Planning formulation: use fg relation instead of (system_in_mode ?f2 ?fd2)

[Rezenders]

(:action inspect_pipeline
    :parameters (?a - action ?p - pipeline ?r - robot ?fd1 ?fd2)
    :precondition (and
      (= ?a a_inspect_pipeline)
      (exists (?f1 ?f2)
        (and
          (action_requires ?a ?f1 ?f2)
          (Function ?f1)
          (Function ?f2)
          (FunctionDesign ?fd1)
          (FunctionDesign ?fd2)
          (solvesF ?fd1 ?f1)
          (solvesF ?fd2 ?f2)
          (not (inferred-Fd_realisability ?fd1 false_boolean))
          (not (inferred-Fd_realisability ?fd2 false_boolean))
          (system_in_mode ?f1 ?fd1)
          (system_in_mode ?f2 ?fd2)
        )
      )
      (not (inferred-f_activated f_generate_search_path))
      (robot_started ?r)
      (pipeline_found ?p)
    )
    :effect (and
      (pipeline_inspected ?p)
    )
  )