(define (problem multirobot_81_10%_c0) (:domain multirobot) (:objects v0 r97 v1 r93 v2 r56 v3 r259 v4 v5 r143 v6 r224 v7 r240 v8 r101 v9 r192 v10 r160 v11 r276 v12 v13 v14 r162 v15 r128 v16 r95 v17 r96 v18 v19 r142 v20 v21 r219 v22 r41 v23 r98 v24 r264 v25 r256 v26 r50 v27 r182 v28 r184 v29 r204 v30 v31 r113 v32 r174 v33 r135 v34 r206 v35 r167 v36 r124 v37 r154 v38 r125 v39 v40 r57 v41 r89 v42 r78 v43 r77 v44 r74 v45 r35 v46 r51 v47 r122 v48 v49 r165 v50 r36 v51 r253 v52 r46 v53 r231 v54 r169 v55 r266 v56 r61 v57 r173 v58 r72 v59 r67 v60 r217 v61 v62 r191 v63 r188 v64 r105 v65 r53 v66 r159 v67 r109 v68 r193 v69 r102 v70 r149 v71 v72 v73 r210 v74 r251 v75 r175 v76 r121 v77 r170 v78 r30 v79 r87 v80 r212 v81 r152 v82 r176 v83 r230 v84 r90 v85 r209 v86 r234 v87 r235 v88 r161 v89 r221 v90 r248 v91 r227 v92 r60 v93 v94 r85 v95 r82 v96 r73 v97 r63 v98 r285 v99 r261 v100 r245 v101 r281 v102 v103 r104 v104 r226 v105 r39 v106 r151 v107 v108 r129 v109 r146 v110 r157 v111 r139 v112 r284 v113 r92 v114 r48 v115 r197 v116 r275 v117 v118 v119 r236 v120 r242 v121 r52 v122 r249 v123 r180 v124 r198 v125 r223 v126 r239 v127 r272 v128 r123 v129 r140 v130 r267 v131 r208 v132 r199 v133 r54 v134 r99 v135 r42 v136 r194 v137 r179 v138 r269 v139 r153 v140 r58 v141 r116 v142 r260 v143 r228 v144 r141 v145 r134 v146 r126 v147 r280 v148 r214 v149 r181 v150 v151 r252 v152 r158 v153 r118 v154 r177 v155 r203 v156 r91 v157 r255 v158 r32 v159 r69 v160 r62 v161 r232 v162 r88 v163 r33 v164 r132 v165 r273 v166 r218 v167 r271 v168 r55 v169 v170 r65 v171 r189 v172 v173 r202 v174 r190 v175 r71 v176 v177 r172 v178 r40 v179 r107 v180 r119 v181 r244 v182 r114 v183 r185 v184 r144 v185 r246 v186 r108 v187 r28 v188 r138 v189 r145 v190 r38 v191 r187 v192 r270 v193 v194 r225 v195 r247 v196 r233 v197 r257 v198 r164 v199 r111 v200 r283 v201 r238 v202 r222 v203 r163 v204 r268 v205 r263 v206 r213 v207 r86 v208 r196 v209 v210 r171 v211 r47 v212 r220 v213 r265 v214 r254 v215 r112 v216 r201 v217 r110 v218 r229 v219 r106 v220 r155 v221 r186 v222 r120 v223 r79 v224 r80 v225 v226 v227 r70 v228 r150 v229 r156 v230 r45 v231 r168 v232 r117 v233 v234 v235 r205 v236 r130 v237 r131 v238 r215 v239 r75 v240 r94 v241 r237 v242 r81 v243 r66 v244 r216 v245 r137 v246 r195 v247 r49 v248 r84 v249 r34 v250 r274 v251 r37 v252 r243 v253 r115 v254 r68 v255 r136 v256 r100 v257 v258 r258 v259 r127 v260 r262 v261 r64 v262 r147 v263 r241 v264 r183 v265 r166 v266 r148 v267 r200 v268 r44 v269 r76 v270 r211 v271 v272 r31 v273 r207 v274 r250 v275 r279 v276 r103 v277 r83 v278 r277 v279 r282 v280 r59 v281 r133 v282 r43 v283 r178 v284 r278 v285 r29 ) (:init (at r97 v0) (at r93 v1) (at r56 v2) (at r259 v3) (free v4) (at r143 v5) (at r224 v6) (at r240 v7) (at r101 v8) (at r192 v9) (at r160 v10) (at r276 v11) (free v12) (free v13) (at r162 v14) (at r128 v15) (at r95 v16) (at r96 v17) (free v18) (at r142 v19) (free v20) (at r219 v21) (at r41 v22) (at r98 v23) (at r264 v24) (at r256 v25) (at r50 v26) (at r182 v27) (at r184 v28) (at r204 v29) (free v30) (at r113 v31) (at r174 v32) (at r135 v33) (at r206 v34) (at r167 v35) (at r124 v36) (at r154 v37) (at r125 v38) (free v39) (at r57 v40) (at r89 v41) (at r78 v42) (at r77 v43) (at r74 v44) (at r35 v45) (at r51 v46) (at r122 v47) (free v48) (at r165 v49) (at r36 v50) (at r253 v51) (at r46 v52) (at r231 v53) (at r169 v54) (at r266 v55) (at r61 v56) (at r173 v57) (at r72 v58) (at r67 v59) (at r217 v60) (free v61) (at r191 v62) (at r188 v63) (at