diff --git a/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.env b/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.env new file mode 100644 index 000000000..bab7a71aa --- /dev/null +++ b/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.env @@ -0,0 +1,40 @@ +command: +- timeout +- -m=8000000 +- -t=900 +- python3 +- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py +- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/domain.pddl +- /home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/instances/instance-14.pddl +- --stats +- --verbose +- --print-call +- --translate +- -A 1 +- --parallel=1 +- --shallow +configuration: + id: fd-ps-e1-sh + instanceSets: + - lpnmr-hard-instances + options: + - --stats + - --verbose + - --print-call + - --translate + - -A 1 + - --parallel=1 + - --shallow +exitCode: 0 +instance: + domain: logistics-round-1-strips + instance: 14 + ipc: ipc-1998 +versions: + clingo: 5.2.2 + fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100) + planner: 517f2c0422a36582df17ecebb08e879b170cdfe2 (2017-11-21 02:23:06 +0100) + plasp: 3.1.1 + python: 3.6.3 +workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner + diff --git a/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.err b/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.err new file mode 100644 index 000000000..0068d3140 --- /dev/null +++ b/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.err @@ -0,0 +1,33 @@ +# configuration: {'id': 'fd-ps-e1-sh', 'options': ['--stats', '--verbose', '--print-call', '--translate', '-A 1', '--parallel=1', '--shallow'], 'instanceSets': ['lpnmr-hard-instances']} +# instance: {'ipc': 'ipc-1998', 'domain': 'logistics-round-1-strips', 'instance': 14} +# command: ['timeout', '-m=8000000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/instances/instance-14.pddl', '--stats', '--verbose', '--print-call', '--translate', '-A 1', '--parallel=1', '--shallow'] +# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner +# exit code: 0 +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/preprocess.lp:13:4-34: info: atom does not occur in any rule head: + requires(feature(actionCosts)) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/preprocess.lp:14:4-33: info: atom does not occur in any rule head: + requires(feature(axiomRules)) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/preprocess.lp:15:4-41: info: atom does not occur in any rule head: + requires(feature(conditionalEffects)) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/strips-incremental.lp:66:15-28: info: atom does not occur in any rule head: + mutexGroup(G) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/strips-incremental.lp:66:30-45: info: atom does not occur in any rule head: + contains(G,X,V) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/strips-incremental.lp:67:15-28: info: atom does not occur in any rule head: + mutexGroup(G) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/strips-incremental.lp:74:41-56: info: atom does not occur in any rule head: + contains(G,X,V) + +/home/pluehne/Documents/ASP/plasp-javier/encodings/strips/strips-incremental.lp:84:41-56: info: atom does not occur in any rule head: + contains(G,X,V) + +# planner call: /home/wv/bin/linux/64/fast-downward/fast-downward.py --translate --build=release64 /home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/instances/instance-14.pddl && plasp-3.1.1-rc.1 translate --parsing-mode=compatibility output.sas | /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/planner.py - /home/pluehne/Documents/ASP/plasp-javier/encodings/strips/preprocess.lp /home/pluehne/Documents/ASP/plasp-javier/encodings/strips/strips-incremental.lp --stats --verbose -A 1 --query-at-last --check-at-last --forbid-actions --force-actions -c planner_on=1 -c _shallow=1 -c _closure=3 -c _parallel=1 +FINISHED CPU 13.95 MEM 30288 MAXMEM 225788 STALE 0 MAXMEM_RSS 169224 + + diff --git a/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.out b/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.out new file mode 100644 index 000000000..db4e83787 --- /dev/null +++ b/fd-ps-e1-sh/ipc-1998_logistics-round-1-strips_14.out @@ -0,0 +1,142 @@ +INFO Running translator. +INFO translator input: ['/home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/instances/instance-14.pddl'] +INFO translator arguments: [] +INFO translator time limit: None +INFO translator memory limit: None +INFO callstring: /home/pluehne/.usr/bin/python /home/wv/bin/linux/64/fast-downward-10997/builds/release64/bin/translate/translate.py /home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-1998/domains/logistics-round-1-strips/instances/instance-14.pddl +Parsing... +Parsing: [0.040s CPU, 0.039s wall-clock] +Normalizing task... [0.000s CPU, 0.002s wall-clock] +Instantiating... +Generating Datalog program... [0.020s CPU, 0.014s wall-clock] +Normalizing Datalog program... +Normalizing Datalog program: [0.020s CPU, 0.029s wall-clock] +Preparing model... [0.040s CPU, 0.037s wall-clock] +Generated 51 rules. +Computing model... [1.400s CPU, 1.404s wall-clock] +14512 relevant atoms +7164 auxiliary atoms +21676 final queue length +31057 total queue pushes +Completing instantiation... [2.620s CPU, 2.619s wall-clock] +Instantiating: [4.120s CPU, 4.122s wall-clock] +Computing fact groups... +Finding invariants... +6 initial candidates +Finding invariants: [0.030s CPU, 0.030s wall-clock] +Checking invariant weight... [0.010s CPU, 0.005s wall-clock] +Instantiating groups... [0.220s CPU, 0.222s wall-clock] +Collecting mutex groups... [0.020s CPU, 0.014s wall-clock] +Choosing groups... +0 uncovered facts +Choosing groups: [0.040s CPU, 0.039s wall-clock] +Building translation key... [0.030s CPU, 0.027s wall-clock] +Computing fact groups: [0.480s CPU, 0.478s wall-clock] +Building STRIPS to SAS dictionary... [0.020s CPU, 0.015s wall-clock] +Building dictionary for full mutex groups... [0.000s CPU, 0.011s wall-clock] +Building mutex information... +Building mutex information: [0.020s CPU, 0.013s wall-clock] +Translating task... +Processing axioms... +Simplifying axioms... [0.000s CPU, 0.000s wall-clock] +Processing axioms: [0.110s CPU, 0.114s wall-clock] +Translating task: [2.200s CPU, 2.203s wall-clock] +0 effect conditions simplified +0 implied preconditions added +Detecting unreachable propositions... +0 operators removed +0 axioms removed +84 propositions removed +Detecting unreachable propositions: [1.290s CPU, 1.285s wall-clock] +Reordering and filtering variables... +74 of 84 variables necessary. +0 of 84 mutex groups necessary. +7890 of 11530 operators necessary. +0 of 0 axiom rules necessary. +Reordering and filtering variables: [0.260s CPU, 0.250s wall-clock] +Translator variables: 74 +Translator derived variables: 0 +Translator facts: 1645 +Translator goal facts: 19 +Translator mutex groups: 0 +Translator total mutex groups size: 0 +Translator operators: 7890 +Translator axioms: 0 +Translator task size: 32324 +Translator peak memory: 67416 KB +Writing output... [0.600s CPU, 0.660s wall-clock] +Done! [9.110s CPU, 9.168s wall-clock] +planner.py version 0.0.1 + +Time: 1.06s +Memory: 121MB + +Iteration 1 +Queue: [0] +Grounded Until: 0 +Solving... +Solving Time: 0.01s +Memory: 121MB (+0MB) +UNSAT +Iteration Time: 0.01s + +Iteration 2 +Queue: [5] +Grounded Until: 0 +Grounding... [('step', [1]), ('step', [2]), ('step', [3]), ('step', [4]), ('step', [5]), ('check', [5])] +Grounding Time: 0.59s +Memory: 128MB (+7MB) +Unblocking actions... +Solving... +Solving Time: 0.05s +Memory: 146MB (+18MB) +UNSAT +Iteration Time: 0.91s + +Iteration 3 +Queue: [10] +Grounded Until: 5 +Grounding... [('step', [6]), ('step', [7]), ('step', [8]), ('step', [9]), ('step', [10]), ('check', [10])] +Grounding Time: 0.61s +Memory: 165MB (+19MB) +Unblocking actions... +Solving... +Answer: 1 +occurs(action(("fly-airplane","plane7","city4-2","city2-2")),1) occurs(action(("load-truck","package27","truck12","city10-2")),1) occurs(action(("load-airplane","package28","plane4","city4-2")),1) occurs(action(("fly-airplane","plane2","city2-2","city6-2")),1) occurs(action(("fly-airplane","plane3","city11-2","city6-2")),1) occurs(action(("fly-airplane","plane6","city1-2","city6-2")),1) occurs(action(("load-truck","package13","truck33","city7-1")),1) occurs(action(("load-truck","package14","truck45","city9-1")),1) occurs(action(("load-airplane","package20","plane1","city6-2")),1) occurs(action(("load-airplane","package21","plane8","city9-2")),1) occurs(action(("load-truck","package22","truck45","city9-1")),1) occurs(action(("load-airplane","package25","plane1","city6-2")),1) occurs(action(("load-truck","package15","truck8","city1-2")),1) occurs(action(("load-truck","package19","truck45","city9-1")),1) occurs(action(("load-truck","package26","truck42","city6-1")),1) occurs(action(("load-airplane","package11","plane3","city6-2")),2) occurs(action(("drive-truck","truck16","city2-1","city2-2","city2")),2) occurs(action(("load-truck","package17","truck18","city4-2")),2) occurs(action(("drive-truck","truck30","city6-2","city6-1","city6")),2) occurs(action(("fly-airplane","plane4","city4-2","city1-2")),2) occurs(action(("fly-airplane","plane8","city9-2","city1-2")),2) occurs(action(("drive-truck","truck36","city1-1","city1-2","city1")),2) occurs(action(("fly-airplane","plane5","city2-2","city10-2")),2) occurs(action(("drive-truck","truck24","city6-1","city6-2","city6")),2) occurs(action(("drive-truck","truck42","city6-1","city6-2","city6")),2) occurs(action(("drive-truck","truck45","city9-1","city9-2","city9")),2) occurs(action(("fly-airplane","plane1","city6-2","city4-2")),2) occurs(action(("drive-truck","truck23","city5-2","city5-1","city5")),2) occurs(action(("unload-truck","package15","truck8","city1-2")),2) occurs(action(("load-airplane","package16","plane7","city2-2")),2) occurs(action(("load-airplane","package18","plane7","city2-2")),2) occurs(action(("load-truck","package23","truck37","city1-1")),2) occurs(action(("drive-truck","truck11","city7-2","city7-1","city7")),2) occurs(action(("unload-truck","package13","truck33","city7-1")),2) occurs(action(("drive-truck","truck1","city2-1","city2-2","city2")),3) occurs(action(("drive-truck","truck10","city2-1","city2-2","city2")),3) occurs(action(("drive-truck","truck2","city1-1","city1-2","city1")),3) occurs(action(("drive-truck","truck37","city1-1","city1-2","city1")),3) occurs(action(("drive-truck","truck28","city10-1","city10-2","city10")),3) occurs(action(("fly-airplane","plane7","city2-2","city11-2")),3) occurs(action(("drive-truck","truck47","city11-1","city11-2","city11")),3) occurs(action(("unload-truck","package14","truck45","city9-2")),3) occurs(action(("unload-airplane","package20","plane1","city4-2")),3) occurs(action(("unload-airplane","package21","plane8","city1-2")),3) occurs(action(("unload-truck","package22","truck45","city9-2")),3) occurs(action(("unload-airplane","package25","plane1","city4-2")),3) occurs(action(("fly-airplane","plane4","city1-2","city9-2")),3) occurs(action(("fly-airplane","plane5","city10-2","city6-2")),3) occurs(action(("fly-airplane","plane6","city6-2","city9-2")),3) occurs(action(("drive-truck","truck36","city1-2","city1-1","city1")),3) occurs(action(("fly-airplane","plane3","city6-2","city11-2")),3) occurs(action(("drive-truck","truck30","city6-1","city6-2","city6")),3) occurs(action(("drive-truck","truck16","city2-2","city2-1","city2")),3) occurs(action(("load-truck","package13","truck11","city7-1")),3) occurs(action(("load-truck","package29","truck46","city10-1")),3) occurs(action(("drive-truck","truck39","city3-1","city3-2","city3")),3) occurs(action(("drive-truck","truck34","city7-1","city7-2","city7")),3) occurs(action(("drive-truck","truck43","city7-1","city7-2","city7")),3) occurs(action(("drive-truck","truck23","city5-1","city5-2","city5")),3) occurs(action(("unload-truck","package19","truck45","city9-2")),3) occurs(action(("unload-truck","package26","truck42","city6-2")),3) occurs(action(("drive-truck","truck9","city3-2","city3-1","city3")),3) occurs(action(("drive-truck","truck19","city8-1","city8-2","city8")),4) occurs(action(("fly-airplane","plane3","city11-2","city2-2")),4) occurs(action(("drive-truck","truck38","city2-1","city2-2","city2")),4) occurs(action(("load-truck","package20","truck21","city4-2")),4) occurs(action(("load-airplane","package22","plane6","city9-2")),4) occurs(action(("drive-truck","truck25","city10-1","city10-2","city10")),4) occurs(action(("drive-truck","truck46","city10-1","city