(define (problem multirobot_79_10%_c5) (:domain multirobot) (:objects v0 r31 v1 r49 v2 r84 v3 v4 r44 v5 v6 r40 v7 r214 v8 v9 r222 v10 v11 r207 v12 r208 v13 r203 v14 v15 r120 v16 r160 v17 v18 r219 v19 r114 v20 r107 v21 r217 v22 v23 r122 v24 r276 v25 r140 v26 r271 v27 r213 v28 r50 v29 r86 v30 r136 v31 r254 v32 r264 v33 r243 v34 v35 r61 v36 r115 v37 v38 r99 v39 r274 v40 r141 v41 r146 v42 r159 v43 r116 v44 r280 v45 r196 v46 r76 v47 r126 v48 r52 v49 r139 v50 r89 v51 r288 v52 r73 v53 r142 v54 r242 v55 r261 v56 r125 v57 r265 v58 v59 r70 v60 v61 r275 v62 r167 v63 r266 v64 r175 v65 r170 v66 r238 v67 r253 v68 r59 v69 r147 v70 r221 v71 v72 v73 r96 v74 v75 r41 v76 r69 v77 r215 v78 v79 r237 v80 r194 v81 r255 v82 r224 v83 r63 v84 r101 v85 v86 r60 v87 r158 v88 r249 v89 r281 v90 v91 r260 v92 r187 v93 r165 v94 r42 v95 r82 v96 r91 v97 r258 v98 r129 v99 r112 v100 v101 r171 v102 r153 v103 r228 v104 r262 v105 r149 v106 r78 v107 r241 v108 r179 v109 r75 v110 r247 v111 r177 v112 r37 v113 r133 v114 r201 v115 r267 v116 r193 v117 r252 v118 r205 v119 r248 v120 r180 v121 v122 r216 v123 r225 v124 r39 v125 r55 v126 r104 v127 v128 r117 v129 r47 v130 r98 v131 r81 v132 r154 v133 r199 v134 r33 v135 r57 v136 r239 v137 r56 v138 r93 v139 r88 v140 r45 v141 r85 v142 r223 v143 r164 v144 r227 v145 r273 v146 r35 v147 r131 v148 r58 v149 r90 v150 r95 v151 r71 v152 r186 v153 v154 r287 v155 r100 v156 r211 v157 r200 v158 r286 v159 r176 v160 r72 v161 r161 v162 r277 v163 r270 v164 r188 v165 r278 v166 r102 v167 r123 v168 r192 v169 r172 v170 r184 v171 r210 v172 r51 v173 r113 v174 v175 r157 v176 r285 v177 r245 v178 r198 v179 r168 v180 r182 v181 r46 v182 r197 v183 r174 v184 v185 r269 v186 r156 v187 r236 v188 r251 v189 r209 v190 r259 v191 r190 v192 r246 v193 r220 v194 r64 v195 r166 v196 r244 v197 r137 v198 r135 v199 r134 v200 r127 v201 r282 v202 r150 v203 r54 v204 r256 v205 r67 v206 r121 v207 r34 v208 r178 v209 v210 r162 v211 r226 v212 r257 v213 r79 v214 r163 v215 r77 v216 r250 v217 r68 v218 r231 v219 r92 v220 r83 v221 r148 v222 r152 v223 r43 v224 r191 v225 r181 v226 r48 v227 r204 v228 v229 r195 v230 r233 v231 r109 v232 r108 v233 r38 v234 r87 v235 r155 v236 r105 v237 r124 v238 r283 v239 r169 v240 r128 v241 r212 v242 r119 v243 r103 v244 r183 v245 r94 v246 r185 v247 r111 v248 r229 v249 r234 v250 r240 v251 r138 v252 r151 v253 r263 v254 r65 v255 v256 r132 v257 v258 r97 v259 r62 v260 r74 v261 r110 v262 r202 v263 r230 v264 r66 v265 v266 r80 v267 r144 v268 v269 r218 v270 r106 v271 v272 r32 v273 r272 v274 r173 v275 r206 v276 r130 v277 r232 v278 r143 v279 r235 v280 r189 v281 v282 r118 v283 r53 v284 r145 v285 r284 v286 r36 v287 r279 v288 r268 ) (:init (at r31 v0) (at r49 v1) (at r84 v2) (free v3) (at r44 v4) (free v5) (at r40 v6) (at r214 v7) (free v8) (at r222 v9) (free v10) (at r207 v11) (at r208 v12) (at r203 v13) (free v14) (at r120 v15) (at r160 v16) (free v17) (at r219 v18) (at r114 v19) (at r107 v20) (at r217 v21) (free v22) (at r122 v23) (at r276 v24) (at r140 v25) (at r271 v26) (at r213 v27) (at r50 v28) (at r86 v29) (at r136 v30) (at r254 v31) (at r264 v32) (at r243 v33) (free v34) (at r61 v35) (at r115 v36) (free v37) (at r99 v38) (at r274 v39) (at r141 v40) (at r146 v41) (at r159 v42) (at r116 v43) (at r280 v44) (at r196 v45) (at r76 v46) (at r126 v47) (at r52 v48) (at r139 v49) (at r89 v50) (at r288 v51) (at r73 v52) (at r142 v53) (at r242 v54) (at r261 v55) (at r125 v56) (at r265 v57) (free v58) (at r70 v59) (free v60) (at