Adds a lot of code.

Adds simple realization of moving in simpleaction.py. 
Adds list of moves, written in frames in moves.py. In this file there
are also some functions to read those frames from file and to init full
list of actions. 
Moves all information about joints in joints.py. 
Slightly changes dataPars.py. 
Adds perception.py, where for now only the detection of falling.
And at last adds thinking.py where will be deciding block. Now there are
simple decisions about moves, such as standing up after falling.