r105 v64) (at r53 v65) (at r159 v66) (at r109 v67) (at r193 v68) (at r102 v69) (at r149 v70) (free v71) (free v72) (at r210 v73) (at r251 v74) (at r175 v75) (at r121 v76) (at r170 v77) (at r30 v78) (at r87 v79) (at r212 v80) (at r152 v81) (at r176 v82) (at r230 v83) (at r90 v84) (at r209 v85) (at r234 v86) (at r235 v87) (at r161 v88) (at r221 v89) (at r248 v90) (at r227 v91) (at r60 v92) (free v93) (at r85 v94) (at r82 v95) (at r73 v96) (at r63 v97) (at r285 v98) (at r261 v99) (at r245 v100) (at r281 v101) (free v102) (at r104 v103) (at r226 v104) (at r39 v105) (at r151 v106) (free v107) (at r129 v108) (at r146 v109) (at r157 v110) (at r139 v111) (at r284 v112) (at r92 v113) (at r48 v114) (at r197 v115) (at r275 v116) (free v117) (free v118) (at r236 v119) (at r242 v120) (at r52 v121) (at r249 v122) (at r180 v123) (at r198 v124) (at r223 v125) (at r239 v126) (at r272 v127) (at r123 v128) (at r140 v129) (at r267 v130) (at r208 v131) (at r199 v132) (at r54 v133) (at r99 v134) (at r42 v135) (at r194 v136) (at r179 v137) (at r269 v138) (at r153 v139) (at r58 v140) (at r116 v141) (at r260 v142) (at r228 v143) (at r141 v144) (at r134 v145) (at r126 v146) (at r280 v147) (at r214 v148) (at r181 v149) (free v150) (at r252 v151) (at r158 v152) (at r118 v153) (at r177 v154) (at r203 v155) (at r91 v156) (at r255 v157) (at r32 v158) (at r69 v159) (at r62 v160) (at r232 v161) (at r88 v162) (at r33 v163) (at r132 v164) (at r273 v165) (at r218 v166) (at r271 v167) (at r55 v168) (free v169) (at r65 v170) (at r189 v171) (free v172) (at r202 v173) (at r190 v174) (at r71 v175) (free v176) (at r172 v177) (at r40 v178) (at r107 v179) (at r119 v180) (at r244 v181) (at r114 v182) (at r185 v183) (at r144 v184) (at r246 v185) (at r108 v186) (at r28 v187) (at r138 v188) (at r145 v189) (at r38 v190) (at r187 v191) (at r270 v192) (free v193) (at r225 v194) (at r247 v195) (at r233 v196) (at r257 v197) (at r164 v198) (at r111 v199) (at r283 v200) (at r238 v201) (at r222 v202) (at r163 v203) (at r268 v204) (at r263 v205) (at r213 v206) (at r86 v207) (at r196 v208) (free v209) (at r171 v210) (at r47 v211) (at r220 v212) (at r265 v213) (at r254 v214) (at r112 v215) (at r201 v216) (at r110 v217) (at r229 v218) (at r106 v219) (at r155 v220) (at r186 v221) (at r120 v222) (at r79 v223) (at r80 v224) (free v225) (free v226) (at r70 v227) (at r150 v228) (at r156 v229) (at r45 v230) (at r168 v231) (at r117 v232) (free v233) (free v234) (at r205 v235) (at r130 v236) (at r131 v237) (at r215 v238) (at r75 v239) (at r94 v240) (at r237 v241) (at r81 v242) (at r66 v243) (at r216 v244) (at r137 v245) (at r195 v246) (at r49 v247) (at r84 v248) (at r34 v249) (at r274 v250) (at r37 v251) (at r243 v252) (at r115 v253) (at r68 v254) (at r136 v255) (at r100 v256) (free v257) (at r258 v258) (at r127 v259) (at r262 v260) (at r64 v261) (at r147 v262) (at r241 v263) (at r183 v264) (at r166 v265) (at r148 v266) (at r200 v267) (at r44 v268) (at r76 v269) (at r211 v270) (free v271) (at r31 v272) (at r207 v273) (at r250 v274) (at r279 v275) (at r103 v276) (at r83 v277) (at r277 v278) (at r282 v279) (at r59 v280) (at r133 v281) (at r43 v282) (at r178 v283) (at r278 v284) (at r29 v285) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v13) (adjacent v0 v92) (adjacent v0 v144) (adjacent v0 v228) (adjacent v1 v2) (adjacent v1 v13) (adjacent v1 v129) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v12) (adjacent v2 v20) (adjacent v3 v4) (adjacent v3 