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
this code could be written (and more easily read) as: 
isNotMoving = (speed < MOVE_THRESHOLD); 
isAtWalkingSpeed = (speed > MOVE_THRESHOLD) && (SPEED < MAX_WALK_SPEED); 
isAtFlyingSpeed = (speed => MAX_WALK_SPEED);