(define (problem multirobot_80_10%_c4) (:domain multirobot) (:objects v0 r189 v1 r225 v2 r42 v3 r110 v4 r259 v5 r106 v6 r183 v7 r157 v8 r211 v9 r256 v10 v11 r258 v12 v13 r96 v14 r274 v15 r199 v16 r201 v17 r230 v18 r172 v19 r145 v20 r126 v21 r205 v22 r262 v23 r51 v24 r125 v25 r236 v26 r192 v27 r91 v28 r102 v29 r251 v30 r257 v31 r105 v32 r67 v33 r245 v34 r232 v35 r156 v36 r184 v37 r212 v38 r194 v39 r35 v40 r62 v41 v42 r151 v43 r279 v44 r253 v45 r65 v46 v47 r163 v48 r80 v49 r49 v50 r196 v51 r226 v52 r140 v53 r61 v54 r186 v55 v56 v57 v58 r214 v59 r149 v60 r217 v61 r249 v62 r239 v63 r41 v64 r57 v65 r88 v66 r195 v67 r246 v68 r64 v69 r159 v70 r44 v71 v72 r237 v73 r252 v74 r266 v75 r129 v76 r89 v77 r36 v78 r37 v79 r241 v80 r220 v81 r146 v82 r202 v83 v84 r227 v85 r84 v86 v87 r54 v88 r104 v89 r277 v90 r86 v91 r179 v92 r97 v93 r173 v94 r38 v95 r34 v96 r160 v97 r250 v98 r229 v99 v100 r39 v101 r52 v102 r187 v103 r182 v104 r118 v105 r206 v106 r153 v107 r60 v108 r56 v109 r78 v110 v111 r48 v112 r111 v113 r143 v114 r215 v115 r276 v116 r233 v117 r115 v118 r76 v119 v120 r99 v121 r124 v122 r162 v123 r275 v124 r32 v125 r165 v126 r69 v127 v128 r134 v129 r132 v130 r30 v131 v132 r261 v133 r40 v134 r204 v135 r148 v136 r273 v137 r144 v138 r221 v139 r265 v140 r66 v141 r210 v142 r82 v143 r101 v144 r228 v145 r234 v146 r119 v147 r58 v148 r112 v149 r223 v150 r141 v151 r190 v152 r63 v153 r43 v154 r47 v155 r139 v156 r116 v157 v158 r128 v159 r174 v160 v161 r135 v162 r55 v163 r176 v164 r46 v165 r267 v166 r33 v167 r138 v168 r114 v169 r208 v170 r166 v171 r150 v172 v173 r171 v174 r178 v175 r107 v176 r203 v177 r168 v178 r147 v179 r209 v180 r59 v181 r167 v182 r188 v183 r164 v184 r109 v185 r193 v186 r127 v187 r207 v188 r75 v189 r74 v190 v191 r68 v192 r50 v193 r185 v194 r70 v195 v196 r87 v197 r272 v198 r198 v199 r244 v200 r81 v201 r72 v202 r175 v203 r77 v204 r191 v205 r155 v206 r98 v207 r90 v208 r83 v209 r216 v210 r219 v211 r254 v212 v213 v214 v215 r79 v216 r142 v217 r137 v218 v219 r161 v220 r92 v221 v222 r260 v223 r224 v224 r53 v225 v226 r121 v227 r71 v228 r218 v229 r197 v230 r269 v231 r222 v232 r100 v233 r247 v234 r255 v235 r240 v236 r180 v237 r231 v238 r108 v239 r94 v240 r103 v241 r117 v242 r113 v243 v244 r95 v245 r123 v246 r136 v247 r73 v248 r130 v249 r170 v250 r120 v251 v252 r248 v253 r122 v254 r177 v255 r45 v256 r264 v257 r152 v258 r270 v259 r158 v260 r154 v261 r131 v262 r243 v263 v264 r200 v265 r238 v266 r93 v267 r169 v268 r271 v269 r213 v270 r31 v271 r268 v272 r278 v273 r235 v274 r85 v275 r263 v276 r181 v277 v278 r242 v279 r133 ) (:init (at r189 v0) (at r225 v1) (at r42 v2) (at r110 v3) (at r259 v4) (at r106 v5) (at r183 v6) (at r157 v7) (at r211 v8) (at r256 v9) (free v10) (at r258 v11) (free v12) (at r96 v13) (at r274 v14) (at r199 v15) (at r201 v16) (at r230 v17) (at r172 v18) (at r145 v19) (at r126 v20) (at r205 v21) (at r262 v22) (at r51 v23) (at r125 v24) (at r236 v25) (at r192 v26) (at r91 v27) (at r102 v28) (at r251 v29) (at r257 v30) (at r105 v31) (at r67 v32) (at r245 v33) (at r232 v34) (at r156 v35) (at r184 v36) (at r212 v37) (at r194 v38) (at r35 v39) (at r62 v40) (free v41) (at r151 v42) (at r279 v43) (at r253 v44) (at r65 v45) (free v46) (at r163 v47) (at r80 v48) (at r49 v49) (at r196 v50) (at r226 v51) (at r140 v52) (at r61 v53) (at r186 v54) (free v55) (free v56) (free v57) (at r214 v58) (at r149 v59) (at r217 v60) (at r249 v61) (at r239 