r275 v61) (at r167 v62) (at r266 v63) (at r175 v64) (at r170 v65) (at r238 v66) (at r253 v67) (at r59 v68) (at r147 v69) (at r221 v70) (free v71) (free v72) (at r96 v73) (free v74) (at r41 v75) (at r69 v76) (at r215 v77) (free v78) (at r237 v79) (at r194 v80) (at r255 v81) (at r224 v82) (at r63 v83) (at r101 v84) (free v85) (at r60 v86) (at r158 v87) (at r249 v88) (at r281 v89) (free v90) (at r260 v91) (at r187 v92) (at r165 v93) (at r42 v94) (at r82 v95) (at r91 v96) (at r258 v97) (at r129 v98) (at r112 v99) (free v100) (at r171 v101) (at r153 v102) (at r228 v103) (at r262 v104) (at r149 v105) (at r78 v106) (at r241 v107) (at r179 v108) (at r75 v109) (at r247 v110) (at r177 v111) (at r37 v112) (at r133 v113) (at r201 v114) (at r267 v115) (at r193 v116) (at r252 v117) (at r205 v118) (at r248 v119) (at r180 v120) (free v121) (at r216 v122) (at r225 v123) (at r39 v124) (at r55 v125) (at r104 v126) (free v127) (at r117 v128) (at r47 v129) (at r98 v130) (at r81 v131) (at r154 v132) (at r199 v133) (at r33 v134) (at r57 v135) (at r239 v136) (at r56 v137) (at r93 v138) (at r88 v139) (at r45 v140) (at r85 v141) (at r223 v142) (at r164 v143) (at r227 v144) (at r273 v145) (at r35 v146) (at r131 v147) (at r58 v148) (at r90 v149) (at r95 v150) (at r71 v151) (at r186 v152) (free v153) (at r287 v154) (at r100 v155) (at r211 v156) (at r200 v157) (at r286 v158) (at r176 v159) (at r72 v160) (at r161 v161) (at r277 v162) (at r270 v163) (at r188 v164) (at r278 v165) (at r102 v166) (at r123 v167) (at r192 v168) (at r172 v169) (at r184 v170) (at r210 v171) (at r51 v172) (at r113 v173) (free v174) (at r157 v175) (at r285 v176) (at r245 v177) (at r198 v178) (at r168 v179) (at r182 v180) (at r46 v181) (at r197 v182) (at r174 v183) (free v184) (at r269 v185) (at r156 v186) (at r236 v187) (at r251 v188) (at r209 v189) (at r259 v190) (at r190 v191) (at r246 v192) (at r220 v193) (at r64 v194) (at r166 v195) (at r244 v196) (at r137 v197) (at r135 v198) (at r134 v199) (at r127 v200) (at r282 v201) (at r150 v202) (at r54 v203) (at r256 v204) (at r67 v205) (at r121 v206) (at r34 v207) (at r178 v208) (free v209) (at r162 v210) (at r226 v211) (at r257 v212) (at r79 v213) (at r163 v214) (at r77 v215) (at r250 v216) (at r68 v217) (at r231 v218) (at r92 v219) (at r83 v220) (at r148 v221) (at r152 v222) (at r43 v223) (at r191 v224) (at r181 v225) (at r48 v226) (at r204 v227) (free v228) (at r195 v229) (at r233 v230) (at r109 v231) (at r108 v232) (at r38 v233) (at r87 v234) (at r155 v235) (at r105 v236) (at r124 v237) (at r283 v238) (at r169 v239) (at r128 v240) (at r212 v241) (at r119 v242) (at r103 v243) (at r183 v244) (at r94 v245) (at r185 v246) (at r111 v247) (at r229 v248) (at r234 v249) (at r240 v250) (at r138 v251) (at r151 v252) (at r263 v253) (at r65 v254) (free v255) (at r132 v256) (free v257) (at r97 v258) (at r62 v259) (at r74 v260) (at r110 v261) (at r202 v262) (at r230 v263) (at r66 v264) (free v265) (at r80 v266) (at r144 v267) (free v268) (at r218 v269) (at r106 v270) (free v271) (at r32 v272) (at r272 v273) (at r173 v274) (at r206 v275) (at r130 v276) (at r232 v277) (at r143 v278) (at r235 v279) (at r189 v280) (free v281) (at r118 v282) (at r53 v283) (at r145 v284) (at r284 v285) (at r36 v286) (at r279 v287) (at r268 v288) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v10) (adjacent v0 v133) (adjacent v1 v2) (adjacent v1 v13) (adjacent v1 v18) (adjacent v1 v32) (adjacent v1 v81) (adjacent