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+====== Visualization of task descriptions ======
+PlanVis is used to visualize planned actions of a robot. This visualization includes support of expanding actions and showing subactions. PlanVis is part of the mod_vis package.
+{{ :planvis_serveadrink.png?900 |}}
+===== Usage =====
+Start mod_vis
+<code>
+ rosrun rosprolog rosprolog mod_vis
+</code>
+Load knowrob actions
+<code>
+ register_ros_package(knowrob_actions)
+</code>
+Parse owl file containing the plan
+<code>
+ owl_parse('/path/to/plan.owl', false, false, true).
+</code>
+Open PlanVis applet
+<code>
+ planvis_create(Pv).
+</code>
+Load a plan and all it subactions. The main action is identified by the first parameter
+<code>
+  planvis_load('http://www.roboearth.org/kb/serve_drink.owl#ServeADrink',$Pv).
+</code>
+You can highlight an action with the following command. This action must be a child action of the current loaded action.
+<code>
+ planvis_highlight('http://ias.cs.tum.edu/kb/knowrob.owl#TakingSomething',$Pv).
+</code>
+Clear the highlight is done by
+<code>
+ planvis_clear_highlight($Pv).
+</code>