v62) (at r41 v63) (at r57 v64) (at r88 v65) (at r195 v66) (at r246 v67) (at r64 v68) (at r159 v69) (at r44 v70) (free v71) (at r237 v72) (at r252 v73) (at r266 v74) (at r129 v75) (at r89 v76) (at r36 v77) (at r37 v78) (at r241 v79) (at r220 v80) (at r146 v81) (at r202 v82) (free v83) (at r227 v84) (at r84 v85) (free v86) (at r54 v87) (at r104 v88) (at r277 v89) (at r86 v90) (at r179 v91) (at r97 v92) (at r173 v93) (at r38 v94) (at r34 v95) (at r160 v96) (at r250 v97) (at r229 v98) (free v99) (at r39 v100) (at r52 v101) (at r187 v102) (at r182 v103) (at r118 v104) (at r206 v105) (at r153 v106) (at r60 v107) (at r56 v108) (at r78 v109) (free v110) (at r48 v111) (at r111 v112) (at r143 v113) (at r215 v114) (at r276 v115) (at r233 v116) (at r115 v117) (at r76 v118) (free v119) (at r99 v120) (at r124 v121) (at r162 v122) (at r275 v123) (at r32 v124) (at r165 v125) (at r69 v126) (free v127) (at r134 v128) (at r132 v129) (at r30 v130) (free v131) (at r261 v132) (at r40 v133) (at r204 v134) (at r148 v135) (at r273 v136) (at r144 v137) (at r221 v138) (at r265 v139) (at r66 v140) (at r210 v141) (at r82 v142) (at r101 v143) (at r228 v144) (at r234 v145) (at r119 v146) (at r58 v147) (at r112 v148) (at r223 v149) (at r141 v150) (at r190 v151) (at r63 v152) (at r43 v153) (at r47 v154) (at r139 v155) (at r116 v156) (free v157) (at r128 v158) (at r174 v159) (free v160) (at r135 v161) (at r55 v162) (at r176 v163) (at r46 v164) (at r267 v165) (at r33 v166) (at r138 v167) (at r114 v168) (at r208 v169) (at r166 v170) (at r150 v171) (free v172) (at r171 v173) (at r178 v174) (at r107 v175) (at r203 v176) (at r168 v177) (at r147 v178) (at r209 v179) (at r59 v180) (at r167 v181) (at r188 v182) (at r164 v183) (at r109 v184) (at r193 v185) (at r127 v186) (at r207 v187) (at r75 v188) (at r74 v189) (free v190) (at r68 v191) (at r50 v192) (at r185 v193) (at r70 v194) (free v195) (at r87 v196) (at r272 v197) (at r198 v198) (at r244 v199) (at r81 v200) (at r72 v201) (at r175 v202) (at r77 v203) (at r191 v204) (at r155 v205) (at r98 v206) (at r90 v207) (at r83 v208) (at r216 v209) (at r219 v210) (at r254 v211) (free v212) (free v213) (free v214) (at r79 v215) (at r142 v216) (at r137 v217) (free v218) (at r161 v219) (at r92 v220) (free v221) (at r260 v222) (at r224 v223) (at r53 v224) (free v225) (at r121 v226) (at r71 v227) (at r218 v228) (at r197 v229) (at r269 v230) (at r222 v231) (at r100 v232) (at r247 v233) (at r255 v234) (at r240 v235) (at r180 v236) (at r231 v237) (at r108 v238) (at r94 v239) (at r103 v240) (at r117 v241) (at r113 v242) (free v243) (at r95 v244) (at r123 v245) (at r136 v246) (at r73 v247) (at r130 v248) (at r170 v249) (at r120 v250) (free v251) (at r248 v252) (at r122 v253) (at r177 v254) (at r45 v255) (at r264 v256) (at r152 v257) (at r270 v258) (at r158 v259) (at r154 v260) (at r131 v261) (at r243 v262) (free v263) (at r200 v264) (at r238 v265) (at r93 v266) (at r169 v267) (at r271 v268) (at r213 v269) (at r31 v270) (at r268 v271) (at r278 v272) (at r235 v273) (at r85 v274) (at r263 v275) (at r181 v276) (free v277) (at r242 v278) (at r133 v279) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v22) (adjacent v1 v2) (adjacent v1 v14) (adjacent v1 v151) (adjacent v2 v3) (adjacent v2 v11) (adjacent v2 v18) (adjacent v2 v72) (adjacent v2 v226) (adjacent v3 v4) (adjacent v3 v5) (adjacent v3 v83) (adjacent v3 v112) (adjacent v4 