v6) (adjacent v3 v31) (adjacent v4 v5) (adjacent v4 v14) (adjacent v5 v15) (adjacent v5 v29) (adjacent v6 v7) (adjacent v6 v36) (adjacent v6 v69) (adjacent v6 v240) (adjacent v6 v255) (adjacent v7 v8) (adjacent v8 v9) (adjacent v8 v121) (adjacent v8 v269) (adjacent v9 v10) (adjacent v9 v14) (adjacent v10 v11) (adjacent v10 v77) (adjacent v10 v80) (adjacent v11 v12) (adjacent v12 v19) (adjacent v12 v101) (adjacent v12 v169) (adjacent v13 v24) (adjacent v13 v25) (adjacent v13 v89) (adjacent v14 v57) (adjacent v15 v16) (adjacent v15 v83) (adjacent v15 v157) (adjacent v15 v187) (adjacent v16 v17) (adjacent v17 v18) (adjacent v17 v42) (adjacent v17 v56) (adjacent v18 v19) (adjacent v18 v28) (adjacent v19 v84) (adjacent v19 v153) (adjacent v20 v21) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v43) (adjacent v22 v120) (adjacent v22 v152) (adjacent v22 v157) (adjacent v23 v24) (adjacent v23 v253) (adjacent v25 v26) (adjacent v25 v61) (adjacent v25 v285) (adjacent v26 v27) (adjacent v27 v28) (adjacent v29 v30) (adjacent v29 v115) (adjacent v30 v31) (adjacent v30 v32) (adjacent v30 v50) (adjacent v30 v252) (adjacent v31 v114) (adjacent v31 v168) (adjacent v32 v33) (adjacent v32 v37) (adjacent v32 v79) (adjacent v33 v34) (adjacent v33 v66) (adjacent v34 v35) (adjacent v34 v49) (adjacent v35 v36) (adjacent v35 v186) (adjacent v36 v78) (adjacent v36 v95) (adjacent v37 v38) (adjacent v37 v78) (adjacent v37 v190) (adjacent v38 v39) (adjacent v39 v40) (adjacent v40 v41) (adjacent v40 v60) (adjacent v40 v111) (adjacent v40 v131) (adjacent v41 v42) (adjacent v42 v98) (adjacent v43 v44) (adjacent v43 v111) (adjacent v44 v45) (adjacent v44 v236) (adjacent v45 v46) (adjacent v45 v56) (adjacent v45 v158) (adjacent v46 v47) (adjacent v46 v55) (adjacent v46 v141) (adjacent v46 v274) (adjacent v47 v48) (adjacent v48 v49) (adjacent v48 v276) (adjacent v50 v51) (adjacent v50 v173) (adjacent v51 v52) (adjacent v51 v99) (adjacent v52 v53) (adjacent v52 v131) (adjacent v53 v54) (adjacent v54 v55) (adjacent v54 v76) (adjacent v54 v130) (adjacent v55 v125) (adjacent v56 v112) (adjacent v57 v58) (adjacent v58 v59) (adjacent v58 v67) (adjacent v58 v221) (adjacent v59 v60) (adjacent v59 v94) (adjacent v61 v62) (adjacent v62 v63) (adjacent v63 v64) (adjacent v63 v225) (adjacent v64 v65) (adjacent v64 v81) (adjacent v65 v66) (adjacent v65 v70) (adjacent v66 v75) (adjacent v67 v68) (adjacent v68 v69) (adjacent v68 v175) (adjacent v69 v130) (adjacent v70 v71) (adjacent v70 v194) (adjacent v71 v72) (adjacent v71 v273) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v137) (adjacent v74 v75) (adjacent v74 v90) (adjacent v75 v272) (adjacent v76 v77) (adjacent v76 v82) (adjacent v77 v207) (adjacent v77 v217) (adjacent v78 v108) (adjacent v79 v80) (adjacent v79 v201) (adjacent v79 v243) (adjacent v81 v82) (adjacent v81 v91) (adjacent v82 v83) (adjacent v82 v149) (adjacent v83 v93) (adjacent v84 v85) (adjacent v84 v262) (adjacent v85 v86) (adjacent v85 v90) (adjacent v85 v113) (adjacent v85 v272) (adjacent v86 v87) (adjacent v87 v88) (adjacent v87 v107) (adjacent v87 v110) (adjacent v88 v89) (adjacent v89 v263) (adjacent v90 v100) (adjacent v91 v92) (adjacent v91 v244) (adjacent v93 v94) (adjacent v93 v213) (adjacent v95 v96) (adjacent v95 v229) (adjacent v96 v97) (adjacent v97 v98) (adjacent v99 v100) (adjacent v99 v183) (adjacent v100 v126) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v103 v250) (adjacent v104 v105) (adjacent