Running LAMA (SunOS)
Questions, Problems and Bugs
If you have problems with any of the planners, please ask your lab assistant. Through the WWW links provided you can find out more about the planning systems, but please, do not contact their authors!
Known Problems
LAMA, like many planners, requires all the arguments to an operator to be
different,
LAMA does not handle planning with durations.
How LAMA Works
LAMA consists of three separate programs:
- the translator (written in Python),
- the knowledge compilation module (written in C++), and
- the search engine (also written in C++).
The search engine uses multi-heuristics to speed up the search process. It makes use of the FF heuristic and also of landmarks. The landmark heuristic measures the distance to a goal by the number of landmarks that still need to be achieved.
Input
LAMA accepts PDDL input, including some parts of ADL: quantified and conditional effects, quantified preconditions and goals and :typing, but not type hierarchies.
Installation
The easiest way of accessing the LAMA planner is to use the command module add /home/TDDC17/www-pub/info/labs/planning/planners.mod, which will include the correct directory in your path. After that, you can run it by just typing the planner's name.
LAMA needs Python to run. If it is not already installed this can be done by executing the command module add prog/python/2.6.0. This will temporarily add the Python module to the environment. To add it permanently, use the command module initadd prog/python/2.6.0.
Running LAMA
LAMA is started with the command
- lama options <domain file> <problem file> <result file>
- l: Use the landmark heuristic.
- L: Use preferred operators of the landmark heuristic.
- f: Use the FF heuristic.
- F: Use helpful actions ("preferred operators" of the FF heuristic).
- i: Run in iterated mode, keep searching for better solutions.