v8) (adjacent v4 v10) (adjacent v4 v218) (adjacent v5 v6) (adjacent v6 v7) (adjacent v6 v9) (adjacent v6 v42) (adjacent v6 v55) (adjacent v6 v58) (adjacent v6 v174) (adjacent v7 v8) (adjacent v7 v15) (adjacent v7 v146) (adjacent v8 v19) (adjacent v8 v59) (adjacent v9 v10) (adjacent v9 v26) (adjacent v9 v34) (adjacent v9 v175) (adjacent v10 v38) (adjacent v10 v99) (adjacent v11 v12) (adjacent v11 v17) (adjacent v11 v18) (adjacent v11 v29) (adjacent v12 v13) (adjacent v12 v187) (adjacent v13 v14) (adjacent v13 v69) (adjacent v13 v207) (adjacent v14 v222) (adjacent v15 v16) (adjacent v16 v17) (adjacent v16 v85) (adjacent v16 v231) (adjacent v17 v161) (adjacent v19 v20) (adjacent v19 v97) (adjacent v20 v21) (adjacent v20 v27) (adjacent v21 v22) (adjacent v21 v48) (adjacent v21 v138) (adjacent v22 v23) (adjacent v22 v56) (adjacent v23 v24) (adjacent v23 v35) (adjacent v23 v182) (adjacent v23 v184) (adjacent v24 v25) (adjacent v24 v58) (adjacent v24 v260) (adjacent v25 v26) (adjacent v25 v76) (adjacent v26 v28) (adjacent v26 v83) (adjacent v27 v28) (adjacent v28 v43) (adjacent v28 v119) (adjacent v28 v123) (adjacent v29 v30) (adjacent v29 v74) (adjacent v29 v162) (adjacent v30 v31) (adjacent v31 v32) (adjacent v31 v37) (adjacent v32 v33) (adjacent v32 v79) (adjacent v33 v34) (adjacent v33 v49) (adjacent v33 v163) (adjacent v34 v77) (adjacent v34 v120) (adjacent v35 v36) (adjacent v35 v82) (adjacent v35 v98) (adjacent v36 v37) (adjacent v36 v56) (adjacent v36 v57) (adjacent v36 v169) (adjacent v38 v39) (adjacent v38 v53) (adjacent v39 v40) (adjacent v39 v63) (adjacent v40 v41) (adjacent v40 v62) (adjacent v41 v42) (adjacent v41 v84) (adjacent v41 v106) (adjacent v42 v73) (adjacent v42 v188) (adjacent v43 v44) (adjacent v44 v45) (adjacent v44 v52) (adjacent v45 v46) (adjacent v46 v47) (adjacent v47 v48) (adjacent v47 v90) (adjacent v48 v160) (adjacent v49 v50) (adjacent v49 v57) (adjacent v49 v80) (adjacent v50 v51) (adjacent v50 v200) (adjacent v51 v52) (adjacent v52 v238) (adjacent v53 v54) (adjacent v54 v55) (adjacent v58 v71) (adjacent v58 v192) (adjacent v59 v60) (adjacent v60 v61) (adjacent v61 v62) (adjacent v63 v64) (adjacent v63 v232) (adjacent v63 v261) (adjacent v64 v65) (adjacent v65 v66) (adjacent v65 v215) (adjacent v66 v67) (adjacent v66 v84) (adjacent v67 v68) (adjacent v67 v70) (adjacent v67 v139) (adjacent v68 v69) (adjacent v70 v71) (adjacent v72 v73) (adjacent v73 v154) (adjacent v73 v182) (adjacent v74 v75) (adjacent v75 v76) (adjacent v76 v118) (adjacent v76 v225) (adjacent v76 v273) (adjacent v77 v78) (adjacent v77 v155) (adjacent v78 v79) (adjacent v78 v181) (adjacent v79 v107) (adjacent v79 v135) (adjacent v80 v81) (adjacent v80 v218) (adjacent v81 v82) (adjacent v81 v91) (adjacent v81 v106) (adjacent v85 v86) (adjacent v85 v199) (adjacent v86 v87) (adjacent v86 v100) (adjacent v87 v88) (adjacent v87 v244) (adjacent v88 v89) (adjacent v89 v90) (adjacent v89 v122) (adjacent v89 v278) (adjacent v90 v251) (adjacent v91 v92) (adjacent v92 v93) (adjacent v92 v180) (adjacent v92 v185) (adjacent v93 v94) (adjacent v93 v105) (adjacent v93 v130) (adjacent v94 v95) (adjacent v94 v183) (adjacent v95 v96) (adjacent v96 v97) (adjacent v98 v99) (adjacent v100 v101) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v103 v162) (adjacent v104 v105) (adjacent v106 v111) (adjacent v107 v108) (adjacent v107 