(define (problem multirobot_51_50%_c4) (:domain multirobot) (:objects v0 r132 v1 v2 r95 v3 r98 v4 v5 r152 v6 v7 r197 v8 v9 r140 v10 v11 r103 v12 r121 v13 v14 v15 v16 r109 v17 v18 r163 v19 r192 v20 v21 v22 v23 r145 v24 r138 v25 v26 r124 v27 r107 v28 v29 r150 v30 v31 r101 v32 r184 v33 v34 v35 v36 r117 v37 v38 v39 r120 v40 r202 v41 v42 r146 v43 r186 v44 r169 v45 v46 r126 v47 v48 v49 v50 r142 v51 r122 v52 v53 v54 v55 r188 v56 v57 v58 v59 v60 v61 r174 v62 r102 v63 v64 v65 r161 v66 r127 v67 v68 r195 v69 r99 v70 v71 v72 r156 v73 r129 v74 r148 v75 r114 v76 r200 v77 v78 r189 v79 v80 r170 v81 r91 v82 r144 v83 v84 v85 v86 r153 v87 v88 v89 v90 v91 r198 v92 r194 v93 v94 r196 v95 r179 v96 r149 v97 v98 v99 v100 r110 v101 r97 v102 r191 v103 r135 v104 v105 v106 r100 v107 r160 v108 r199 v109 r175 v110 v111 r96 v112 v113 v114 v115 v116 v117 r104 v118 r141 v119 r119 v120 r93 v121 v122 v123 r139 v124 r182 v125 r172 v126 v127 v128 r108 v129 r133 v130 r92 v131 v132 v133 v134 r123 v135 r171 v136 r201 v137 r166 v138 r177 v139 v140 r181 v141 r143 v142 r147 v143 r137 v144 r183 v145 r136 v146 v147 r204 v148 r128 v149 r185 v150 r90 v151 v152 r173 v153 r157 v154 r158 v155 r168 v156 v157 r187 v158 r162 v159 v160 r203 v161 r151 v162 r154 v163 r134 v164 v165 r155 v166 r193 v167 v168 v169 v170 r130 v171 r118 v172 r113 v173 r205 v174 v175 r94 v176 v177 r165 v178 v179 v180 r164 v181 v182 v183 r105 v184 v185 r116 v186 v187 r125 v188 v189 v190 v191 r115 v192 r159 v193 v194 r167 v195 r190 v196 v197 r176 v198 r178 v199 r180 v200 v201 r111 v202 r131 v203 r106 v204 r112 v205 ) (:init (at r132 v0) (free v1) (at r95 v2) (at r98 v3) (free v4) (at r152 v5) (free v6) (at r197 v7) (free v8) (at r140 v9) (free v10) (at r103 v11) (at r121 v12) (free v13) (free v14) (free v15) (at r109 v16) (free v17) (at r163 v18) (at r192 v19) (free v20) (free v21) (free v22) (at r145 v23) (at r138 v24) (free v25) (at r124 v26) (at r107 v27) (free v28) (at r150 v29) (free v30) (at r101 v31) (at r184 v32) (free v33) (free v34) (free v35) (at r117 v36) (free v37) (free v38) (at r120 v39) (at r202 v40) (free v41) (at r146 v42) (at r186 v43) (at r169 v44) (free v45) (at r126 v46) (free v47) (free v48) (free v49) (at r142 v50) (at r122 v51) (free v52) (free v53) (free v54) (at r188 v55) (free v56) (free v57) (free v58) (free v59) (free v60) (at r174 v61) (at r102 v62) (free v63) (free v64) (at r161 v65) (at r127 v66) (free v67) (at r195 v68) (at r99 v69) (free v70) (free v71) (at r156 v72) (at r129 v73) (at r148 v74) (at r114 v75) (at r200 v76) (free v77) (at r189 v78) (free v79) (at r170 v80) (at r91 v81) (at r144 v82) (free v83) (free v84) (free v85) (at r153 v86) (free v87) (free v88) (free v89) (free v90) (at r198 v91) (at r194 v92) (free v93) (at r196 v94) (at r179 v95) (at r149 v96) (free v97) (free v98) (free v99) (at r110 v100) (at r97 v101) (at r191 v102) (at r135 v103) (free v104) (free v105) (at r100 v106) (at r160 v107) (at r199 v108) (at r175 v109) (free v110) (at r96 v111) (free v112) (free v113) (free v114) (free v115) (free v116) (at r104 v117) (at r141 v118) (at r119 v119) (at r93 v120) (free v121) (free v122) (at r139 v123) (at r182 v124) (at r172 v125) (free v126) (free v127) (at r108 v128) (at r133 v129) (at r92 v130) (free v131) (free v132) (free v133) (at r123 v134) (at r171 v135) (at r201 v136) (at r166 v137) (at r177 v138) (free v139) (at r181 v140) (at r143 v141) (at r147 v142) (at r137 v143) (at r183 v144) (at r136 v145) (free v146) (at r204 v147) (at r128 v148) (at r185 v149) (at r90 v150) (free v151) (at r173 v152) (at r157 v153) (at r158 v154) (at r168 v155) (free v156) (at r187 v157) (at r162 v158) (free v159) (at r203 v160) (at r151 v161) (at r154 v162) (at r134 v163) (free v164) (at r155 v165) (at r193 v166) (free v167) (free v168) (free v169) (at r130 v170) (at r118 v171) (at r113 v172) (at