(define (problem multirobot_53_50%_c6) (:domain multirobot) (:objects v0 v1 v2 r99 v3 v4 v5 r129 v6 r143 v7 r161 v8 r155 v9 r118 v10 v11 v12 r104 v13 v14 r177 v15 v16 v17 r180 v18 v19 v20 r108 v21 r91 v22 v23 r126 v24 r87 v25 v26 r102 v27 v28 r125 v29 v30 v31 v32 r166 v33 v34 r162 v35 v36 r184 v37 r123 v38 r145 v39 r109 v40 r114 v41 r115 v42 r131 v43 v44 r157 v45 r178 v46 r172 v47 r105 v48 v49 r92 v50 v51 v52 v53 v54 r164 v55 v56 r173 v57 r121 v58 v59 r175 v60 v61 r93 v62 r133 v63 v64 v65 v66 r144 v67 r163 v68 v69 r112 v70 r138 v71 r97 v72 r197 v73 r185 v74 r195 v75 v76 r176 v77 r140 v78 r182 v79 r190 v80 r148 v81 r194 v82 r101 v83 v84 r159 v85 v86 v87 r88 v88 r128 v89 v90 r171 v91 v92 r132 v93 r149 v94 v95 r135 v96 r181 v97 v98 v99 r146 v100 v101 v102 v103 v104 r137 v105 r110 v106 v107 r196 v108 r160 v109 v110 v111 r124 v112 r103 v113 v114 r139 v115 r193 v116 r116 v117 r158 v118 v119 r150 v120 v121 r89 v122 r165 v123 v124 r98 v125 v126 v127 r136 v128 r119 v129 v130 r96 v131 v132 r186 v133 v134 r169 v135 r167 v136 v137 v138 r90 v139 r179 v140 v141 r153 v142 r170 v143 r183 v144 v145 v146 r113 v147 r117 v148 r156 v149 r174 v150 v151 r106 v152 r189 v153 v154 r187 v155 r134 v156 v157 r94 v158 v159 v160 v161 v162 v163 r142 v164 r151 v165 r154 v166 v167 v168 v169 v170 r107 v171 r147 v172 v173 r111 v174 v175 v176 r141 v177 r100 v178 r192 v179 r188 v180 r127 v181 r120 v182 v183 v184 v185 v186 r191 v187 r152 v188 r122 v189 v190 v191 v192 v193 v194 r168 v195 v196 r95 v197 r130 ) (:init (free v0) (free v1) (at r99 v2) (free v3) (free v4) (at r129 v5) (at r143 v6) (at r161 v7) (at r155 v8) (at r118 v9) (free v10) (free v11) (at r104 v12) (free v13) (at r177 v14) (free v15) (free v16) (at r180 v17) (free v18) (free v19) (at r108 v20) (at r91 v21) (free v22) (at r126 v23) (at r87 v24) (free v25) (at r102 v26) (free v27) (at r125 v28) (free v29) (free v30) (free v31) (at r166 v32) (free v33) (at r162 v34) (free v35) (at r184 v36) (at r123 v37) (at r145 v38) (at r109 v39) (at r114 v40) (at r115 v41) (at r131 v42) (free v43) (at r157 v44) (at r178 v45) (at r172 v46) (at r105 v47) (free v48) (at r92 v49) (free v50) (free v51) (free v52) (free v53) (at r164 v54) (free v55) (at r173 v56) (at r121 v57) (free v58) (at r175 v59) (free v60) (at r93 v61) (at r133 v62) (free v63) (free v64) (free v65) (at r144 v66) (at r163 v67) (free v68) (at r112 v69) (at r138 v70) (at r97 v71) (at r197 v72) (at r185 v73) (at r195 v74) (free v75) (at r176 v76) (at r140 v77) (at r182 v78) (at r190 v79) (at r148 v80) (at r194 v81) (at r101 v82) (free v83) (at r159 v84) (free v85) (free v86) (at r88 v87) (at r128 v88) (free v89) (at r171 v90) (free v91) (at r132 v92) (at r149 v93) (free v94) (at r135 v95) (at r181 v96) (free v97) (free v98) (at r146 v99) (free v100) (free v101) (free v102) (free v103) (at r137 v104) (at r110 v105) (free v106) (at r196 v107) (at r160 v108) (free v109) (free v110) (at r124 v111) (at r103 v112) (free v113) (at r139 v114) (at r193 v115) (at r116 v116) (at r158 v117) (free v118) (at r150 v119) (free v120) (at r89 v121) (at r165 v122) (free v123) (at r98 v124) (free v125) (free v126) (at r136 v127) (at r119 v128) (free v129) (at r96 v130) (free v131) (at r186 v132) (free v133) (at r169 v134) (at r167 v135) (free v136) (free v137) (at r90 v138) (at r179 v139) (free v140) (at r153 v141) (at r170 v142) (at r183 v143) (free v144) (free v145) (at r113 v146) (at r117 v147) (at r156 v148) (at r174 v149) (free v150) (at r106 v151) (at r189 v152) (free v153) (at r187 v154) (at r134 v155) (free v156) (at r94 v157) (free v158) (free v159) (free v160) (free v161) (free v162) (at r142 v163) (at r151 v164) (at r154 v165) (free v166) (free v167) (free v168) (free v169) (at r107 v170) (at r147 v171) (free v172) (at r111 v173) (free v174) (free v175) (at r141 v176) (at r100 v177) (at r192 v178) (at r188 v179) (at r127 v180) (at r120 v181) (free v182) (free v183) (free v184) (free v185) (at r191 v186) (at r152 v187) (at r122 v188) (free v189) (free v190) (free v191) (free v192) (free v193) (at r168 v194) (free v195) (at r95 v196) (at r130 v197) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v11) (adjacent v0 v41) (adjacent v0 v52) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v22) (adjacent v1 v36) (adjacent v2 v3) (adjacent v2 