elaborate environment.soar

Contains rules to generate a symbolic state of the environment under s1 ^environment. Currently, the state is elaborated directly from values on the io-link. It elaborates the following state attributes.

• open/close: stove, pantry
• on/off: stove
• cooked: chicken
• clear: any block that is does not have any other block on it
• grabbed: object in the arm

The environment attribute is copied down to all substates that are connected to io.