Added a special middleware, 'ALL'
Support relative motion with 'setpose' and naoqi
Fix in position computations
Fix again look_at on Naoqi
Enable/disable whole body IK in 'manipose'/'rest'
Support moving Nao arms in cartesian coordinates

Be careful, the target pose is the pose of the *wrist*, not the gripper
Implemented basictake for Nao

While here, added missing workswith for open/close gripper
Support ROS actions that publish to a topic
Support speech synthesis for Nao

Using the ROS /speech topic.
Tentative robot.state.hasinhand helper for Nao
Fixed (old?) bug when closing pyrobot
Recursively look for requirements definitions

This allows to use @same_requirements_as on an action which itself
use @same_requirements_as
Modernize knowledge manipulation to match KB-API
Catch the exception in look_at when a pose is not seen anymore
[actions/attitude] Update the knowledge base according to the emotion
[minor] Typo in debug message for naoqi
[actions/look_at] support 'sweep' on Nao
[minor] code correctness