Merge pull request #1 from davesnowdon/master

Change to "standard" directory layout and basic integration with naoutil
cleanup; removing event, sense & memory stuff; going to use naoutil for events
exposing env memory
actually not adding that yet
all choregraphe examples working with nao util
updated box library
debugging audio player in nao util
trying to get dev crg to work
fluent nao in an interactive shell
updated readme
updated rpc behavior