(define (problem multirobot_80_10%_c6) (:domain multirobot) (:objects v0 v1 r101 v2 r258 v3 r162 v4 r168 v5 r129 v6 r136 v7 v8 r147 v9 r202 v10 r114 v11 r213 v12 r41 v13 r200 v14 r157 v15 r184 v16 v17 r183 v18 r212 v19 r164 v20 v21 v22 r108 v23 r102 v24 r154 v25 r132 v26 r250 v27 r122 v28 r59 v29 r158 v30 r261 v31 r241 v32 r107 v33 r227 v34 r180 v35 r176 v36 r230 v37 r280 v38 r214 v39 v40 r205 v41 r65 v42 r179 v43 r75 v44 r111 v45 r62 v46 r48 v47 r82 v48 r246 v49 r270 v50 r201 v51 r243 v52 v53 v54 r253 v55 r159 v56 r131 v57 r90 v58 r92 v59 r192 v60 r34 v61 r68 v62 r249 v63 r195 v64 r153 v65 r271 v66 r236 v67 r237 v68 r175 v69 r93 v70 r37 v71 r174 v72 r252 v73 r231 v74 r226 v75 r133 v76 r220 v77 v78 r80 v79 r94 v80 r143 v81 r181 v82 r247 v83 r207 v84 r36 v85 r210 v86 r39 v87 r74 v88 r98 v89 r156 v90 r223 v91 r216 v92 r124 v93 v94 r265 v95 r112 v96 r172 v97 r190 v98 r57 v99 r272 v100 r78 v101 r86 v102 r218 v103 r70 v104 v105 r177 v106 r44 v107 r255 v108 r83 v109 r52 v110 r211 v111 v112 r161 v113 v114 r167 v115 r170 v116 r266 v117 r198 v118 r235 v119 r238 v120 r276 v121 r240 v122 r47 v123 r219 v124 r263 v125 r152 v126 r95 v127 r194 v128 r46 v129 r244 v130 r146 v131 r79 v132 r165 v133 r100 v134 r66 v135 r63 v136 r125 v137 r222 v138 r169 v139 r257 v140 r256 v141 r224 v142 r259 v143 v144 r69 v145 r126 v146 r81 v147 r135 v148 r269 v149 r116 v150 r142 v151 r166 v152 r173 v153 v154 r204 v155 v156 r138 v157 r50 v158 r121 v159 r123 v160 v161 r178 v162 r185 v163 r45 v164 r279 v165 r88 v166 v167 r61 v168 r228 v169 r189 v170 v171 r76 v172 r87 v173 r277 v174 r127 v175 r267 v176 r84 v177 r97 v178 r187 v179 r49 v180 r42 v181 r262 v182 r186 v183 r260 v184 v185 r43 v186 r130 v187 r56 v188 r128 v189 r96 v190 v191 r77 v192 r149 v193 r221 v194 r163 v195 r55 v196 r64 v197 v198 r248 v199 r148 v200 r72 v201 r134 v202 r155 v203 r188 v204 v205 r234 v206 r191 v207 r54 v208 r206 v209 r193 v210 r139 v211 v212 r208 v213 r110 v214 r150 v215 v216 r182 v217 r119 v218 r32 v219 r151 v220 r60 v221 r113 v222 v223 r203 v224 r232 v225 r53 v226 r103 v227 v228 v229 r171 v230 r278 v231 v232 r239 v233 r120 v234 r35 v235 r245 v236 r33 v237 r251 v238 r254 v239 v240 r105 v241 r89 v242 r38 v243 r215 v244 r58 v245 r91 v246 r140 v247 r115 v248 r274 v249 r73 v250 r104 v251 r144 v252 r40 v253 r225 v254 r99 v255 r141 v256 r196 v257 r242 v258 r209 v259 v260 r197 v261 r118 v262 r137 v263 r229 v264 r160 v265 r233 v266 r117 v267 r268 v268 r275 v269 r264 v270 r71 v271 r85 v272 r106 v273 r51 v274 r273 v275 r109 v276 r67 v277 r217 v278 v279 r199 v280 r145 ) (:init (free v0) (at r101 v1) (at r258 v2) (at r162 v3) (at r168 v4) (at r129 v5) (at r136 v6) (free v7) (at r147 v8) (at r202 v9) (at r114 v10) (at r213 v11) (at r41 v12) (at r200 v13) (at r157 v14) (at r184 v15) (free v16) (at r183 v17) (at r212 v18) (at r164 v19) (free v20) (free v21) (at r108 v22) (at r102 v23) (at r154 v24) (at r132 v25) (at r250 v26) (at r122 v27) (at r59 v28) (at r158 v29) (at r261 v30) (at r241 v31) (at r107 v32) (at r227 v33) (at r180 v34) (at r176 v35) (at r230 v36) (at r280 v37) (at r214 v38) (free v39) (at r205 v40) (at r65 v41) (at r179 v42) (at r75 v43) (at r111 v44) (at r62 v45) (at r48 v46) (at r82 v47) (at r246 v48) (at r270 v49) (at r201 v50) (at r243 v51) (free v52) (free v53) (at r253 v54) (at r159 v55) (at r131 v56) (at r90 v57) (at r92 v58) (at r192 v59) (at r34 v60) (at r68 v61) (at r249 v62) (at r195 v63) (at r153 v64) (at r271 v65) (at