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 feel that hot is sort of a state of an ingredient (this is currently hot), whereas heated is more a nod to the fact that, at some point, this ingredient was heated. So, in the case of butter, we don't really want hot butter, but more importantly butter that has been heated and therefore is melted.

I think hot is probably better if all the stove did was heat things up, but the idea of heat -> melt is better encompassed by heated, I think. But either way it's no big deal.