10-2","city10")),4) occurs(action(("drive-truck","truck18","city4-2","city4-1","city4")),4) occurs(action(("load-truck","package25","truck21","city4-2")),4) occurs(action(("drive-truck","truck22","city9-2","city9-1","city9")),4) occurs(action(("drive-truck","truck13","city10-2","city10-1","city10")),4) occurs(action(("drive-truck","truck32","city10-2","city10-1","city10")),4) occurs(action(("drive-truck","truck41","city5-1","city5-2","city5")),4) occurs(action(("drive-truck","truck4","city8-2","city8-1","city8")),4) occurs(action(("unload-airplane","package16","plane7","city11-2")),4) occurs(action(("unload-truck","package23","truck37","city1-2")),4) occurs(action(("drive-truck","truck35","city4-1","city4-2","city4")),4) occurs(action(("unload-airplane","package28","plane4","city9-2")),4) occurs(action(("fly-airplane","plane1","city4-2","city9-2")),4) occurs(action(("fly-airplane","plane2","city6-2","city9-2")),4) occurs(action(("fly-airplane","plane8","city1-2","city6-2")),4) occurs(action(("drive-truck","truck28","city10-2","city10-1","city10")),4) occurs(action(("unload-truck","package27","truck12","city10-2")),4) occurs(action(("drive-truck","truck10","city2-2","city2-1","city2")),4) occurs(action(("load-airplane","package19","plane4","city9-2")),4) occurs(action(("load-airplane","package26","plane5","city6-2")),4) occurs(action(("drive-truck","truck17","city3-1","city3-2","city3")),4) occurs(action(("drive-truck","truck7","city3-1","city3-2","city3")),4) occurs(action(("drive-truck","truck5","city7-1","city7-2","city7")),4) occurs(action(("drive-truck","truck24","city6-2","city6-1","city6")),4) occurs(action(("drive-truck","truck42","city6-2","city6-1","city6")),4) occurs(action(("drive-truck","truck45","city9-2","city9-1","city9")),4) occurs(action(("drive-truck","truck31","city3-2","city3-1","city3")),4) occurs(action(("drive-truck","truck39","city3-2","city3-1","city3")),4) occurs(action(("unload-truck","package13","truck11","city7-1")),4) occurs(action(("drive-truck","truck9","city3-1","city3-2","city3")),4) occurs(action(("unload-airplane","package11","plane3","city2-2")),5) occurs(action(("unload-truck","package17","truck18","city4-1")),5) occurs(action(("load-airplane","package14","plane2","city9-2")),5) occurs(action(("drive-truck","truck44","city8-1","city8-2","city8")),5) occurs(action(("load-truck","package21","truck2","city1-2")),5) occurs(action(("fly-airplane","plane1","city9-2","city1-2")),5) occurs(action(("load-truck","package27","truck25","city10-2")),5) occurs(action(("fly-airplane","plane4","city9-2","city6-2")),5) occurs(action(("fly-airplane","plane5","city6-2","city9-2")),5) occurs(action(("fly-airplane","plane6","city9-2","city7-2")),5) occurs(action(("fly-airplane","plane7","city11-2","city9-2")),5) occurs(action(("unload-truck","package29","truck46","city10-2")),5) occurs(action(("drive-truck","truck37","city1-2","city1-1","city1")),5) occurs(action(("drive-truck","truck13","city10-1","city10-2","city10")),5) occurs(action(("drive-truck","truck32","city10-1","city10-2","city10")),5) occurs(action(("drive-truck","truck41","city5-2","city5-1","city5")),5) occurs(action(("fly-airplane","plane8","city6-2","city9-2")),5) occurs(action(("drive-truck","truck38","city2-2","city2-1","city2")),5) occurs(action(("drive-truck","truck1","city2-2","city2-1","city2")),5) occurs(action(("load-truck","package13","truck11","city7-1")),5) occurs(action(("drive-truck","truck39","city3-1","city3-2","city3")),5) occurs(action(("drive-truck","truck4","city8-1","city8-2","city8")),5) occurs(action(("drive-truck","truck31","city3-1","city3-2","city3")),5) occurs(action(("load-truck","package11","truck20","city2-2")),6) occurs(action(("load-airplane","package12","plane7","city9-2")),6) occurs(action(("fly-airplane","plane2","city9-2","city8-2")),6) occurs(action(("fly-airplane","plane3","city2-2","city8-2")),6) occurs(action(("load-airplane","package15","plane1","city1-2")),6) occurs(action(("load-truck","package16","truck47","city11-2")),6) occurs(action(("drive-truck","truck14","city6-2","city6-1","city6")),6) occurs(action(("drive-truck","truck29","city6-2","city6-1","city6")),6) occurs(action