r236 v66) (at r237 v67) (at r175 v68) (at r93 v69) (at r37 v70) (at r174 v71) (at r252 v72) (at r231 v73) (at r226 v74) (at r133 v75) (at r220 v76) (free v77) (at r80 v78) (at r94 v79) (at r143 v80) (at r181 v81) (at r247 v82) (at r207 v83) (at r36 v84) (at r210 v85) (at r39 v86) (at r74 v87) (at r98 v88) (at r156 v89) (at r223 v90) (at r216 v91) (at r124 v92) (free v93) (at r265 v94) (at r112 v95) (at r172 v96) (at r190 v97) (at r57 v98) (at r272 v99) (at r78 v100) (at r86 v101) (at r218 v102) (at r70 v103) (free v104) (at r177 v105) (at r44 v106) (at r255 v107) (at r83 v108) (at r52 v109) (at r211 v110) (free v111) (at r161 v112) (free v113) (at r167 v114) (at r170 v115) (at r266 v116) (at r198 v117) (at r235 v118) (at r238 v119) (at r276 v120) (at r240 v121) (at r47 v122) (at r219 v123) (at r263 v124) (at r152 v125) (at r95 v126) (at r194 v127) (at r46 v128) (at r244 v129) (at r146 v130) (at r79 v131) (at r165 v132) (at r100 v133) (at r66 v134) (at r63 v135) (at r125 v136) (at r222 v137) (at r169 v138) (at r257 v139) (at r256 v140) (at r224 v141) (at r259 v142) (free v143) (at r69 v144) (at r126 v145) (at r81 v146) (at r135 v147) (at r269 v148) (at r116 v149) (at r142 v150) (at r166 v151) (at r173 v152) (free v153) (at r204 v154) (free v155) (at r138 v156) (at r50 v157) (at r121 v158) (at r123 v159) (free v160) (at r178 v161) (at r185 v162) (at r45 v163) (at r279 v164) (at r88 v165) (free v166) (at r61 v167) (at r228 v168) (at r189 v169) (free v170) (at r76 v171) (at r87 v172) (at r277 v173) (at r127 v174) (at r267 v175) (at r84 v176) (at r97 v177) (at r187 v178) (at r49 v179) (at r42 v180) (at r262 v181) (at r186 v182) (at r260 v183) (free v184) (at r43 v185) (at r130 v186) (at r56 v187) (at r128 v188) (at r96 v189) (free v190) (at r77 v191) (at r149 v192) (at r221 v193) (at r163 v194) (at r55 v195) (at r64 v196) (free v197) (at r248 v198) (at r148 v199) (at r72 v200) (at r134 v201) (at r155 v202) (at r188 v203) (free v204) (at r234 v205) (at r191 v206) (at r54 v207) (at r206 v208) (at r193 v209) (at r139 v210) (free v211) (at r208 v212) (at r110 v213) (at r150 v214) (free v215) (at r182 v216) (at r119 v217) (at r32 v218) (at r151 v219) (at r60 v220) (at r113 v221) (free v222) (at r203 v223) (at r232 v224) (at r53 v225) (at r103 v226) (free v227) (free v228) (at r171 v229) (at r278 v230) (free v231) (at r239 v232) (at r120 v233) (at r35 v234) (at r245 v235) (at r33 v236) (at r251 v237) (at r254 v238) (free v239) (at r105 v240) (at r89 v241) (at r38 v242) (at r215 v243) (at r58 v244) (at r91 v245) (at r140 v246) (at r115 v247) (at r274 v248) (at r73 v249) (at r104 v250) (at r144 v251) (at r40 v252) (at r225 v253) (at r99 v254) (at r141 v255) (at r196 v256) (at r242 v257) (at r209 v258) (free v259) (at r197 v260) (at r118 v261) (at r137 v262) (at r229 v263) (at r160 v264) (at r233 v265) (at r117 v266) (at r268 v267) (at r275 v268) (at r264 v269) (at r71 v270) (at r85 v271) (at r106 v272) (at r51 v273) (at r273 v274) (at r109 v275) (at r67 v276) (at r217 v277) (free v278) (at r199 v279) (at r145 v280) (adjacent v0 v1) (adjacent v0 v4) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v31) (adjacent v2 v3) (adjacent v2 v10) (adjacent v3 v4) (adjacent v3 v13) (adjacent v3 v20) (adjacent v3 v24) (adjacent v3 v86) (adjacent v4 v61) (adjacent v5 v6) (adjacent v5 v21) (adjacent v5 v204) (adjacent v5 v248) (adjacent v6 v7) (adjacent v6 v11) (adjacent v6 v14) (adjacent