Walk1.2

Polished idle -> walk -> idle transition. Generally improved transitions (added 'reach poses', smoothed motion)

The audio (footstep sounds) are disabled by default, as they cause noticeable glitches in the motion - for clear explanation of the problem and documentation of solutions already attempted, please see: https://www.youtube.com/watch?v=jlibGTBCtCU
I think this code should be an iterator over all joints that compares the name to an array with the names and sets rotation as a quaternion if matched.... would be much cleaner.