v105 v106) (adjacent v105 v140) (adjacent v106 v107) (adjacent v106 v112) (adjacent v107 v237) (adjacent v108 v109) (adjacent v108 v165) (adjacent v109 v110) (adjacent v109 v164) (adjacent v109 v200) (adjacent v109 v281) (adjacent v110 v277) (adjacent v113 v114) (adjacent v115 v116) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v120) (adjacent v121 v122) (adjacent v121 v222) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v124 v216) (adjacent v126 v127) (adjacent v126 v145) (adjacent v127 v128) (adjacent v128 v129) (adjacent v128 v156) (adjacent v129 v136) (adjacent v129 v148) (adjacent v130 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v136) (adjacent v135 v182) (adjacent v137 v138) (adjacent v138 v139) (adjacent v138 v249) (adjacent v139 v140) (adjacent v139 v196) (adjacent v141 v142) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v206) (adjacent v145 v146) (adjacent v145 v214) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v195) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v157 v231) (adjacent v158 v159) (adjacent v159 v160) (adjacent v159 v172) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v226) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v169 v170) (adjacent v169 v256) (adjacent v170 v171) (adjacent v170 v283) (adjacent v171 v172) (adjacent v171 v176) (adjacent v171 v248) (adjacent v172 v271) (adjacent v173 v174) (adjacent v173 v189) (adjacent v174 v175) (adjacent v176 v177) (adjacent v176 v270) (adjacent v177 v178) (adjacent v177 v232) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v183 v184) (adjacent v183 v195) (adjacent v184 v185) (adjacent v185 v186) (adjacent v187 v188) (adjacent v188 v189) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v205 v206) (adjacent v207 v208) (adjacent v207 v282) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v214 v215) (adjacent v214 v239) (adjacent v215 v216) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v220 v221) (adjacent v221 v267) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v224 v284) (adjacent v226 v227) (adjacent v227 v228) (adjacent v229 v230) (adjacent v229 v261) (adjacent v230 v231) (adjacent v232 v233) (adjacent v232 v249) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v237 v238) (adjacent v238 v239) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v244 v245) (adjacent v244 v275) (adjacent v245 v246) (adjacent v245 v274) (adjacent v246 v247) (adjacent v247 v248) (adjacent v247 v273) (adjacent v250 v251) (adjacent v251 v252) (adjacent v251 v268) (adjacent v253 v254) (adjacent v254 v255) (adjacent v256 v257) (adjacent v257 v258) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v263 v264) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v268 v269) (adjacent v270 v271) (adjacent v275 v276) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v280 v281) (adjacent v282 v283) (adjacent v284 v285) ) (:goal (and (at r203 v0) (at r159 v1) (at r157 v2) (at r173 v3) (at r42 v4) (at r52 v5) (at r164 v6) (at r153 v7) (at r176 v8) (at r214 v9) (free v10) (at r30 v11) (at r128 v12) (at r170 v13) (at r205 v14) (at r268 v15) (at r50 v16) (at r266 v17) (at r134 v18) (at r195 v19) (at r81 v20) (free v21) (at r92 v22) (at r31 v23) (at r135 v24) (at r240 v25) (free v26) (at r229 v27) (at r271 v28) (at r221 v29) (at r244 v30) (at r277 v31) (at r48 v32) (at r207 v33) (at r115 v34) (at r66 v35) (at r96 v36) (free v37) (at r156 v38) (at r45 v39) (at r106 v40) (at r119 v41) (at r75 v42) (free