Realizes simple moving of arm.

Simpleaction module moves one joint in one arm. And simpleaction2 reads
frames from file.
Remove zero speed from send.
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.
Creates function for each existing action in thinking.py, to control
stands and etc.
Changes frame structure. Adds some useful functions. Adds new move.

Adds ability to define wich frame is the next. So it is easy to separate
initial stand from cyclic motions. So thinking is much easier for this
moves.
Adds limitting for joints speed.
Adds new move "fiit walk fine" which is looking quit promising.
Adds function to print frames in nao format.
Adds kick behaviour try and many debug for graphs.