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A lightweight STRIPS planner written in Python.

Project description

Pyperplan is a lightweight STRIPS planner written in Python.

Please note that Pyperplan deliberately prefers clean code over fast code. It is designed to be used as a teaching or prototyping tool. If you use it for paper experiments, please state clearly that Pyperplan does not offer state-of-the-art performance.

It was developed during the planning practical course at Albert-Ludwigs-Universität Freiburg during the winter term 2010/2011 and is published under the terms of the GNU General Public License 3 (GPLv3).

Pyperplan supports the following PDDL fragment: STRIPS without action costs. This file only gives the basic information to get you up and running. The full documentation can be found in the doc directory. You can either read the text file documentation.txt directly or run "make" in the doc directory to convert it to a PDF document.


Pyperplan is written in Python 3, so you need a recent version of Python 3 installed to run it. If Python 3 is not installed on your system, you can download it from Alternatively, most current Linux distributions include Python 3. For example,

sudo apt install python3

will install Python 3 on an Ubuntu system.


The planner is invoked through the file src/ and accepts two arguments: a PDDL domain file and a PDDL problem file. Example:

./src/ benchmarks/tpp/domain.pddl benchmarks/tpp/task01.pddl

The domain file can be omitted, in which case the planner will attempt to guess its name based on the problem file. If a plan is found, it is stored alongside the problem file with a .soln extension.

By default, the planner performs a blind breadth-first search, which does not scale very well. Heuristic search algorithms are available. For example, to use greedy-best-first search with the FF heuristic, run

./src/ -H hff -s gbf DOMAIN PROBLEM

For a list of available search algorithms and heuristics, run

./src/ --help

For more information on using the planner and how to extend it to do more fancy stuff, see doc/


Pyperplan is hosted on GitHub:

The original authors of Pyperplan are, in alphabetical order:

  • Yusra Alkhazraji
  • Matthias Frorath
  • Markus Grützner
  • Thomas Liebetraut
  • Manuela Ortlieb
  • Jendrik Seipp
  • Tobias Springenberg
  • Philip Stahl
  • Jan Wülfing

The instructors of the course in which Pyperplan was created were Malte Helmert and Robert Mattmüller.

If you want to get in touch with us, please contact Robert Mattmüller or Jendrik Seipp. Their email addresses can easily be found on the web.

Citing Pyperplan

Please cite Pyperplan using

  author =       "Yusra Alkhazraji and Matthias Frorath and Markus Gr{\"u}tzner
                  and Malte Helmert and Thomas Liebetraut and Robert Mattm{\"u}ller
                  and Manuela Ortlieb and Jendrik Seipp and Tobias Springenberg and
                  Philip Stahl and Jan W{\"u}lfing",
  title =        "Pyperplan",
  publisher =    "Zenodo",
  year =         "2020",
  doi =          "10.5281/zenodo.3700819",
  url =          "",
  howpublished = "\url{}"

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