First version of RK for NAO
Function for sword position, based on Cartesian control. Correction of a matrix element into reverK.
Improvement on moving function. Added a loop to reach the position, and security checkings
Correction a en error which caused an infinite loop.
Stand alone version for movSword.py
Thread for moving the arm, adapted for DHE in branch master. Comming with test function. Need implementing base postures, management of fails
Implemented base postures
Minor upgrades
Merge branch 'reverse_kinematics'

"Merging controller code"
Change of frame form pixel to metric