(define (problem multirobot_80_10%_c2) (:domain multirobot) (:objects v0 r111 v1 v2 r278 v3 r314 v4 r33 v5 r259 v6 r207 v7 v8 r282 v9 r293 v10 r198 v11 v12 r87 v13 r266 v14 v15 r228 v16 r133 v17 r299 v18 r298 v19 r55 v20 r173 v21 r102 v22 r221 v23 r165 v24 r281 v25 v26 r115 v27 r261 v28 r53 v29 r123 v30 r91 v31 r175 v32 r182 v33 r83 v34 r292 v35 r306 v36 r84 v37 r196 v38 r214 v39 r56 v40 v41 r225 v42 r272 v43 r29 v44 r303 v45 r116 v46 r105 v47 r67 v48 r71 v49 r164 v50 r92 v51 r240 v52 r50 v53 r258 v54 r190 v55 r108 v56 r249 v57 r125 v58 r253 v59 r151 v60 v61 r47 v62 r152 v63 r127 v64 r90 v65 r302 v66 r80 v67 r189 v68 r193 v69 r77 v70 r119 v71 r95 v72 r160 v73 r241 v74 r268 v75 r218 v76 r98 v77 r199 v78 r131 v79 r319 v80 v81 v82 r185 v83 r178 v84 r146 v85 r209 v86 r144 v87 r318 v88 r147 v89 r159 v90 r32 v91 r245 v92 r38 v93 r61 v94 r254 v95 r96 v96 r289 v97 r54 v98 r210 v99 r201 v100 r250 v101 r309 v102 r187 v103 r69 v104 r219 v105 r156 v106 r260 v107 r130 v108 r273 v109 r73 v110 r313 v111 r89 v112 r126 v113 r220 v114 r265 v115 r204 v116 r45 v117 r203 v118 r276 v119 r216 v120 r188 v121 r257 v122 r132 v123 r277 v124 r135 v125 r271 v126 v127 r128 v128 v129 r166 v130 v131 r117 v132 r230 v133 r75 v134 r247 v135 r168 v136 r195 v137 v138 r280 v139 r233 v140 r290 v141 r307 v142 r104 v143 r184 v144 r114 v145 r310 v146 r44 v147 r283 v148 r212 v149 r275 v150 r41 v151 r205 v152 r93 v153 r74 v154 r284 v155 r321 v156 r167 v157 r211 v158 r79 v159 v160 r140 v161 r270 v162 r81 v163 r48 v164 r63 v165 v166 r237 v167 r316 v168 r143 v169 r158 v170 r163 v171 v172 r30 v173 r305 v174 r76 v175 r52 v176 r101 v177 r294 v178 r107 v179 r288 v180 r59 v181 r231 v182 r157 v183 r94 v184 r180 v185 r197 v186 v187 r235 v188 r232 v189 r174 v190 r35 v191 r312 v192 r286 v193 r263 v194 r291 v195 r244 v196 r255 v197 r103 v198 r112 v199 r153 v200 r206 v201 r239 v202 r202 v203 r100 v204 r223 v205 r308 v206 r60 v207 r138 v208 r85 v209 r234 v210 r110 v211 r301 v212 r129 v213 r295 v214 r57 v215 r238 v216 r155 v217 r134 v218 v219 r136 v220 v221 r43 v222 v223 r183 v224 r68 v225 r311 v226 r297 v227 r171 v228 r226 v229 r124 v230 r222 v231 r251 v232 r99 v233 r40 v234 r109 v235 r320 v236 r246 v237 r121 v238 r300 v239 r97 v240 r154 v241 v242 r267 v243 v244 r181 v245 r242 v246 r49 v247 r269 v248 r46 v249 r145 v250 r139 v251 r65 v252 r179 v253 r141 v254 r191 v255 r64 v256 r192 v257 r82 v258 r36 v259 r252 v260 r315 v261 r51 v262 v263 r161 v264 r72 v265 r37 v266 r142 v267 v268 r322 v269 r208 v270 r31 v271 r229 v272 r215 v273 r243 v274 r186 v275 r106 v276 r137 v277 r170 v278 r224 v279 r213 v280 r236 v281 r217 v282 r227 v283 r62 v284 r86 v285 r113 v286 r200 v287 r162 v288 r274 v289 r122 v290 r169 v291 r39 v292 r262 v293 r172 v294 v295 r177 v296 v297 r279 v298 r66 v299 r42 v300 r88 v301 r120 v302 v303 r264 v304 r304 v305 r248 v306 r287 v307 r70 v308 r118 v309 r149 v310 r150 v311 r194 v312 r78 v313 r317 v314 r58 v315 r285 v316 r176 v317 v318 r34 v319 v320 r296 v321 r148 v322 r256 ) (:init (at r111 v0) (free v1) (at r278 v2) (at r314 v3) (at r33 v4) (at