Merge pull request #2 from shiqizhang6/master

minor change in real_facts.asp
updated the real robot action executor to also use speech
fixed some replanning issues, though we need better laws for initial values
removed initial choice rules in situations where we would prefer a default assumption
remove display text after action is performed
added some basic information to run the atrium demo
merged with upstream
updated atrium files after testing on the real robot