v121) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v265) (adjacent v111 v140) (adjacent v112 v113) (adjacent v112 v170) (adjacent v112 v192) (adjacent v113 v114) (adjacent v113 v180) (adjacent v114 v115) (adjacent v114 v129) (adjacent v114 v206) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v279) (adjacent v117 v118) (adjacent v117 v208) (adjacent v118 v156) (adjacent v119 v120) (adjacent v119 v161) (adjacent v121 v122) (adjacent v123 v124) (adjacent v124 v125) (adjacent v125 v126) (adjacent v125 v243) (adjacent v126 v127) (adjacent v127 v128) (adjacent v128 v129) (adjacent v128 v150) (adjacent v129 v136) (adjacent v130 v131) (adjacent v130 v139) (adjacent v131 v132) (adjacent v131 v145) (adjacent v132 v133) (adjacent v133 v134) (adjacent v133 v207) (adjacent v134 v135) (adjacent v136 v137) (adjacent v137 v138) (adjacent v138 v245) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v143) (adjacent v143 v144) (adjacent v143 v264) (adjacent v144 v145) (adjacent v144 v223) (adjacent v145 v155) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v149) (adjacent v148 v257) (adjacent v149 v150) (adjacent v151 v152) (adjacent v152 v153) (adjacent v152 v193) (adjacent v153 v154) (adjacent v153 v191) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v158 v181) (adjacent v159 v160) (adjacent v160 v213) (adjacent v163 v164) (adjacent v164 v165) (adjacent v164 v224) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v170 v171) (adjacent v170 v274) (adjacent v171 v172) (adjacent v171 v179) (adjacent v172 v173) (adjacent v172 v244) (adjacent v173 v174) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v183 v184) (adjacent v183 v273) (adjacent v185 v186) (adjacent v186 v187) (adjacent v188 v189) (adjacent v189 v190) (adjacent v189 v239) (adjacent v190 v191) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v200 v201) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v204) (adjacent v203 v212) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v219) (adjacent v207 v217) (adjacent v208 v209) (adjacent v208 v258) (adjacent v208 v266) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v213 v214) (adjacent v214 v215) (adjacent v214 v216) (adjacent v216 v217) (adjacent v217 v227) (adjacent v217 v277) (adjacent v219 v220) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v272) (adjacent v223 v224) (adjacent v224 v252) (adjacent v225 v226) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v232 v233) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v245 v246) (adjacent v245 v279) (adjacent v246 v247) (adjacent v246 v265) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v251) (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 v266 v267) (adjacent v267 v268) (adjacent v267 v278) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v274 v275) (adjacent v275 v276) (adjacent v276 v277) ) (:goal (and (at r118 v0) (at r32 v1) (at r100 v2) (at r75 v3) (at r189 v4) (at r258 v5) (at r39 v6) (at r147 v7) (free v8) (at r38 v9) (at r191 v10) (at r169 v11) (free v12) (at r241 v13) (at r253 v14) (at r74 v15) (at r73 v16) (free v17) (at r58 v18) (at r111 v19) (at r129 v20) (at r36 v21) (at r133 v22) (at r269 v23) (at r156 v24) (at r232 v25) (at r271 v26) (at r175 v27) (at r71 v28) (at r42 v29) (at r135 v30) (free v31) (free v32) (at r84 v33) (at r113 v34) (at r89 v35) (at r130 v36) (at r46 v37) (free v38) (at r108 v39) (at r187 v40) (at r61 v41) (at