Do we need the concepts of "Objective" and "FunctionGrounding"?

[Rezenders]

Currently, we are not using the concepts of "Objective" and "FunctionGrounding".
Should we add a (Objective ?f) effect to the actions effects to represent which function is currently in use? And a (FunctionGrounding ?fd) effect to represent which function designs are selected? Is this useful?
Or can we just remove these two concepts?
In our PDDL formulation, this information is "kind of" captured by the action's preconditions when they are grounded. For example:

If the action search_pipeline is grounded with f1=f_maintain_motion and fd1=fd_all_thrusters, it indirectly implies the same as having an (Objective f_maintain_motion) and a (FunctionGrounding fd_all_thrusters). Whenever fd1 is not realizable the precondition will fail and retrigger replanning.

(:action search_pipeline
    :parameters (?p - pipeline ?r - robot)
    :precondition (and
      (exists (?a ?f1 ?f2 ?fd1 ?fd2)
        (and
          (inferred-Action ?a)
          (= ?a a_search_pipeline)
          (not (= ?f1 ?f2))
          (inferred-requiresF ?a ?f1)
          (inferred-requiresF ?a ?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_follow_pipeline))
      (robot_started ?r)
    )
    :effect (and
      (pipeline_found ?p)
    )
  )

[Rezenders]

I will remove it for now. If we decide we need it, I can put it back later.