Changes since 3.4:

- Fix drawing function (put decoration under LOGO flag)
- Add new functions to compute distance between ROBOT and a given agent
  and to disable collision checking with HERAKLES arms.

- Hypothesis On position ~ Inferrence management
- Monitoring Spheres management
- Change SA computation params through request

- Requests for Agent State Analysis
- Fix for detecting two humans from kinect
- Request for show object fact

While here:
- Expose 'simulation' as option for spark
- Removed old patches (merged upstream)