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
If this is in an inner loop somewhere, you could lazily initialize whether the recipe requires heating or baking. Then you only have to run the recipe check once. Of course you'll still have to check the state for things.