removed useless instance variable for the planner
killed the time filter
s/g // simplified running contexts
s/g
documentation
megapatch:
    planner: integrate some HTN concepts (incomplete)
    planner: benchmarks
    planner: pretest condition to reduce slow tests
    goals: new pretest condition do reduce slow tests
    agent: delta memory model to reduce planner stress
    english: made feeling statements more clear
    action: combined contexts and actions
    human: simplified actions
    environment: fixed bug where None gets distributes to agents
    environment: changed name of queue to "action queue"
    s/g overall

new delta memory model make best case goal planning slightly slower, but greatly improves planning speed when goals cannot be satisfied.  delta memory and the pretest prevents planning actions when they are impossible to carry out (because there are no new precepts that would satisfy them).