choregraphe behaviors working again; updated box library
working crg files
move choregraphe work
more fun with events
added broker to boostrap to allow for events in interactive prompt
memory module comments in boostrap
stiff and relax methods for arms
stiff and relax for legs and head
fixed reference to env in arms, legs and head
more bootstrap comments on events
remember to unsubscribe
additional logging in nao.py; updated rpc crg and dev crg with timeout bug
added a blocking say command