r205 v173) (free v174) (at r94 v175) (free v176) (at r165 v177) (free v178) (free v179) (at r164 v180) (free v181) (free v182) (at r105 v183) (free v184) (at r116 v185) (free v186) (at r125 v187) (free v188) (free v189) (free v190) (at r115 v191) (at r159 v192) (free v193) (at r167 v194) (at r190 v195) (free v196) (at r176 v197) (at r178 v198) (at r180 v199) (free v200) (at r111 v201) (at r131 v202) (at r106 v203) (at r112 v204) (free v205) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v7) (adjacent v0 v22) (adjacent v0 v25) (adjacent v1 v2) (adjacent v1 v12) (adjacent v1 v33) (adjacent v2 v3) (adjacent v2 v5) (adjacent v3 v4) (adjacent v3 v6) (adjacent v4 v5) (adjacent v4 v171) (adjacent v5 v13) (adjacent v6 v7) (adjacent v6 v8) (adjacent v6 v40) (adjacent v7 v16) (adjacent v7 v23) (adjacent v8 v9) (adjacent v8 v41) (adjacent v9 v10) (adjacent v9 v50) (adjacent v10 v11) (adjacent v11 v12) (adjacent v11 v56) (adjacent v12 v51) (adjacent v13 v14) (adjacent v13 v45) (adjacent v13 v46) (adjacent v13 v92) (adjacent v14 v15) (adjacent v14 v32) (adjacent v15 v16) (adjacent v16 v17) (adjacent v16 v129) (adjacent v17 v18) (adjacent v17 v26) (adjacent v17 v46) (adjacent v17 v113) (adjacent v18 v19) (adjacent v19 v20) (adjacent v19 v205) (adjacent v20 v21) (adjacent v20 v64) (adjacent v20 v76) (adjacent v20 v121) (adjacent v20 v174) (adjacent v20 v195) (adjacent v21 v22) (adjacent v21 v114) (adjacent v21 v147) (adjacent v22 v201) (adjacent v23 v24) (adjacent v23 v98) (adjacent v24 v25) (adjacent v24 v136) (adjacent v25 v31) (adjacent v25 v47) (adjacent v25 v172) (adjacent v26 v27) (adjacent v26 v70) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v42) (adjacent v28 v80) (adjacent v28 v87) (adjacent v28 v97) (adjacent v28 v115) (adjacent v28 v137) (adjacent v29 v30) (adjacent v29 v146) (adjacent v30 v31) (adjacent v30 v48) (adjacent v30 v124) (adjacent v30 v154) (adjacent v32 v33) (adjacent v32 v34) (adjacent v32 v47) (adjacent v32 v173) (adjacent v33 v91) (adjacent v34 v35) (adjacent v35 v36) (adjacent v35 v190) (adjacent v36 v37) (adjacent v37 v38) (adjacent v38 v39) (adjacent v38 v126) (adjacent v39 v40) (adjacent v40 v143) (adjacent v41 v42) (adjacent v41 v43) (adjacent v42 v57) (adjacent v42 v100) (adjacent v43 v44) (adjacent v44 v45) (adjacent v44 v79) (adjacent v45 v63) (adjacent v48 v49) (adjacent v49 v50) (adjacent v51 v52) (adjacent v52 v53) (adjacent v52 v69) (adjacent v52 v77) (adjacent v53 v54) (adjacent v54 v55) (adjacent v55 v56) (adjacent v57 v58) (adjacent v57 v112) (adjacent v58 v59) (adjacent v59 v60) (adjacent v60 v61) (adjacent v61 v62) (adjacent v61 v125) (adjacent v62 v63) (adjacent v63 v95) (adjacent v64 v65) (adjacent v64 v108) (adjacent v65 v66) (adjacent v65 v96) (adjacent v66 v67) (adjacent v67 v68) (adjacent v67 v125) (adjacent v68 v69) (adjacent v68 v107) (adjacent v70 v71) (adjacent v70 v144) (adjacent v71 v72) (adjacent v72 v73) (adjacent v72 v128) (adjacent v73 v74) (adjacent v74 v75) (adjacent v75 v76) (adjacent v76 v101) (adjacent v77 v78) (adjacent v77 v86) (adjacent v77 v182) (adjacent v78 v79) (adjacent v79 v153) (adjacent v80 v81) (adjacent v81 v82) (adjacent v82 v83) (adjacent v82 v142) (adjacent v83 v84) (adjacent v84 v85) (adjacent v84 v196) (adjacent v85 v86) (adjacent v87 v88) (adjacent v87 v120) (adjacent v88 v89) (adjacent v89 v90) (adjacent v90 v91) (adjacent v91 v170) (adjacent v92 v93) (adjacent v93 v94) (adjacent v93 v111) (adjacent v94 v95) (adjacent v96 v97) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v112) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v106) (adjacent v106 v107) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v111 v136) (adjacent v113 v114) (adjacent v115 v116) (adjacent v116 v117) (adjacent v117 v118) (adjacent v117 v165) (adjacent v117 v173) (adjacent v118 