v1 v158) (adjacent v2 v3) (adjacent v2 v9) (adjacent v3 v4) (adjacent v3 v24) (adjacent v3 v31) (adjacent v3 v64) (adjacent v3 v123) (adjacent v4 v5) (adjacent v4 v19) (adjacent v4 v39) (adjacent v4 v82) (adjacent v4 v245) (adjacent v5 v6) (adjacent v6 v7) (adjacent v7 v8) (adjacent v7 v77) (adjacent v8 v9) (adjacent v8 v115) (adjacent v9 v14) (adjacent v10 v11) (adjacent v10 v25) (adjacent v10 v89) (adjacent v11 v12) (adjacent v11 v15) (adjacent v11 v119) (adjacent v11 v182) (adjacent v12 v13) (adjacent v13 v14) (adjacent v13 v206) (adjacent v14 v20) (adjacent v14 v29) (adjacent v14 v137) (adjacent v15 v16) (adjacent v16 v17) (adjacent v16 v232) (adjacent v17 v18) (adjacent v17 v117) (adjacent v17 v251) (adjacent v18 v26) (adjacent v18 v38) (adjacent v18 v46) (adjacent v19 v20) (adjacent v19 v21) (adjacent v20 v30) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v25) (adjacent v22 v114) (adjacent v22 v213) (adjacent v23 v24) (adjacent v23 v183) (adjacent v24 v40) (adjacent v24 v174) (adjacent v25 v45) (adjacent v26 v27) (adjacent v26 v199) (adjacent v26 v206) (adjacent v26 v261) (adjacent v27 v28) (adjacent v27 v36) (adjacent v28 v29) (adjacent v28 v51) (adjacent v28 v58) (adjacent v28 v233) (adjacent v29 v35) (adjacent v29 v193) (adjacent v29 v285) (adjacent v30 v31) (adjacent v30 v59) (adjacent v30 v176) (adjacent v32 v33) (adjacent v33 v34) (adjacent v33 v68) (adjacent v33 v76) (adjacent v33 v205) (adjacent v34 v35) (adjacent v35 v39) (adjacent v35 v53) (adjacent v36 v37) (adjacent v36 v102) (adjacent v37 v38) (adjacent v37 v69) (adjacent v37 v218) (adjacent v38 v50) (adjacent v39 v180) (adjacent v40 v41) (adjacent v41 v42) (adjacent v41 v63) (adjacent v41 v146) (adjacent v42 v43) (adjacent v42 v198) (adjacent v43 v44) (adjacent v44 v45) (adjacent v44 v75) (adjacent v45 v129) (adjacent v46 v47) (adjacent v47 v48) (adjacent v48 v49) (adjacent v48 v90) (adjacent v49 v50) (adjacent v49 v54) (adjacent v50 v103) (adjacent v50 v147) (adjacent v50 v214) (adjacent v51 v52) (adjacent v51 v269) (adjacent v52 v53) (adjacent v52 v222) (adjacent v52 v237) (adjacent v53 v172) (adjacent v54 v55) (adjacent v55 v56) (adjacent v55 v84) (adjacent v56 v57) (adjacent v56 v78) (adjacent v57 v58) (adjacent v59 v60) (adjacent v59 v67) (adjacent v60 v61) (adjacent v60 v68) (adjacent v61 v62) (adjacent v61 v120) (adjacent v61 v152) (adjacent v62 v63) (adjacent v63 v76) (adjacent v63 v94) (adjacent v64 v65) (adjacent v65 v66) (adjacent v65 v143) (adjacent v66 v67) (adjacent v66 v116) (adjacent v66 v199) (adjacent v68 v130) (adjacent v69 v70) (adjacent v69 v93) (adjacent v69 v138) (adjacent v70 v71) (adjacent v71 v72) (adjacent v71 v79) (adjacent v72 v73) (adjacent v72 v110) (adjacent v73 v74) (adjacent v73 v252) (adjacent v74 v75) (adjacent v74 v200) (adjacent v74 v207) (adjacent v75 v273) (adjacent v76 v219) (adjacent v76 v226) (adjacent v77 v78) (adjacent v77 v134) (adjacent v77 v188) (adjacent v78 v183) (adjacent v78 v184) (adjacent v79 v80) (adjacent v79 v101) (adjacent v80 v81) (adjacent v81 v83) (adjacent v82 v83) (adjacent v84 v85) (adjacent v85 v86) (adjacent v86 v87) (adjacent v86 v100) (adjacent v86 v233) (adjacent v87 v88) (adjacent v88 v89) (adjacent v88 v124) (adjacent v90 v91) (adjacent v91 v92) (adjacent v91 v153) (adjacent v92 v93) (adjacent v94 v95) (adjacent v95 v96) (adjacent v95 v167) (adjacent v96 v97) (adjacent v97 v98) (adjacent v98 v99) (adjacent v98 v279) (adjacent