v6 v43) (adjacent v6 v218) (adjacent v7 v8) (adjacent v8 v9) (adjacent v9 v10) (adjacent v9 v30) (adjacent v11 v12) (adjacent v11 v67) (adjacent v12 v13) (adjacent v12 v84) (adjacent v12 v98) (adjacent v13 v55) (adjacent v13 v130) (adjacent v14 v15) (adjacent v15 v16) (adjacent v15 v25) (adjacent v16 v17) (adjacent v16 v66) (adjacent v16 v141) (adjacent v17 v18) (adjacent v17 v227) (adjacent v18 v19) (adjacent v18 v51) (adjacent v18 v92) (adjacent v19 v20) (adjacent v19 v172) (adjacent v20 v133) (adjacent v20 v156) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v45) (adjacent v23 v24) (adjacent v23 v108) (adjacent v23 v275) (adjacent v24 v50) (adjacent v24 v54) (adjacent v24 v78) (adjacent v25 v26) (adjacent v25 v106) (adjacent v26 v27) (adjacent v26 v37) (adjacent v26 v58) (adjacent v26 v74) (adjacent v27 v28) (adjacent v27 v48) (adjacent v28 v29) (adjacent v28 v107) (adjacent v28 v153) (adjacent v28 v211) (adjacent v29 v30) (adjacent v31 v32) (adjacent v31 v83) (adjacent v32 v33) (adjacent v32 v44) (adjacent v33 v34) (adjacent v33 v38) (adjacent v33 v116) (adjacent v34 v35) (adjacent v34 v128) (adjacent v34 v217) (adjacent v35 v36) (adjacent v35 v49) (adjacent v35 v244) (adjacent v36 v37) (adjacent v36 v77) (adjacent v36 v206) (adjacent v37 v91) (adjacent v38 v39) (adjacent v38 v87) (adjacent v38 v157) (adjacent v39 v40) (adjacent v40 v41) (adjacent v40 v132) (adjacent v40 v160) (adjacent v41 v42) (adjacent v41 v62) (adjacent v41 v187) (adjacent v42 v43) (adjacent v44 v45) (adjacent v44 v46) (adjacent v45 v188) (adjacent v46 v47) (adjacent v46 v173) (adjacent v46 v194) (adjacent v47 v48) (adjacent v47 v202) (adjacent v47 v207) (adjacent v47 v227) (adjacent v48 v59) (adjacent v48 v68) (adjacent v48 v99) (adjacent v48 v148) (adjacent v48 v240) (adjacent v49 v50) (adjacent v49 v93) (adjacent v50 v100) (adjacent v51 v52) (adjacent v51 v67) (adjacent v51 v166) (adjacent v51 v277) (adjacent v52 v53) (adjacent v52 v134) (adjacent v53 v54) (adjacent v55 v56) (adjacent v56 v57) (adjacent v56 v92) (adjacent v56 v94) (adjacent v56 v137) (adjacent v57 v58) (adjacent v57 v113) (adjacent v58 v174) (adjacent v58 v226) (adjacent v59 v60) (adjacent v59 v123) (adjacent v60 v61) (adjacent v60 v165) (adjacent v61 v124) (adjacent v61 v248) (adjacent v62 v63) (adjacent v63 v64) (adjacent v64 v65) (adjacent v65 v66) (adjacent v66 v75) (adjacent v68 v69) (adjacent v69 v70) (adjacent v69 v182) (adjacent v70 v71) (adjacent v70 v118) (adjacent v71 v72) (adjacent v72 v73) (adjacent v72 v261) (adjacent v73 v74) (adjacent v73 v93) (adjacent v73 v142) (adjacent v75 v76) (adjacent v76 v77) (adjacent v76 v159) (adjacent v78 v79) (adjacent v79 v80) (adjacent v79 v201) (adjacent v80 v81) (adjacent v80 v99) (adjacent v81 v82) (adjacent v81 v129) (adjacent v81 v182) (adjacent v81 v219) (adjacent v82 v83) (adjacent v82 v173) (adjacent v84 v85) (adjacent v84 v198) (adjacent v85 v86) (adjacent v85 v119) (adjacent v85 v230) (adjacent v86 v117) (adjacent v87 v88) (adjacent v88 v89) (adjacent v88 v114) (adjacent v88 v247) (adjacent v89 v90) (adjacent v90 v91) (adjacent v93 v129) (adjacent v94 v95) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v98) (adjacent v100 v101) (adjacent v101 v102) (adjacent v102 v103) (adjacent v102 v157) (adjacent v102 v176) (adjacent v102 v243) (adjacent v103 v104) (adjacent v103 v241) (adjacent v104 v105) (adjacent v104 v177) (adjacent v104 v275) (adjacent v105 