Add simple motion to look around the floor near from legs and update minor stuff for the latest EnvironmentPlaneModeling

* look-around.l
  * execute a motion to look around like the images below. It solves full-body inverse kinematics to look at a point.

![screenshot_from_2014-10-10 22 46 47](https://cloud.githubusercontent.com/assets/40454/4593882/684b7a84-508a-11e4-9a1b-e2632df3c999.png)
![screenshot_from_2014-10-10 22 46 57](https://cloud.githubusercontent.com/assets/40454/4593883/68742628-508a-11e4-9d1a-07360e2098ca.png)
![screenshot_from_2014-10-10 22 47 06](https://cloud.githubusercontent.com/assets/40454/4593884/68886818-508a-11e4-90fc-c7b62045f6db.png)