OMPL Planner Arena

The OMPL Planner Arena code allows you to easily create plots from a benchmark database produced from benchmark log files. See also and the benchmarking tutorial.


  • R 3.1.0 or higher
  • On Ubuntu you need to run sudo apt install libv8-dev.
  • The following R packages: shinyjs, V8, tidyverse, Hmisc, pool, RSQLite, and markdown. These packages can be installed like so:
    R -e "install.packages(c('shinyjs', 'V8', 'tidyverse', 'Hmisc', 'pool', 'RSQLite', 'markdown'), repos='')"


First, produce a series of benchmark log files. Next, produce a database called benchmark.db with After that, you need to run the script plannerarena, which launches Planner Arena (if the script is not in your path, it is in the directory ompl/scripts/plannerarena). After you upload your database via the web page that should have opened in your browser, it should look similar to


PlannerArena is also available as a Docker container. Once you have Docker installed, you can download and run PlannerArena like so:

docker pull mmoll/plannerarena
docker run --rm -p 8888:8888 plannerarena

Go to and upload your benchmark data. If your benchmark database files exceed 50MB, set the environment variable OMPL_PLANNERARENA_MAX_DB_SIZE to the desired limit in bytes in the Dockerfile for Planner Arena and rebuild the docker container.