v43) (free v44) (at r129 v45) (at r261 v46) (at r145 v47) (at r89 v48) (at r224 v49) (at r35 v50) (at r239 v51) (at r254 v52) (at r59 v53) (at r64 v54) (at r251 v55) (at r127 v56) (at r87 v57) (at r83 v58) (at r222 v59) (at r169 v60) (at r118 v61) (at r132 v62) (at r131 v63) (at r32 v64) (at r97 v65) (free v66) (free v67) (at r147 v68) (at r188 v69) (at r114 v70) (at r49 v71) (at r152 v72) (at r178 v73) (at r136 v74) (at r202 v75) (at r29 v76) (at r104 v77) (at r216 v78) (free v79) (at r263 v80) (at r187 v81) (at r206 v82) (at r84 v83) (at r174 v84) (at r270 v85) (at r191 v86) (at r236 v87) (at r163 v88) (at r78 v89) (at r177 v90) (at r185 v91) (at r69 v92) (at r227 v93) (at r253 v94) (at r265 v95) (at r82 v96) (at r275 v97) (at r113 v98) (at r209 v99) (at r46 v100) (at r172 v101) (at r199 v102) (at r262 v103) (at r211 v104) (at r76 v105) (at r57 v106) (free v107) (at r144 v108) (free v109) (at r230 v110) (at r210 v111) (free v112) (at r51 v113) (at r183 v114) (at r167 v115) (at r103 v116) (at r109 v117) (at r94 v118) (at r73 v119) (at r53 v120) (at r242 v121) (at r107 v122) (at r200 v123) (at r141 v124) (at r133 v125) (at r190 v126) (free v127) (at r101 v128) (at r161 v129) (at r217 v130) (at r62 v131) (at r85 v132) (at r112 v133) (free v134) (at r93 v135) (at r274 v136) (at r281 v137) (at r148 v138) (at r171 v139) (at r65 v140) (at r124 v141) (at r208 v142) (at r243 v143) (at r196 v144) (at r267 v145) (at r95 v146) (free v147) (at r155 v148) (at r37 v149) (at r154 v150) (free v151) (at r246 v152) (at r212 v153) (at r186 v154) (free v155) (at r219 v156) (at r282 v157) (at r56 v158) (at r60 v159) (at r150 v160) (at r110 v161) (at r162 v162) (at r226 v163) (at r90 v164) (at r278 v165) (at r102 v166) (free v167) (at r273 v168) (at r105 v169) (at r125 v170) (at r228 v171) (at r283 v172) (at r123 v173) (at r130 v174) (at r146 v175) (at r264 v176) (at r91 v177) (at r258 v178) (at r142 v179) (at r285 v180) (at r175 v181) (at r40 v182) (at r47 v183) (free v184) (at r284 v185) (at r179 v186) (at r77 v187) (at r245 v188) (at r194 v189) (at r250 v190) (at r117 v191) (at r257 v192) (free v193) (free v194) (at r158 v195) (at r44 v196) (at r54 v197) (at r70 v198) (at r256 v199) (at r74 v200) (at r88 v201) (at r225 v202) (at r108 v203) (at r137 v204) (at r138 v205) (at r237 v206) (at r80 v207) (at r61 v208) (at r232 v209) (at r120 v210) (at r86 v211) (at r63 v212) (at r235 v213) (at r166 v214) (free v215) (at r272 v216) (at r34 v217) (at r55 v218) (at r180 v219) (at r223 v220) (at r201 v221) (at r238 v222) (at r249 v223) (at r255 v224) (at r38 v225) (free v226) (at r204 v227) (at r192 v228) (at r143 v229) (at r58 v230) (at r182 v231) (at r71 v232) (at r193 v233) (free v234) (at r231 v235) (at r260 v236) (at r33 v237) (at r43 v238) (at r99 v239) (at r79 v240) (at r67 v241) (at r122 v242) (at r215 v243) (at r160 v244) (at r116 v245) (at r28 v246) (free v247) (at r220 v248) (at r213 v249) (at r168 v250) (at r98 v251) (free v252) (at r72 v253) (at r259 v254) (at r197 v255) (at r111 v256) (at r121 v257) (at r181 v258) (at r189 v259) (at r276 v260) (at r198 v261) (at r151 v262) (at r247 v263) (at r218 v264) (at r140 v265) (free v266) (at r149 v267) (at r139 v268) (at r241 v269) (at r233 v270) (at r126 v271) (at r234 v272) (at r280 v273) (at r248 v274) (at r252 v275) (at r165 v276) (free v277) (at r39 v278) (at r36 v279) (at r68 v280) (at r279 v281) (at r269 v282) (at r184 v283) (at r100 v284) (at r41 v285) ) ) )