2_GUI and run GUI.m. The following should appear:

• Click on ROS Connect
• Click on Walk to Door. Watch as Valkyrie walks towards the door.
• Click on Push Button. Valkyrie will (try to) push the button. Sometimes this fails, since it seems that the button was set wrong in the simulation (it is a pull-button, not a push-button). Hopefully this will be fixed soon.
• If the button was pushed successfully, click on Return Arm for the arm to go back close to Valkyrie's body.
• Click on Walk Through Door to see Valkyrie walk past the door until cross the red line.

If you are interested in changing any behavior from the previous steps, you should check the files /Walk_Fcn/WalkToDoor.m, /Walk_Fcn/WalkThroughDoor.m, /Hand_Fcn/PushButton.m, /Hand_Fcn/ReturnArmsHome.m.