added angels for feet and first test for feet center
test passing for feet centered
updated fluent nao feet and adjusting feet in translator
both pitch and roll working for feet centered
point toes test and command spec working
test and command spec for raise toes
test and command spec for feet turn out
fixed offsets
fixed offsets and completed test/command spec for feet.turn_in
left foot command specs
right footer transitions
updates fluent nao, added test for legs
Merge remote-tracking branch 'don/master'
Add in Don's changes for legs