r243 v42) (at r52 v43) (at r83 v44) (at r235 v45) (at r216 v46) (at r154 v47) (at r53 v48) (free v49) (free v50) (at r277 v51) (at r257 v52) (at r222 v53) (at r72 v54) (at r174 v55) (free v56) (at r263 v57) (at r146 v58) (at r261 v59) (at r224 v60) (at r206 v61) (at r132 v62) (at r150 v63) (at r70 v64) (at r45 v65) (at r98 v66) (at r252 v67) (at r123 v68) (at r186 v69) (at r167 v70) (at r168 v71) (free v72) (at r85 v73) (at r94 v74) (at r140 v75) (at r43 v76) (at r171 v77) (at r145 v78) (at r119 v79) (at r158 v80) (free v81) (free v82) (at r67 v83) (at r50 v84) (at r34 v85) (at r237 v86) (at r141 v87) (free v88) (free v89) (at r59 v90) (at r210 v91) (free v92) (free v93) (at r151 v94) (at r107 v95) (at r90 v96) (at r202 v97) (at r208 v98) (at r242 v99) (at r201 v100) (at r197 v101) (at r203 v102) (at r177 v103) (at r77 v104) (at r81 v105) (at r88 v106) (at r69 v107) (at r96 v108) (at r86 v109) (at r99 v110) (at r249 v111) (at r228 v112) (at r278 v113) (at r136 v114) (at r120 v115) (at r185 v116) (at r209 v117) (at r273 v118) (at r250 v119) (at r35 v120) (at r48 v121) (at r105 v122) (at r138 v123) (free v124) (at r54 v125) (at r178 v126) (at r260 v127) (at r157 v128) (free v129) (at r274 v130) (at r76 v131) (at r223 v132) (at r267 v133) (at r240 v134) (at r184 v135) (at r37 v136) (at r126 v137) (at r93 v138) (at r161 v139) (at r82 v140) (at r104 v141) (at r103 v142) (at r112 v143) (at r153 v144) (at r270 v145) (at r182 v146) (at r173 v147) (at r245 v148) (at r255 v149) (at r229 v150) (free v151) (at r200 v152) (at r162 v153) (at r195 v154) (at r244 v155) (at r246 v156) (free v157) (at r65 v158) (free v159) (at r148 v160) (at r137 v161) (at r192 v162) (at r62 v163) (at r199 v164) (at r170 v165) (at r219 v166) (free v167) (at r211 v168) (at r44 v169) (at r256 v170) (at r188 v171) (at r172 v172) (at r234 v173) (at r220 v174) (at r155 v175) (at r41 v176) (at r275 v177) (at r63 v178) (at r251 v179) (at r56 v180) (at r139 v181) (at r31 v182) (at r60 v183) (at r165 v184) (at r247 v185) (at r266 v186) (at r163 v187) (at r122 v188) (free v189) (at r80 v190) (at r40 v191) (at r160 v192) (at r190 v193) (at r194 v194) (at r152 v195) (at r47 v196) (at r248 v197) (at r227 v198) (at r212 v199) (at r124 v200) (at r239 v201) (free v202) (free v203) (at r180 v204) (at r259 v205) (at r142 v206) (at r131 v207) (at r106 v208) (at r205 v209) (at r183 v210) (at r218 v211) (at r268 v212) (at r49 v213) (at r238 v214) (at r176 v215) (at r221 v216) (at r57 v217) (at r215 v218) (at r144 v219) (at r91 v220) (free v221) (at r196 v222) (at r79 v223) (at r149 v224) (at r66 v225) (at r225 v226) (at r214 v227) (at r217 v228) (at r264 v229) (at r121 v230) (at r78 v231) (at r233 v232) (at r128 v233) (at r231 v234) (at r114 v235) (at r226 v236) (at r204 v237) (at r179 v238) (at r134 v239) (at r164 v240) (at r213 v241) (at r92 v242) (at r110 v243) (at r64 v244) (at r125 v245) (at r116 v246) (at r55 v247) (at r262 v248) (at r102 v249) (at r276 v250) (at r230 v251) (at r272 v252) (at r109 v253) (at r97 v254) (at r265 v255) (at r236 v256) (at r127 v257) (at r33 v258) (at r279 v259) (at r193 v260) (at r117 v261) (at r68 v262) (free v263) (at r95 v264) (at r115 v265) (at r181 v266) (free v267) (free v268) (at r143 v269) (at r159 v270) (free v271) (at r166 v272) (at r51 v273) (at r101 v274) (at r254 v275) (at r30 v276) (at r207 v277) (at r87 v278) (at r198 v279) ) ) )