r259 v5) (at r207 v6) (free v7) (at r282 v8) (at r293 v9) (at r198 v10) (free v11) (at r87 v12) (at r266 v13) (free v14) (at r228 v15) (at r133 v16) (at r299 v17) (at r298 v18) (at r55 v19) (at r173 v20) (at r102 v21) (at r221 v22) (at r165 v23) (at r281 v24) (free v25) (at r115 v26) (at r261 v27) (at r53 v28) (at r123 v29) (at r91 v30) (at r175 v31) (at r182 v32) (at r83 v33) (at r292 v34) (at r306 v35) (at r84 v36) (at r196 v37) (at r214 v38) (at r56 v39) (free v40) (at r225 v41) (at r272 v42) (at r29 v43) (at r303 v44) (at r116 v45) (at r105 v46) (at r67 v47) (at r71 v48) (at r164 v49) (at r92 v50) (at r240 v51) (at r50 v52) (at r258 v53) (at r190 v54) (at r108 v55) (at r249 v56) (at r125 v57) (at r253 v58) (at r151 v59) (free v60) (at r47 v61) (at r152 v62) (at r127 v63) (at r90 v64) (at r302 v65) (at r80 v66) (at r189 v67) (at r193 v68) (at r77 v69) (at r119 v70) (at r95 v71) (at r160 v72) (at r241 v73) (at r268 v74) (at r218 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v145) (at r44 v146) (at r283 v147) (at r212 v148) (at r275 v149) (at r41 v150) (at r205 v151) (at r93 v152) (at r74 v153) (at r284 v154) (at r321 v155) (at r167 v156) (at r211 v157) (at r79 v158) (free v159) (at r140 v160) (at r270 v161) (at r81 v162) (at r48 v163) (at r63 v164) (free v165) (at r237 v166) (at r316 v167) (at r143 v168) (at r158 v169) (at r163 v170) (free v171) (at r30 v172) (at r305 v173) (at r76 v174) (at r52 v175) (at r101 v176) (at r294 v177) (at r107 v178) (at r288 v179) (at r59 v180) (at r231 v181) (at r157 v182) (at r94 v183) (at r180 v184) (at r197 v185) (free v186) (at r235 v187) (at r232 v188) (at r174 v189) (at r35 v190) (at r312 v191) (at r286 v192) (at r263 v193) (at r291 v194) (at r244 v195) (at r255 v196) (at r103 v197) (at r112 v198) (at r153 v199) (at r206 v200) (at r239 v201) (at r202 v202) (at r100 v203) (at r223 v204) (at r308 v205) (at r60 v206) (at r138 v207) (at r85 v208) (at r234 v209) (at r110 v210) (at r301 v211) (at r129 v212) (at r295 v213) 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v48) (adjacent v6 v298) (adjacent v7 v272) (adjacent v8 v9) (adjacent v8 v119) (adjacent v9 v10) (adjacent v9 v23) (adjacent v10 v11) (adjacent v10 v43) (adjacent v10 v295) (adjacent v11 v12) (adjacent v11 v152) (adjacent v12 v13) (adjacent v12 v24) (adjacent v12 v38) (adjacent v13 v87) (adjacent v14 v15) (adjacent v14 v200) (adjacent v15 v16) (adjacent v15 v48) (adjacent v16 v17) (adjacent v16 v80) (adjacent v17 v18) (adjacent v17 v70) (adjacent v17 v125) (adjacent v18 v19) (adjacent v18 v21) (adjacent v18 v162) (adjacent v18 v296) (adjacent v19 v20) (adjacent v19 v31) (adjacent v19 v62) (adjacent v19 v299) (adjacent v20 v78) (adjacent v20 v87) (adjacent v21 v22) (adjacent v21 v94) (adjacent v21 v111) (adjacent v21 v206) (adjacent v22 v23) (adjacent v22 v27) (adjacent v22 v69) (adjacent v22 v88) (adjacent v23 v26) (adjacent v24 v25) (adjacent v25 v26) (adjacent v25 v175) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v181) (adjacent v29 v30) (adjacent v29 v55) (adjacent v31 