merged changes in insoar/language from shiwalimohan:sbolt/language
1. sbolt changes to support new types of goal descriptions. 2. agent code changes for hierarchical tasks
Merge branch 'hierarchical-task-learning' of github.com:InstructoSoar/insoar into hierarchical-task-learning
Merge branch 'hierarchical-task-learning' of github.com:InstructoSoar/insoar into hierarchical-task-learning