added rk4.m file for runge kutta
Merge branch 'master' of https://github.com/stulp/genrai
added the phase in task_viapoint
cleaned the code
Merge branch 'master' of https://github.com/stulp/genrai

Conflicts:
	read_icub_data.m
figure_handle = 0
Merge branch 'master' of https://github.com/stulp/genrai
added the teacher for the icub to the main