Action relaxation

Same as previous pull request (from KnowledgebaseTools) and added:
 - Relaxed mix action
 - Relaxed pour action
 - Making more comprehensive mashed potatoes recipe
 - Basic kitchen now keeps track of completed subgoals and (can) update the server accordingly.
 - Bug squashing!  
 - updated testing suite
I think it's time we change the name of the method to be more inline with what it actually does. It doesn't just check (which implies a boolean return), but it also manipulates the state and returns the string.