(define (problem multirobot_53_50%_c0) (:domain multirobot) (:objects v0 v1 v2 r171 v3 r101 v4 v5 r177 v6 r154 v7 v8 v9 v10 v11 r111 v12 r132 v13 r149 v14 v15 v16 r168 v17 v18 r162 v19 r129 v20 r105 v21 v22 v23 v24 v25 v26 v27 v28 v29 v30 r125 v31 r114 v32 r121 v33 v34 r137 v35 r97 v36 v37 v38 r107 v39 r99 v40 r138 v41 r181 v42 v43 v44 v45 r117 v46 v47 v48 v49 v50 r182 v51 v52 r127 v53 r156 v54 r108 v55 r141 v56 r134 v57 r161 v58 v59 v60 v61 v62 r100 v63 v64 r103 v65 r153 v66 v67 r183 v68 r170 v69 r110 v70 r174 v71 v72 v73 r164 v74 r151 v75 v76 v77 r124 v78 r172 v79 v80 r176 v81 v82 r145 v83 r126 v84 v85 r157 v86 r155 v87 v88 r180 v89 r146 v90 r140 v91 r130 v92 r122 v93 r116 v94 r98 v95 v96 v97 r147 v98 v99 r143 v100 v101 v102 v103 v104 r136 v105 v106 v107 v108 v109 v110 v111 v112 v113 v114 r142 v115 v116 r179 v117 r131 v118 v119 r113 v120 v121 r152 v122 v123 r169 v124 v125 r158 v126 r175 v127 r112 v128 r167 v129 r128 v130 v131 v132 r144 v133 r178 v134 v135 v136 v137 r165 v138 r123 v139 v140 v141 v142 v143 v144 v145 v146 v147 v148 v149 v150 r133 v151 r102 v152 v153 r104 v154 v155 v156 v157 v158 v159 v160 v161 v162 v163 r119 v164 v165 v166 r186 v167 r139 v168 r115 v169 r185 v170 r118 v171 v172 v173 r173 v174 r160 v175 v176 r159 v177 r106 v178 r184 v179 v180 r163 v181 r120 v182 r135 v183 r166 v184 r150 v185 r148 v186 r109 ) (:init (free v0) (free v1) (at r171 v2) (at r101 v3) (free v4) (at r177 v5) (at r154 v6) (free v7) (free v8) (free v9) (free v10) (at r111 v11) (at r132 v12) (at r149 v13) (free v14) (free v15) (at r168 v16) (free v17) (at r162 v18) (at r129 v19) (at r105 v20) (free v21) (free v22) (free v23) (free v24) (free v25) (free v26) (free v27) (free v28) (free v29) (at r125 v30) (at r114 v31) (at r121 v32) (free v33) (at r137 v34) (at r97 v35) (free v36) (free v37) (at r107 v38) (at r99 v39) (at r138 v40) (at r181 v41) (free v42) (free v43) (free v44) (at r117 v45) (free v46) (free v47) (free v48) (free v49) (at r182 v50) (free v51) (at r127 v52) (at r156 v53) (at r108 v54) (at r141 v55) (at r134 v56) (at r161 v57) (free v58) (free v59) (free v60) (free v61) (at r100 v62) (free v63) (at r103 v64) (at r153 v65) (free v66) (at r183 v67) (at r170 v68) (at r110 v69) (at r174 v70) (free v71) (free v72) (at r164 v73) (at r151 v74) (free v75) (free v76) (at r124 v77) (at r172 v78) (free v79) (at r176 v80) (free v81) (at r145 v82) (at r126 v83) (free v84) (at r157 v85) (at r155 v86) (free v87) (at r180 v88) (at r146 v89) (at r140 v90) (at r130 v91) (at r122 v92) (at r116 v93) (at r98 v94) (free v95) (free v96) (at r147 v97) (free v98) (at r143 v99) (free v100) (free v101) (free v102) (free v103) (at r136 v104) (free v105) (free v106) (free v107) (free v108) (free v109) (free v110) (free v111) (free v112) (free v113) (at r142 v114) (free v115) (at r179 v116) (at r131 v117) (free v118) (at r113 v119) (free v120) (at r152 v121) (free v122) (at r169 v123) (free v124) (at r158 v125) (at r175 v126) (at r112 v127) (at r167 v128) (at r128 v129) (free v130) (free v131) (at r144 v132) (at r178 v133) (free v134) (free v135) (free v136) (at r165 v137) (at r123 v138) (free v139) (free v140) (free v141) (free v142) (free v143) (free v144) (free v145) (free v146) (free v147) (free v148) (free v149) (at r133 v150) (at r102 v151) (free v152) (at r104 v153) (free v154) (free v155) (free v156) (free v157) (free v158) (free v159) (free v160) (free v161) (free v162) (at r119 v163) (free v164) (free v165) (at r186 v166) (at r139 v167) (at r115 v168) (at