diff --git a/goap/src/goap/common_ros.py b/goap/src/goap/common_ros.py
index 6d51247..273806e 100644
--- a/goap/src/goap/common_ros.py
+++ b/goap/src/goap/common_ros.py
@@ -121,4 +121,5 @@ def run(self, next_worldstate):
         goal.target_pose.pose = next_worldstate.get_condition_value(Condition.get('robot.pose'))
 
         print 'Waiting for base to reach goal...'
-        self._client.send_goal_and_wait(goal)
+        goalstatus = self._client.send_goal_and_wait(goal)
+        print 'Goal status: ', goalstatus
diff --git a/goap/src/goap/goap.py b/goap/src/goap/goap.py
index b2003d5..7385338 100644
--- a/goap/src/goap/goap.py
+++ b/goap/src/goap/goap.py
@@ -65,8 +65,8 @@ def matches(self, start_worldstate):
                     matches = False
                     break
         print 'comparing worldstates: ', matches
-        print 'mine:  ', self._condition_values
-        print 'start: ', start_ws_dict
+#        print 'mine:  ', self._condition_values
+#        print 'start: ', start_ws_dict
         return matches
 
 #    def apply_effects(self, action): # TODO: replace by direct calls to action.apply_effects()
@@ -101,7 +101,7 @@ def __str__(self):
         return '%s:%s' % (self.__class__.__name__, self._state_name)
 
     def __repr__(self):
-        return '<%s name=%s>' % (self.__class__.__name__, self._state_name)
+        return '<%s state_name=%s>' % (self.__class__.__name__, self._state_name)
 
     def get_value(self):
         """Returns the current value, hopefully not blocking."""
diff --git a/goap/src/goap/introspection.py b/goap/src/goap/introspection.py
index 3db9603..80a7696 100644
--- a/goap/src/goap/introspection.py
+++ b/goap/src/goap/introspection.py
@@ -110,4 +110,4 @@ def _nodeid(self, node):
             node_action_name = 'GOAL'
         else:
             node_action_name = str(node.action) #.__class__.__name__
-        return node_action_name + '_' + str(id(node))
+        return node_action_name + ' %X' % id(node)