v99 v100) (adjacent v99 v181) (adjacent v100 v109) (adjacent v101 v102) (adjacent v103 v104) (adjacent v104 v105) (adjacent v104 v282) (adjacent v105 v106) (adjacent v106 v107) (adjacent v106 v260) (adjacent v107 v108) (adjacent v108 v109) (adjacent v110 v111) (adjacent v110 v258) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v114) (adjacent v115 v116) (adjacent v115 v245) (adjacent v116 v244) (adjacent v117 v118) (adjacent v117 v168) (adjacent v118 v119) (adjacent v118 v159) (adjacent v119 v146) (adjacent v119 v274) (adjacent v120 v121) (adjacent v120 v161) (adjacent v121 v122) (adjacent v121 v135) (adjacent v122 v123) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v127 v128) (adjacent v128 v129) (adjacent v129 v241) (adjacent v129 v257) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v132 v145) (adjacent v132 v160) (adjacent v132 v175) (adjacent v132 v227) (adjacent v133 v136) (adjacent v134 v135) (adjacent v135 v144) (adjacent v136 v137) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v143) (adjacent v142 v221) (adjacent v143 v240) (adjacent v144 v145) (adjacent v145 v182) (adjacent v147 v148) (adjacent v147 v192) (adjacent v147 v283) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v155) (adjacent v154 v248) (adjacent v155 v156) (adjacent v155 v171) (adjacent v156 v157) (adjacent v157 v158) (adjacent v159 v160) (adjacent v161 v162) (adjacent v162 v163) (adjacent v162 v234) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v167) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v181) (adjacent v176 v177) (adjacent v177 v178) (adjacent v177 v187) (adjacent v177 v278) (adjacent v178 v179) (adjacent v179 v180) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v190 v251) (adjacent v191 v192) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v196 v270) (adjacent v197 v198) (adjacent v200 v201) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v207 v208) (adjacent v207 v250) (adjacent v208 v209) (adjacent v208 v265) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v214 v215) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v217 v249) (adjacent v219 v220) (adjacent v219 v264) (adjacent v220 v221) (adjacent v220 v246) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v230 v238) (adjacent v231 v232) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v238 v239) (adjacent v239 v240) (adjacent v239 v284) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v245 v288) (adjacent v246 v247) (adjacent v247 v248) (adjacent v249 v250) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v258 v259) (adjacent v259 v260) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v274 v275) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v283 v284) (adjacent v285 v286) (adjacent v286 v287) (adjacent v287 v288) ) (:goal (and (at r77 v0) (at r227 v1) (at r247 v2) (at r44 v3) (at r283 v4) (free v5) (at r285 v6) (at r288 v7) (free v8) (free v9) (at r214 v10) (at r180 v11) (at r200 v12) (at r241 v13) (at r276 v14) (at r188 v15) (at r97 v16) (at r65 v17) (at r106 v18) (at r107 v19) (at r91 v20) (at r238 v21) (at r175 v22) (at r99 v23) (free v24) (at r236 v25) (at r269 v26) (at r286 v27) (at r129 v28) (at r95 v29) (at r207 v30) (at r72 v31) (at r135 v32) (at r267 v33) (at r131 v34) (at r158 v35) (at r126 v36) (at r216 v37) (at r204 v38) (at r177 v39) (at r87 v40) (at r114 v41) (at r253 v42) (at r130 v43) (at r195 v44) (at r38 v45) (at r64 v46) (at r169 