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
Since len isn't used outside of this for loop, you can it to the initialization.

for (int i = 0, len = params.length; i < len; i++) {}