Simulator now runs and outputs data for the single agent case.

Bugfixes:
	SIM:
	Fixed issue where sim was attempting to use FindVertex to determine if at the start or end node (these are special nodes, and are not searched by that function)
	Fixed issue where IDLE primitives were being added to the "completed skills" list, when they should never be added to that list.
	Added debug statements to Simulator to help ensure it's running properly.
	Fixed some inequality signs that were left the wrong way from prior debugging.

	AGENT:
	Added some NULL pointer checking, marked with TODO if I wasn't sure if the solution was correct.