Clean domain files

[ssardina]

There seems to be several domain files in some cases, and many look like noise.

For example, let's take first-responders:

• domain.pddl: seems to be original with lots of dummy non-used :requirements, like conditional effects
• domain-fixed.pddl: same as domain.pddl but with just the used requirements, namely, :typing :negative-preconditions :non-deterministic
• domain-fixed.pddl.fip: this seems to be the determinization that FIP used, it has lots of deterministic action versions, different signature of actions. I don't think it is good to keep planning specific encodings like this one.

I propose we try to aim for just one domain.pddl unless there is a good reason to keep multiple versions.

In this case, we should keep domain-fixed.pddl and rename it to just domain.pddl.

What do you think @haz ?

[ssardina]

In fact, there are many domains coming from FIP with D_N prefixes like D_1_pick-up-from-table in BlocksWorld

I think we should clean them all up,. not relevant for this repo

[haz]

Ya, that's a hold-over from the original PRP. FIP didn't (and still doesn't) come with a determinizer. So some of the domains you see are actually me reverse engineering what the non-det version should be, given the FIP manual action determinization :P.

Confirmed, we can remove those and just have the single unified one. This is especially ok now that fond-utils can create the determinized version FIP-style, if we should ever really need it again.