v119) (adjacent v119 v120) (adjacent v119 v204) (adjacent v120 v182) (adjacent v121 v122) (adjacent v121 v141) (adjacent v121 v164) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v189) (adjacent v126 v127) (adjacent v126 v135) (adjacent v127 v128) (adjacent v129 v130) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v136 v203) (adjacent v137 v138) (adjacent v137 v175) (adjacent v138 v139) (adjacent v138 v183) (adjacent v139 v140) (adjacent v140 v141) (adjacent v142 v143) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v160) (adjacent v147 v148) (adjacent v147 v202) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v152 v153) (adjacent v154 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v158 v161) (adjacent v159 v160) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v165 v166) (adjacent v165 v174) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v169 v181) (adjacent v171 v172) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v187 v188) (adjacent v188 v189) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v200 v201) (adjacent v202 v203) (adjacent v204 v205) ) (:goal (and (at r117 v0) (at r108 v1) (free v2) (at r113 v3) (free v4) (at r158 v5) (at r119 v6) (at r112 v7) (at r186 v8) (free v9) (free v10) (free v11) (free v12) (at r177 v13) (at r179 v14) (free v15) (free v16) (free v17) (free v18) (free v19) (at r150 v20) (at r92 v21) (free v22) (free v23) (at r180 v24) (at r121 v25) (at r105 v26) (at r120 v27) (at r205 v28) (free v29) (at r204 v30) (at r195 v31) (at r168 v32) (free v33) (free v34) (at r146 v35) (at r188 v36) (at r104 v37) (free v38) (at r166 v39) (at r123 v40) (free v41) (at r130 v42) (at r164 v43) (free v44) (free v45) (free v46) (free v47) (at r167 v48) (free v49) (free v50) (at r106 v51) (at r155 v52) (free v53) (at r127 v54) (at r169 v55) (at r91 v56) (free v57) (free v58) (free v59) (free v60) (free v61) (free v62) (at r103 v63) (at r90 v64) (free v65) (at r160 v66) (free v67) (at r151 v68) (free v69) (at r125 v70) (at r94 v71) (free v72) (at r128 v73) (free v74) (at r148 v75) (at r97 v76) (free v77) (free v78) (free v79) (at r181 v80) (at r176 v81) (at r192 v82) (free v83) (at r189 v84) (free v85) (free v86) (at r143 v87) (free v88) (at r141 v89) (free v90) (free v91) (free v92) (at r174 v93) (at r202 v94) (free v95) (free v96) (at r122 v97) (at r136 v98) (at r134 v99) (at r131 v100) (free v101) (at r135 v102) (free v103) (free v104) (at r187 v105) (free v106) (at r137 v107) (at r201 v108) (free v109) (free v110) (at r165 v111) (free v112) (at r197 v113) (at r98 v114) (free v115) (at r101 v116) (at r96 v117) (at r115 v118) (free v119) (at r144 v120) (free v121) (at r191 v122) (at r200 v123) (at r126 v124) (at r111 v125) (at r170 v126) (free v127) (free v128) (free v129) (free v130) (free v131) (at r142 v132) (free v133) (free v134) (free v135) (free v136) (at r190 v137) (free v138) (at r118 v139) (at r154 v140) (free v141) (at r156 v142) (at r109 v143) (free v144) (free v145) (at r100 v146) (at r110 v147) (at r129 v148) (free v149) (at r159 v150) (free v151) (at r163 v152) (at r99 v153) (at r107 v154) (at r196 v155) (at r116 v156) (at r149 v157) (at r152 v158) (at r145 v159) (at r172 v160) (at r102 v161) (at r133 v162) (free v163) (free v164) (at r182 v165) (at r198 v166) (free v167) (free v168) (free v169) (at r132 v170) (free v171) (free v172) (free v173) (at r175 v174) (at r184 v175) (at r178 v176) (at r93 v177) (at r147 v178) (at r162 v179) (free v180) (at r199 v181) (at r171 v182) (free v183) (at r173 v184) (at r139 v185) (at r153 v186) (at r183 v187) (free v188) (at r185 v189) (at r124 v190) (free v191) (at r114 v192) (at r95 v193) (free v194) (at r193 v195) (free v196) (at r140 v197) (at r161 v198) (free v199) (at r138 v200) (at r194 v201) (at r157 v202) (at r203 v203) (free v204) (free v205) ) ) )