(("drive-truck","truck30","city6-2","city6-1","city6")),6) occurs(action(("drive-truck","truck3","city1-2","city1-1","city1")),6) occurs(action(("drive-truck","truck8","city1-2","city1-1","city1")),6) occurs(action(("drive-truck","truck12","city10-2","city10-1","city10")),6) occurs(action(("drive-truck","truck13","city10-2","city10-1","city10")),6) occurs(action(("drive-truck","truck32","city10-2","city10-1","city10")),6) occurs(action(("load-airplane","package28","plane7","city9-2")),6) occurs(action(("drive-truck","truck4","city8-2","city8-1","city8")),6) occurs(action(("drive-truck","truck6","city8-2","city8-1","city8")),6) occurs(action(("drive-truck","truck15","city2-2","city2-1","city2")),6) occurs(action(("unload-airplane","package18","plane7","city9-2")),6) occurs(action(("unload-airplane","package19","plane4","city6-2")),6) occurs(action(("drive-truck","truck42","city6-1","city6-2","city6")),6) occurs(action(("unload-truck","package20","truck21","city4-2")),6) occurs(action(("unload-truck","package25","truck21","city4-2")),6) occurs(action(("unload-airplane","package26","plane5","city9-2")),6) occurs(action(("drive-truck","truck45","city9-1","city9-2","city9")),6) occurs(action(("drive-truck","truck2","city1-2","city1-1","city1")),6) occurs(action(("drive-truck","truck25","city10-2","city10-1","city10")),6) occurs(action(("drive-truck","truck18","city4-1","city4-2","city4")),6) occurs(action(("drive-truck","truck44","city8-2","city8-1","city8")),6) occurs(action(("load-truck","package29","truck46","city10-2")),6) occurs(action(("drive-truck","truck31","city3-2","city3-1","city3")),6) occurs(action(("drive-truck","truck9","city3-2","city3-1","city3")),6) occurs(action(("drive-truck","truck5","city7-2","city7-1","city7")),6) occurs(action(("drive-truck","truck43","city7-2","city7-1","city7")),6) occurs(action(("drive-truck","truck34","city7-2","city7-1","city7")),6) occurs(action(("drive-truck","truck7","city3-2","city3-1","city3")),6) occurs(action(("drive-truck","truck39","city3-2","city3-1","city3")),6) occurs(action(("drive-truck","truck17","city3-2","city3-1","city3")),6) occurs(action(("drive-truck","truck11","city7-1","city7-2","city7")),6) occurs(action(("unload-airplane","package14","plane2","city8-2")),7) occurs(action(("unload-truck","package27","truck25","city10-1")),7) occurs(action(("drive-truck","truck26","city8-1","city8-2","city8")),7) occurs(action(("fly-airplane","plane1","city1-2","city2-2")),7) occurs(action(("load-truck","package19","truck42","city6-2")),7) occurs(action(("load-truck","package20","truck18","city4-2")),7) 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occurs(action(("drive-truck","truck30","city6-2","city6-1","city6")),10) occurs(action(("drive-truck","truck27","city10-1","city10-2","city10")),10) occurs(action(("drive-truck","truck6","city8-2","city8-1","city8")),10) occurs(action(("drive-truck","truck21","city4-1","city4-2","city4")),10) occurs(action(("drive-truck","truck14","city6-1","city6-2","city6")),10) occurs(action(("drive-truck","truck34","city7-1","city7-2","city7")),10) occurs(action(("drive-truck","truck24","city6-2","city6-1","city6")),10) +Solving Time: 0.52s +Memory: 186MB (+21MB) +SAT +SATISFIABLE + +Models : 1+ +Calls : 3 +Time : 3.475s (Solving: 0.49s 1st Model: 0.49s Unsat: 0.00s) +CPU Time : 3.410s + +Choices : 29771 +Conflicts : 350 (Analyzed: 350) +Restarts : 5 (Average: 70.00 Last: 21) +Model-Level : 906.0 +Problems : 3 (Average Length: 7.00 Splits: 0) +Lemmas : 350 (Deleted: 0) + Binary : 33 (Ratio: 9.43%) + Ternary : 32 (Ratio: 9.14%) + Conflict : 350 (Average Length: 38.8 Ratio: 100.00%) + Loop : 0 (Average Length: 0.0 Ratio: 0.00%) + Other : 0 (Average Length: 0.0 Ratio: 0.00%) +Backjumps : 350 (Average: 85.39 Max: 846 Sum: 29885) + Executed : 266 (Average: 82.51 Max: 846 Sum: 28877 Ratio: 96.63%) + Bounded : 84 (Average: 12.00 Max: 12 Sum: 1008 Ratio: 3.37%) + +Rules : 114601 +Atoms : 114601 +Bodies : 1 (Original: 0) +Tight : Yes +Variables : 98282 (Eliminated: 0 Frozen: 80329) +Constraints : 442525 (Binary: 95.1% Ternary: 3.7% Other: 1.2%) + +Memory Peak : 186MB +Max. Length : 10 steps +Sol. Length : 10 steps + +