v47) (at r280 v48) (at r208 v49) (at r213 v50) (at r226 v51) (free v52) (at r122 v53) (at r189 v54) (at r215 v55) (at r69 v56) (at r150 v57) (at r219 v58) (at r74 v59) (at r42 v60) (at r230 v61) (at r184 v62) (free v63) (at r190 v64) (at r209 v65) (at r192 v66) (at r149 v67) (at r82 v68) (at r251 v69) (at r142 v70) (at r260 v71) (at r244 v72) (at r161 v73) (free v74) (at r201 v75) (free v76) (at r113 v77) (at r57 v78) (at r146 v79) (at r139 v80) (at r47 v81) (at r163 v82) (free v83) (at r86 v84) (free v85) (at r157 v86) (at r172 v87) (at r104 v88) (at r281 v89) (at r264 v90) (at r40 v91) (free v92) (at r46 v93) (at r250 v94) (at r73 v95) (at r275 v96) (at r254 v97) (at r105 v98) (at r63 v99) (at r278 v100) (at r266 v101) (at r71 v102) (at r143 v103) (at r258 v104) (at r80 v105) (at r108 v106) (at r233 v107) (at r218 v108) (at r54 v109) (at r165 v110) (at r210 v111) (at r75 v112) (at r89 v113) (free v114) (at r262 v115) (free v116) (at r153 v117) (at r179 v118) (at r156 v119) (at r94 v120) (at r272 v121) (at r115 v122) (at r274 v123) (free v124) (at r83 v125) (at r152 v126) (at r81 v127) (at r56 v128) (at r197 v129) (at r121 v130) (at r140 v131) (at r43 v132) (at r282 v133) (at r67 v134) (at r35 v135) (at r36 v136) (at r167 v137) (at r191 v138) (at r151 v139) (at r173 v140) (at r127 v141) (at r88 v142) (at r154 v143) (at r256 v144) (at r242 v145) (at r193 v146) (free v147) (at r120 v148) (at r220 v149) (at r235 v150) (at r170 v151) (at r137 v152) (at r202 v153) (at r84 v154) (at r147 v155) (at r222 v156) (at r225 v157) (at r263 v158) (free v159) (at r279 v160) (at r62 v161) (at r257 v162) (at r240 v163) (at r93 v164) (at r212 v165) (at r58 v166) (at r181 v167) (at r166 v168) (free v169) (at r239 v170) (free v171) (at r32 v172) (at r187 v173) (at r101 v174) (at r45 v175) (at r229 v176) (free v177) (at r160 v178) (at r159 v179) (at r109 v180) (at r217 v181) (at r90 v182) (at r37 v183) (free v184) (at r61 v185) (at r155 v186) (at r211 v187) (at r261 v188) (at r221 v189) (at r171 v190) (at r231 v191) (at r60 v192) (free v193) (at r110 v194) (at r168 v195) (at r96 v196) (at r119 v197) (free v198) (free v199) (at r48 v200) (at r52 v201) (at r134 v202) (at r117 v203) (at r183 v204) (at r268 v205) (at r182 v206) (free v207) (at r76 v208) (at r270 v209) (at r138 v210) (at r78 v211) (at r252 v212) (at r248 v213) (at r245 v214) (at r124 v215) (at r133 v216) (at r49 v217) (at r234 v218) (at r243 v219) (at r102 v220) (at r196 v221) (at r103 v222) (at r237 v223) (free v224) (at r98 v225) (at r50 v226) (at r34 v227) (at r112 v228) (at r232 v229) (at r116 v230) (at r31 v231) (at r132 v232) (at r118 v233) (at r85 v234) (free v235) (at r66 v236) (at r271 v237) (at r92 v238) (at r284 v239) (at r259 v240) (at r144 v241) (at r186 v242) (at r41 v243) (at r206 v244) (free v245) (at r55 v246) (at r255 v247) (at r59 v248) (at r164 v249) (at r203 v250) (at r249 v251) (at r228 v252) (free v253) (at r178 v254) (at r111 v255) (at r273 v256) (at r162 v257) (at r174 v258) (free v259) (free v260) (at r39 v261) (at r79 v262) (at r176 v263) (at r33 v264) (at r223 v265) (at r123 v266) (at r51 v267) (at r53 v268) (at r224 v269) (at r199 v270) (at r287 v271) (free v272) (at r246 v273) (at r198 v274) (at r205 v275) (at r141 v276) (at r145 v277) (at r136 v278) (at r125 v279) (at r148 v280) (at r265 v281) (at r100 v282) (at r185 v283) (at r70 v284) (at r68 v285) (at r277 v286) (at r194 v287) (at r128 v288) ) ) )