demo manipulation improvement

[mfocchi]

• I cannot set references for the arm
• when you stand up first stand up,then unfold the arm
• when you press stop fold the arm,
• if you stop and start twice the arm reference is not reset and screws up the pitch and cannot walk anymore
• I would plot the cones bigger, pink and translucid, as is they are confusing, maybe create a guy where you can tick ON OFF visualization of cones, reference com and ground reaction forces, TF
• I would use a 7 DOFS robot to have better tracking of endeffector position/orientation
• I would set by default continuous control mode
• in non continuous mode there are issues when you set a time bigger than 2, moreover the time you selected does not have a permanent tick
• in the keyboard is missing to say that space bar is toggling between manipulation and walking, when I change the state of this flag with the keyboard is not reflected in RQT reconfigure