Merge pull request #69 from reem-utils/chang_branch

Chang branch
Modification in nav_to_poi, now we can set a poi in init. Add test
Some changes, now we can set the time in init
Merge branch 'master' of https://github.com/reem-utils/robocup2014
Some changes in files due the refactor
Merge pull request #70 from reem-utils/cris_branch

Some changes in files due the refactor
Added GPSR stuff including soar suite and (in theory) references to it in the interace.py
Adding comments to manipulation_states, and a new move_hand_form, which the user enters 1 defined hand pose