better toString for actions and some more tests.

target/classes/edu/rpi/rair/debug.clj

@@ -0,0 +1 @@
+

target/classes/edu/rpi/rair/goal_tracking_tests.clj

@@ -0,0 +1,30 @@
+{:name       "Sim"
+ :background []
+ :start      [(In self room1)
+              (In commander room2)
+              (In prisoner room1)
+              (Open (door room2))
+              (not (Open (door room1))) ]
+
+ :actions     [(define-action open-door [?room]
+                             {:preconditions [(not (Open (door ?room)))]
+                              :additions [(Open (door ?room))]
+                              :deletions [(not (Open (door ?room)))]})
+
+
+
+              (define-action accompany-from-to [?thing ?room1 ?room2]
+                             {:preconditions [(In self ?room1)
+                                              (In ?thing ?room1)
+                                              (Open (door ?room1))
+                                              (Open (door ?room2))]
+
+                              :additions     [(In ?thing ?room2)
+                                              (In ?self ?room2)]
+                              :deletions     [(In ?thing ?room1)
+                                              (In self ?room1)]})]
+
+ :expected-plans ([(open-door room1)
+                   (accompany-from-to prisoner room1 room2)])
+
+ }