v32) (adjacent v31 v250) (adjacent v31 v258) (adjacent v32 v33) (adjacent v33 v34) (adjacent v33 v49) (adjacent v33 v126) (adjacent v34 v35) (adjacent v35 v36) (adjacent v35 v47) (adjacent v35 v192) (adjacent v35 v199) (adjacent v36 v37) (adjacent v36 v44) (adjacent v37 v104) (adjacent v37 v188) (adjacent v38 v39) (adjacent v39 v40) (adjacent v40 v41) (adjacent v40 v56) (adjacent v40 v70) (adjacent v40 v138) (adjacent v41 v42) (adjacent v41 v244) (adjacent v42 v43) (adjacent v42 v101) (adjacent v42 v154) (adjacent v43 v77) (adjacent v43 v86) (adjacent v43 v112) (adjacent v44 v45) (adjacent v45 v46) (adjacent v45 v296) (adjacent v46 v47) (adjacent v46 v100) (adjacent v46 v238) (adjacent v48 v95) (adjacent v48 v126) (adjacent v49 v50) (adjacent v50 v51) (adjacent v50 v113) (adjacent v51 v52) (adjacent v51 v63) (adjacent v52 v53) (adjacent v52 v163) (adjacent v53 v54) (adjacent v54 v55) (adjacent v54 v147) (adjacent v56 v57) (adjacent v56 v164) (adjacent v57 v58) (adjacent v57 v71) (adjacent v58 v59) (adjacent v58 v163) (adjacent v59 v60) (adjacent v60 v61) (adjacent v60 v79) (adjacent v60 v169) (adjacent v61 v62) (adjacent v61 v193) (adjacent v63 v64) (adjacent v64 v65) (adjacent v64 v322) (adjacent v65 v66) (adjacent v66 v67) (adjacent v66 v243) (adjacent v67 v68) (adjacent v67 v160) (adjacent v68 v69) (adjacent v68 v179) (adjacent v71 v72) (adjacent v72 v73) (adjacent v72 v105) (adjacent v73 v74) (adjacent v73 v162) (adjacent v74 v75) (adjacent v75 v76) (adjacent v76 v77) (adjacent v78 v79) (adjacent v79 v160) (adjacent v80 v81) (adjacent v80 v212) (adjacent v80 v304) (adjacent v81 v82) (adjacent v82 v83) (adjacent v83 v84) (adjacent v83 v290) (adjacent v84 v85) (adjacent v84 v112) (adjacent v84 v161) (adjacent v85 v86) (adjacent v86 v220) (adjacent v88 v89) (adjacent v88 v285) (adjacent v89 v90) (adjacent v89 v139) (adjacent v90 v91) (adjacent v91 v92) (adjacent v91 v236) (adjacent v92 v93) (adjacent v93 v94) (adjacent v93 v252) (adjacent v94 v131) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v132) (adjacent v99 v159) (adjacent v99 v284) (adjacent v100 v303) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v104 v145) (adjacent v105 v106) (adjacent v106 v107) (adjacent v106 v146) (adjacent v107 v108) (adjacent v107 v127) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v232) (adjacent v113 v114) (adjacent v114 v115) (adjacent v115 v116) (adjacent v115 v144) (adjacent v115 v197) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v143) (adjacent v119 v120) (adjacent v120 v121) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v259) (adjacent v124 v125) (adjacent v124 v315) (adjacent v127 v128) (adjacent v128 v129) (adjacent v128 v272) (adjacent v129 v130) (adjacent v130 v131) (adjacent v132 v133) (adjacent v132 v198) (adjacent v133 v134) (adjacent v133 v279) (adjacent v134 v135) (adjacent v135 v136) (adjacent v135 v242) (adjacent v136 v137) (adjacent v137 v138) (adjacent v137 v207) (adjacent v138 v219) (adjacent v139 v140) (adjacent v139 v146) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v161) (adjacent