v106) (adjacent v105 v107) (adjacent v105 v147) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v166) (adjacent v110 v212) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v136) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v152) (adjacent v117 v118) (adjacent v117 v131) (adjacent v117 v223) (adjacent v119 v120) (adjacent v120 v121) (adjacent v121 v122) (adjacent v122 v123) (adjacent v122 v183) (adjacent v124 v125) (adjacent v124 v258) (adjacent v125 v126) (adjacent v126 v127) (adjacent v126 v167) (adjacent v126 v199) (adjacent v127 v128) (adjacent v130 v131) (adjacent v131 v158) (adjacent v131 v193) (adjacent v131 v203) (adjacent v131 v228) (adjacent v132 v133) (adjacent v132 v249) (adjacent v134 v135) (adjacent v135 v136) (adjacent v137 v138) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v140 v262) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v146) (adjacent v145 v208) (adjacent v146 v147) (adjacent v146 v205) (adjacent v148 v149) (adjacent v148 v276) (adjacent v149 v150) (adjacent v149 v181) (adjacent v150 v151) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v155) (adjacent v154 v231) (adjacent v155 v156) (adjacent v158 v159) (adjacent v160 v161) (adjacent v161 v162) (adjacent v161 v264) (adjacent v162 v163) (adjacent v163 v164) (adjacent v163 v224) (adjacent v164 v165) (adjacent v164 v274) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v172) (adjacent v174 v175) (adjacent v174 v229) (adjacent v175 v176) (adjacent v175 v194) (adjacent v175 v278) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v182 v252) (adjacent v183 v184) (adjacent v183 v269) (adjacent v184 v185) (adjacent v185 v186) (adjacent v185 v229) (adjacent v186 v187) (adjacent v186 v195) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v192 v216) (adjacent v195 v196) (adjacent v195 v238) (adjacent v195 v257) (adjacent v196 v197) (adjacent v196 v230) (adjacent v197 v198) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v268) (adjacent v202 v203) (adjacent v203 v253) (adjacent v204 v205) (adjacent v206 v207) (adjacent v207 v237) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v228) (adjacent v212 v213) (adjacent v213 v214) (adjacent v214 v215) (adjacent v215 v216) (adjacent v217 v218) (adjacent v219 v220) (adjacent v219 v280) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v224 v225) (adjacent v225 v226) (adjacent v231 v232) (adjacent v232 v233) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v238 v239) (adjacent v238 v279) (adjacent v239 v240) (adjacent v240 v263) (adjacent v241 v242) (adjacent v242 v243) (adjacent v244 v245) (adjacent v245 v246) (adjacent v246 v247) (adjacent v249 v250) (adjacent v250 v251) (adjacent v251 v252) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v262 v263) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v271 v280) (adjacent v272 v273) (adjacent v273 v274) (adjacent v276 v277) (adjacent v278 v279) ) (:goal (and (at r40 v0) (at r229 v1) (at r204 v2) (at r168 v3) (at r220 v4) (at r70 v5) (at r252 v6) (at r143 v7) (at r83 v8) (at r39 v9) (at r254 v10) (at r170 v11) (at r43 v12) (at r36 v13) (at r200 v14) (at r275 v15) (at r104 v16) (at r175 v17) (at r191 v18) (at r242 v19) (at r217 v20) (at r136 v21) (free v22) (at r261 v23) (at r221 v24) (at r279 v25) (at r97 v26) (at r227 v27) (free v28) (at r177 v29) (free v30) (at r251 v31) (at r250 v32) (at r95 v33) (at r155 v34) (at r65 v35) (at r106 v36) (at r122 v37) (at r262 