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formatting all variables with trailing _<SORT> for TPTP compliance #167

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(replacing $i, $s convention).

The formula "forall X exists X$ p(X,X$)" is legal in our FOL syntax tree and custom control language. But TPTP doesn't have a sort identifier in variables, resulting in the ambiguous formula "![X: general, X: $int]: p(X,X)." This issue prompted printing variables with sort identifiers for non-general variables, e.g. "![X: general, X$i: $int]: p(X,X$i)." Which Vampire accepts, but TPTP in general does not (according to TPTP4X trials). So now I replaced the "$" with an "_" and made ALL variables (including general variables) append an _. Otherwise "forall X_i exists X$ p(X_i,X$)" would be formatted ambiguously: "![X_i: general, X_i: $int]: p(X_i,X_i)."

Closes #166

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Variable naming is not TPTP-compliant
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