v142 v143) (adjacent v142 v273) (adjacent v143 v153) (adjacent v144 v145) (adjacent v144 v197) (adjacent v145 v178) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v149 v227) (adjacent v149 v284) (adjacent v150 v151) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v191) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v162 v170) (adjacent v162 v265) (adjacent v163 v233) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v173) (adjacent v172 v253) (adjacent v173 v174) (adjacent v173 v315) (adjacent v174 v175) (adjacent v175 v187) (adjacent v175 v226) (adjacent v176 v177) (adjacent v177 v178) (adjacent v179 v180) (adjacent v180 v181) (adjacent v180 v182) (adjacent v180 v190) (adjacent v181 v213) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v186 v283) (adjacent v188 v189) (adjacent v189 v190) (adjacent v191 v192) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v225) (adjacent v196 v259) (adjacent v198 v199) (adjacent v200 v201) (adjacent v201 v202) (adjacent v201 v286) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v204 v237) (adjacent v205 v206) (adjacent v207 v208) (adjacent v208 v209) (adjacent v209 v210) (adjacent v209 v314) (adjacent v210 v211) (adjacent v210 v228) (adjacent v211 v212) (adjacent v213 v214) (adjacent v213 v251) (adjacent v214 v215) (adjacent v214 v285) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v220 v221) (adjacent v220 v245) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v227) (adjacent v225 v297) (adjacent v226 v237) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v232) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v243 v244) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v251 v252) (adjacent v253 v254) (adjacent v253 v264) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v258) (adjacent v260 v261) (adjacent v260 v280) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v268 v289) (adjacent v269 v270) (adjacent v270 v271) (adjacent v273 v274) (adjacent v274 v275) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v308) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v286 v287) (adjacent v286 v309) (adjacent v287 v288) (adjacent v288 v289) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) (adjacent v294 v295) (adjacent v296 v316) (adjacent v297 v298) (adjacent v299 v300) (adjacent v300 v301) (adjacent v301 v302) (adjacent v302 v303) (adjacent v304 v305) (adjacent v305 v306) (adjacent v306 v307) (adjacent v307 v308) (adjacent v309 v310) (adjacent v310 v311) (adjacent v311 v312) (adjacent v312 v313) (adjacent v313 v314) (adjacent v316 v317) (adjacent v317 v318) (adjacent v318 v319) (adjacent v319 v320) (adjacent v320 v321) (adjacent v321 v322) ) (:goal (and (at r93 v0) (at r183 v1) (at r170 v2) (at r258 v3) (at r263 v4) (at r222 v5) (at r54 v6) (at r264 v7) (at r35 v8) (at r265 v9) (at r219 v10) (free v11) (at r41 v12) (at r266 v13) (at r43 v14) (at r167 v15) (at r135 v16) (at r256 v17) (at r275 v18) (at r261 v19) (at r224 v20) (at 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