Merge pull request #8 from gsaponaro/master

new OPC format
add new properties: is_touching (contacts between objects) and is_free (availability of hand for grasping)
[worldStateManager]: RPC port
add license
[worldStateManager]: add thrift file for RPC interfaces
[worldStateManager]: add threads, better separation between perception and "dummy file" playback mode, some new functionalities
formatting
[worldStateManager]: add offset property (end-effector transform when grasping tools)