added fixes to LegIK and FK, added comments
Merge pull request #4 from saulrh/fix/saul-debian

Fix debian packaging
Merge pull request #6 from saulrh/feature/virtual

Fix up the "virtual" start in the tech initscript
Merge pull request #5 from pvieira3/master

Fix to Leg FK and IK
Merge branch 'master' of git://github.com/hubo/hubo-motion-rt