Awesome Goalie/General Improvements

Has some of EJ's improvements to goalie saving, fixes an issue with physical orientation of one corner (?!) by just adding a constant... someone should look at this for real though. Generally, goalie is looking awesome but still needs some improvements.

Two general improvements that everyone should love: Makes the autowrapping system provide __str__ methods for all wrapped protobufs, so we can print their debug strings directly in Python. Also, makes 5 button presses print a SweetMoves tuple of where the joints are right now. If you make this print out, you should be able to copy it into SweetMoves and just add time, interp, stiffness--super easy!