changes for lspi goto task implementation

goto_lspi.py is the script to execute the lpsi goto task learning

added angle to goal (psig) to sensors in the environment, added goal as
an environment property

added goto lpsi subclass to tasks.py
Merge branch 'master' of https://github.com/chrisdembia/agent-bicycle

Conflicts:
	randlov1998/tasks.py
resolved conflict
Merge branch 'master' of https://github.com/chrisdembia/agent-bicycle