r185 v169) (at r118 v170) (free v171) (free v172) (at r173 v173) (at r160 v174) (free v175) (at r159 v176) (at r106 v177) (at r184 v178) (free v179) (at r163 v180) (at r120 v181) (at r135 v182) (at r166 v183) (at r150 v184) (at r148 v185) (at r109 v186) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v5) (adjacent v0 v7) (adjacent v0 v43) (adjacent v1 v2) (adjacent v1 v6) (adjacent v1 v11) (adjacent v2 v3) (adjacent v2 v35) (adjacent v3 v4) (adjacent v3 v17) (adjacent v3 v33) (adjacent v5 v6) (adjacent v5 v60) (adjacent v5 v116) (adjacent v6 v16) (adjacent v6 v24) (adjacent v7 v8) (adjacent v7 v28) (adjacent v7 v36) (adjacent v7 v54) (adjacent v7 v124) (adjacent v8 v9) (adjacent v8 v12) (adjacent v9 v10) (adjacent v10 v11) (adjacent v10 v34) (adjacent v10 v41) (adjacent v11 v17) (adjacent v12 v13) (adjacent v13 v14) (adjacent v13 v43) (adjacent v13 v54) (adjacent v13 v102) (adjacent v13 v131) (adjacent v14 v15) (adjacent v15 v16) (adjacent v15 v18) (adjacent v15 v125) (adjacent v16 v49) (adjacent v18 v19) (adjacent v18 v84) (adjacent v19 v20) (adjacent v19 v37) (adjacent v19 v50) (adjacent v19 v62) (adjacent v19 v96) (adjacent v20 v21) (adjacent v20 v156) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v50) (adjacent v23 v24) (adjacent v23 v25) (adjacent v23 v57) (adjacent v23 v67) (adjacent v25 v26) (adjacent v25 v80) (adjacent v25 v106) (adjacent v26 v27) (adjacent v26 v29) (adjacent v26 v44) (adjacent v26 v77) (adjacent v27 v28) (adjacent v27 v42) (adjacent v28 v128) (adjacent v29 v30) (adjacent v29 v35) (adjacent v29 v107) (adjacent v30 v31) (adjacent v30 v51) (adjacent v31 v32) (adjacent v31 v34) (adjacent v31 v61) (adjacent v31 v81) (adjacent v31 v137) (adjacent v32 v33) (adjacent v33 v36) (adjacent v33 v42) (adjacent v34 v152) (adjacent v35 v62) (adjacent v36 v185) (adjacent v37 v38) (adjacent v37 v63) (adjacent v37 v176) (adjacent v37 v181) (adjacent v38 v39) (adjacent v38 v61) (adjacent v39 v40) (adjacent v39 v91) (adjacent v39 v123) (adjacent v40 v41) (adjacent v41 v103) (adjacent v41 v138) (adjacent v41 v153) (adjacent v43 v53) (adjacent v44 v45) (adjacent v45 v46) (adjacent v46 v47) (adjacent v46 v109) (adjacent v47 v48) (adjacent v47 v76) (adjacent v47 v129) (adjacent v47 v167) (adjacent v48 v49) (adjacent v48 v85) (adjacent v51 v52) (adjacent v51 v55) (adjacent v51 v58) (adjacent v51 v122) (adjacent v52 v53) (adjacent v54 v180) (adjacent v55 v56) (adjacent v56 v57) (adjacent v56 v66) (adjacent v58 v59) (adjacent v58 v74) (adjacent v59 v60) (adjacent v60 v123) (adjacent v61 v73) (adjacent v61 v152) (adjacent v63 v64) (adjacent v64 v65) (adjacent v64 v110) (adjacent v65 v66) (adjacent v65 v119) (adjacent v66 v120) (adjacent v67 v68) (adjacent v68 v69) (adjacent v68 v115) (adjacent v68 v172) (adjacent v69 v70) (adjacent v70 v71) (adjacent v71 v72) (adjacent v72 v73) (adjacent v74 v75) (adjacent v74 v124) (adjacent v75 v76) (adjacent v75 v85) (adjacent v77 v78) (adjacent v78 v79) (adjacent v79 v80) (adjacent v81 v82) (adjacent v82 v83) (adjacent v82 v86) (adjacent v83 v84) (adjacent v84 v90) (adjacent v86 v87) (adjacent v86 v108) (adjacent v87 v88) (adjacent v88 v89) (adjacent v89 v90) (adjacent v89 v97) (adjacent v90 v151) (adjacent v91 v92) (adjacent v92 v93) (adjacent v93 v94) (adjacent v94 v95) (adjacent v94 v107) (adjacent v95 v96) (adjacent v97 v98) (adjacent v97 v162) (adjacent v97 v175) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v186) (adjacent v100 v101) (adjacent v100 v132) (adjacent v101 