v38) (at r194 v39) (free v40) (at r76 v41) (at r258 v42) (at r206 v43) (at r224 v44) (at r149 v45) (free v46) (at r263 v47) (at r67 v48) (at r265 v49) (at r77 v50) (at r75 v51) (at r112 v52) (at r176 v53) (at r166 v54) (at r273 v55) (at r240 v56) (at r156 v57) (at r88 v58) (at r42 v59) (at r133 v60) (at r116 v61) (at r105 v62) (at r210 v63) (free v64) (at r144 v65) (at r199 v66) (at r172 v67) (at r79 v68) (at r128 v69) (at r61 v70) (free v71) (at r152 v72) (at r94 v73) (at r270 v74) (at r135 v75) (free v76) (free v77) (at r147 v78) (at r68 v79) (at r185 v80) (at r141 v81) (at r182 v82) (at r86 v83) (at r64 v84) (at r189 v85) (at r188 v86) (free v87) (at r100 v88) (at r267 v89) (free v90) (at r230 v91) (at r218 v92) (at r120 v93) (at r198 v94) (at r80 v95) (at r162 v96) (free v97) (free v98) (at r103 v99) (at r62 v100) (at r49 v101) (free v102) (at r238 v103) (at r193 v104) (at r137 v105) (at r237 v106) (free v107) (at r192 v108) (at r32 v109) (at r57 v110) (free v111) (at r37 v112) (at r44 v113) (at r108 v114) (at r173 v115) (at r78 v116) (at r276 v117) (at r234 v118) (at r208 v119) (at r186 v120) (at r139 v121) (free v122) (at r81 v123) (at r259 v124) (free v125) (at r248 v126) (at r178 v127) (at r231 v128) (free v129) (free v130) (at r47 v131) (at r239 v132) (at r54 v133) (at r164 v134) (at r45 v135) (at r269 v136) (at r91 v137) (at r150 v138) (free v139) (at r98 v140) (at r73 v141) (at r82 v142) (at r216 v143) (free v144) (at r125 v145) (at r245 v146) (at r209 v147) (free v148) (at r163 v149) (at r223 v150) (at r56 v151) (at r236 v152) (at r55 v153) (at r111 v154) (at r131 v155) (at r181 v156) (at r225 v157) (at r271 v158) (at r58 v159) (free v160) (at r228 v161) (at r207 v162) (at r89 v163) (at r213 v164) (at r246 v165) (at r92 v166) (at r146 v167) (at r205 v168) (at r48 v169) (at r35 v170) (at r167 v171) (at r257 v172) (at r159 v173) (at r158 v174) (at r74 v175) (free v176) (at r121 v177) (at r50 v178) (at r179 v179) (at r101 v180) (at r241 v181) (at r244 v182) (at r63 v183) (at r253 v184) (at r52 v185) (at r160 v186) (at r140 v187) (at r197 v188) (at r187 v189) (at r202 v190) (at r196 v191) (at r151 v192) (at r113 v193) (free v194) (free v195) (at r124 v196) (at r59 v197) (at r232 v198) (at r87 v199) (at r174 v200) (at r243 v201) (at r280 v202) (at r117 v203) (at r264 v204) (at r66 v205) (at r60 v206) (at r126 v207) (at r69 v208) (at r115 v209) (at r157 v210) (at r219 v211) (at r114 v212) (at r134 v213) (at r145 v214) (at r85 v215) (at r154 v216) (at r110 v217) (at r129 v218) (at r33 v219) (at r102 v220) (at r274 v221) (at r222 v222) (at r272 v223) (at r142 v224) (at r41 v225) (at r99 v226) (at r161 v227) (at r53 v228) (at r260 v229) (at r132 v230) (at r165 v231) (at r71 v232) (at r96 v233) (at r249 v234) (at r256 v235) (at r278 v236) (at r226 v237) (at r123 v238) (free v239) (at r247 v240) (at r180 v241) (at r203 v242) (free v243) (at r169 v244) (at r214 v245) (at r201 v246) (at r233 v247) (at r268 v248) (at r211 v249) (at r93 v250) (at r72 v251) (at r51 v252) (at r130 v253) (at r183 v254) (at r153 v255) (free v256) (at r34 v257) (at r148 v258) (at r138 v259) (at r235 v260) (at r190 v261) (at r212 v262) (at r38 v263) (free v264) (at r195 v265) (at r277 v266) (at r109 v267) (at r127 v268) (at r255 v269) (at r184 v270) (at r46 v271) (at r118 v272) (free v273) (at r171 v274) (at r90 v275) (at r266 v276) (at r119 v277) (at r215 v278) (at r107 v279) (at r84 v280) ) ) )