Made changes to how properties are attended to, so changing state properties are captured
refactored assign-goal code
added a new type of smem-retrieve
Merge remote-tracking branch 'origin/new-agent-structure' into hierarchical
Merge branch 'new-agent-structure' of github.com:InstructoSoar/insoar into new-agent-structure
added elaborations for open/close on/off
Merge branch 'hierarchical' into new-agent-structure