Carnegie Mellon University Graphplan Impl
~/cmu-graphplan$ cd source
~/cmu-graphplan/source$ make
~/cmu-graphplan$ source/graphplan -o tasks_ops.txt -f tasks_facts.txt -d
Check out the wiki
Just my own proof of concept whose purpose is to test the algorithm. Furthermore, in order to check the plan's parallelism possibilities, the example has been designed to force this result. Have a look at the following diagram!
In addition, having the goal of getting alternative plans in mind, you will find an ops file that simulates a task failure.
User avrim from CMU
http://www.cs.cmu.edu/~avrim/graphplan.html
http://www.cs.cmu.edu/afs/cs.cmu.edu/usr/avrim/Planning/Graphplan/