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Install for linux
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From a linux machine, install flex and bison

> sudo apt-get install flex, bison

Download FF Planner
http://fai.cs.uni-saarland.de/hoffmann/ff/FF-v2.3.tgz

For numerical fluent version
http://fai.cs.uni-saarland.de/hoffmann/ff/Metric-FF.tgz

Uncompress the tar file

Compile FF Planner/Metric-FF
> cd /path-to-FF-v2.3
> make clean
> make

Running
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./ff -o robot_baking.pddl -f brownies.pddl

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