Settings are now loaded and saved to database
Added articulated joint type
Created integration module
Added a pivot joint type
Added support for orthogonal joints
updated requirements
Fixed unicode issue with phant library
Created handler for jsondb
Added jsondb as a submodule.
Updated phant
Reorganized modules
Added joint type for fingers
Added experimental joint class for pivot joints
Added patch support for torso joint
Updated hinge joint class

- Added leg tests
Upgraded additional joint types
Upgraded knee and hip objects to be resource views
Added more tests

- Added tests for settings
- Moved api tests to respective modules
Added resource arm tests
Updated legs api to use restfull fields