v102) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v106) (adjacent v108 v109) (adjacent v108 v137) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v114) (adjacent v114 v115) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v119) (adjacent v118 v136) (adjacent v118 v144) (adjacent v120 v121) (adjacent v121 v122) (adjacent v123 v145) (adjacent v124 v157) (adjacent v125 v126) (adjacent v126 v127) (adjacent v127 v128) (adjacent v129 v130) (adjacent v130 v131) (adjacent v132 v133) (adjacent v133 v134) (adjacent v133 v166) (adjacent v134 v135) (adjacent v134 v173) (adjacent v135 v136) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v143) (adjacent v143 v144) (adjacent v145 v146) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v156 v161) (adjacent v157 v158) (adjacent v158 v159) (adjacent v159 v160) (adjacent v160 v161) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v172) (adjacent v173 v174) (adjacent v174 v175) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v181 v182) (adjacent v181 v186) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) ) (:goal (and (free v0) (free v1) (at r144 v2) (free v3) (free v4) (at r180 v5) (at r122 v6) (at r139 v7) (at r143 v8) (at r100 v9) (free v10) (at r124 v11) (at r137 v12) (at r126 v13) (free v14) (free v15) (free v16) (free v17) (free v18) (at r145 v19) (free v20) (free v21) (at r175 v22) (at r116 v23) (at r120 v24) (at r179 v25) (free v26) (free v27) (free v28) (free v29) (free v30) (free v31) (at r129 v32) (at r110 v33) (free v34) (at r117 v35) (at r118 v36) (at r166 v37) (at r148 v38) (free v39) (at r155 v40) (free v41) (free v42) (at r128 v43) (at r149 v44) (at r121 v45) (at r163 v46) (at r178 v47) (free v48) (free v49) (at r177 v50) (free v51) (free v52) (free v53) (free v54) (free v55) (at r159 v56) (free v57) (free v58) (at r136 v59) (free v60) (free v61) (at r162 v62) (free v63) (at r152 v64) (free v65) (free v66) (at r183 v67) (free v68) (at r168 v69) (free v70) (free v71) (free v72) (at r141 v73) (at r138 v74) (at r186 v75) (at r114 v76) (at r113 v77) (free v78) (at r130 v79) (at r153 v80) (free v81) (at r142 v82) (free v83) (at r164 v84) (at r172 v85) (free v86) (at r157 v87) (free v88) (at r135 v89) (at r108 v90) (free v91) (free v92) (at r119 v93) (at r160 v94) (at r140 v95) (free v96) (free v97) (free v98) (free v99) (at r185 v100) (at r169 v101) (free v102) (free v103) (at r99 v104) (at r106 v105) (free v106) (free v107) (at r123 v108) (free v109) (at r115 v110) (free v111) (free v112) (free v113) (free v114) (at r112 v115) (free v116) (at r107 v117) (at r150 v118) (at r154 v119) (free v120) (free v121) (free v122) (free v123) (free v124) (free v125) (at r151 v126) (free v127) (free v128) (free v129) (free v130) (at r134 v131) (at r184 v132) (at r125 v133) (at r161 v134) (free v135) (at r103 v136) (free v137) (at r165 v138) (at r132 v139) (at r98 v140) (at r167 v141) (at r101 v142) (free v143) (at r171 v144) (free v145) (free v146) (at r111 v147) (free v148) (free v149) (free v150) (at r181 v151) (free v152) (at r97 v153) (free v154) (free v155) (free v156) (at r146 v157) (free v158) (free v159) (free v160) (free v161) (at r127 v162) (at r170 v163) (free v164) (free v165) (at r174 v166) (at r131 v167) (at r147 v168) (at r105 v169) (free v170) (at r173 v171) (free v172) (at r158 v173) (at r102 v174) (at r156 v175) (at r133 v176) (at r104 v177) (free v178) (free v179) (free v180) (at r182 v181) (free v182) (free v183) (at r176 v184) (at r109 v185) (free v186) ) ) )