Graphplan Visualizer

A local visualizer for the original Graphplan algorithm. Collects data from the original 1995 C code and renders it in the browser.

There is a github pages demo that uses data generated from rocket_ops and rocket_veloso_facts: https://mnfu.github.io/graphplan-viz/ This should match the Figure 2 planning graph in: A. Blum and M. Furst, "Fast Planning Through Planning Graph Analysis", as well as Figure 1's defined ops.

Important

This project includes original Graphplan implementation code by Blum & Furst (1995), released with a non-commercial research-use permission notice. This repository is provided for educational and research purposes only and is not intended for commercial use. The original notice is included below.

/*********************** Graphplan **************************************
(C) Copyright 1995 Avrim Blum and Merrick Furst

All rights reserved. Use of this software is permitted for non-commercial
research purposes, and it may be copied only for that use. All copies must
include this copyright message. This software is made available AS IS, and
neither the authors nor CMU make any warranty about the software or its
performance.
*************************************************************************/

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Requirements

This project expects a Linux-like environment.

• On Linux/macOS: you're likely good to go
• On Windows: WSL is recommended (other Unix-like environments may work)

Also, ensure you have make & gcc installed.

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Setup

Clone the repo and build:

make

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Usage

You’ll need ops and facts files to run Graphplan.

There are quite a few samples to be found in the ops-facts directory. If you want more, there are a few more available at the original CMU source that I did not put in this directory: https://www.cs.cmu.edu/afs/cs.cmu.edu/usr/avrim/Planning/Graphplan/

For example, one may pick the following ops & facts:

• rocket_ops
• rocket_facts2

Using the ops-facts directory, you run Graphplan like this:

./graphplan -o ../ops-facts/rocket_ops -f ../ops-facts/rocket_facts2 -d

What this does

• Executes Graphplan with default values (-d)
• Generates the graph_data.js and search_trace.js files we need for visualization

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Viewing the Visualization

Once graph_data.js is generated (technically search_trace.js is optional):

1. Open index.html in your browser
2. The graph will render automatically

If no graph_data.js is present, the UI will present an error message.
If no search_trace.js is present, the Search replay toggle will do nothing (or will not appear at all).

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CLI Help

To see all available options from the original implementation:

./graphplan -h

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Original Source

This project builds on the original Graphplan implementation:

• Source Code: https://www.cs.cmu.edu/afs/cs.cmu.edu/usr/avrim/Planning/Graphplan/Source/
• README: https://www.cs.cmu.edu/afs/cs.cmu.edu/usr/avrim/Planning/Graphplan/README

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Performance Tips

If you experience performance issues (especially with large graphs), try the following:

• Disable hardware acceleration in your browser

• Disable mutex arc rendering Mutex arcs can dramatically increase DOM node count and are often the biggest performance cost.

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Examples (1080p)

With rocket_ops + rocket_facts2 (Planning Graph)

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With rocket_ops + rocket_facts2 (Backward Search)

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No graph_data.js (empty state)