v45) (adjacent v2 v68) (adjacent v3 v4) (adjacent v4 v78) (adjacent v4 v148) (adjacent v5 v6) (adjacent v5 v18) (adjacent v5 v43) (adjacent v6 v7) (adjacent v6 v13) (adjacent v6 v183) (adjacent v7 v8) (adjacent v7 v180) (adjacent v8 v9) (adjacent v8 v17) (adjacent v8 v33) (adjacent v8 v67) (adjacent v8 v137) (adjacent v9 v10) (adjacent v9 v12) (adjacent v9 v25) (adjacent v9 v63) (adjacent v9 v188) (adjacent v10 v11) (adjacent v10 v23) (adjacent v10 v27) (adjacent v10 v48) (adjacent v11 v12) (adjacent v12 v47) (adjacent v12 v78) (adjacent v12 v132) (adjacent v12 v190) (adjacent v13 v14) (adjacent v14 v15) (adjacent v14 v130) (adjacent v15 v16) (adjacent v15 v39) (adjacent v15 v151) (adjacent v16 v17) (adjacent v17 v74) (adjacent v17 v102) (adjacent v17 v120) (adjacent v18 v19) (adjacent v18 v35) (adjacent v18 v40) (adjacent v19 v20) (adjacent v20 v21) (adjacent v20 v38) (adjacent v21 v22) (adjacent v21 v28) (adjacent v21 v121) (adjacent v22 v24) (adjacent v22 v44) (adjacent v23 v24) (adjacent v23 v140) (adjacent v23 v179) (adjacent v23 v189) (adjacent v24 v34) (adjacent v25 v26) (adjacent v25 v44) (adjacent v26 v27) (adjacent v27 v77) (adjacent v28 v29) (adjacent v28 v46) (adjacent v29 v30) (adjacent v29 v56) (adjacent v29 v178) (adjacent v30 v31) (adjacent v30 v45) (adjacent v30 v170) (adjacent v31 v32) (adjacent v32 v33) (adjacent v34 v35) (adjacent v34 v68) (adjacent v36 v37) (adjacent v37 v38) (adjacent v38 v57) (adjacent v38 v69) (adjacent v38 v109) (adjacent v39 v40) (adjacent v41 v42) (adjacent v42 v43) (adjacent v42 v147) (adjacent v43 v51) (adjacent v43 v73) (adjacent v44 v88) (adjacent v44 v177) (adjacent v46 v47) (adjacent v47 v62) (adjacent v47 v157) (adjacent v48 v49) (adjacent v49 v50) (adjacent v49 v90) (adjacent v50 v51) (adjacent v50 v61) (adjacent v52 v53) (adjacent v53 v54) (adjacent v54 v55) (adjacent v55 v56) (adjacent v57 v58) (adjacent v57 v103) (adjacent v58 v59) (adjacent v58 v62) (adjacent v58 v120) (adjacent v59 v60) (adjacent v59 v76) (adjacent v59 v83) (adjacent v60 v61) (adjacent v60 v152) (adjacent v61 v91) (adjacent v61 v119) (adjacent v63 v64) (adjacent v64 v65) (adjacent v64 v75) (adjacent v65 v66) (adjacent v65 v82) (adjacent v66 v67) (adjacent v68 v87) (adjacent v69 v70) (adjacent v69 v108) (adjacent v70 v71) (adjacent v71 v72) (adjacent v72 v73) (adjacent v74 v75) (adjacent v74 v79) (adjacent v74 v158) (adjacent v74 v164) (adjacent v74 v171) (adjacent v76 v77) (adjacent v77 v96) (adjacent v78 v129) (adjacent v79 v80) (adjacent v79 v197) (adjacent v80 v81) (adjacent v80 v99) (adjacent v81 v82) (adjacent v83 v84) (adjacent v84 v85) (adjacent v85 v86) (adjacent v86 v87) (adjacent v88 v89) (adjacent v88 v97) (adjacent v89 v90) (adjacent v90 v114) (adjacent v91 v92) (adjacent v92 v93) (adjacent v93 v94) (adjacent v94 v95) (adjacent v95 v96) (adjacent v95 v98) (adjacent v97 v98) (adjacent v99 v100) (adjacent v99 v115) (adjacent v100 v101) (adjacent v100 v159) (adjacent v101 v102) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v106) (adjacent v105 v127) (adjacent v105 v148) (adjacent v106 v107) (adjacent v107 v108) (adjacent v107 v136) (adjacent v109 v110) (adjacent v109 v156) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v112 v131) (adjacent v113 v114) (adjacent v113 v141) (adjacent v115 v116) (adjacent v116 v117) (adjacent v117 v118) (adjacent v117 v128) (adjacent v118 v119) (adjacent v118 v131) (adjacent v121 v122) (adjacent v121 v149) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v124 v128) (adjacent v124 v165) (adjacent v125 v126) (adjacent v126 v127) (adjacent v129 v130) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v136) (adjacent v137 v138) (adjacent v138 v139) (adjacent v139 v140) (adjacent v141 v142) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v149 v150) (adjacent v150 v151) (adjacent v152 v153) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v155 v184) (adjacent v157 v158) (adjacent v159 v160) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v176 v177) (adjacent v178 v179) (adjacent v180 v181) (adjacent v180 v191) (adjacent v181 v182) (adjacent v182 v183) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v187 v188) (adjacent v189 v190) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) ) (:goal (and (at r186 v0) (at r115 v1) (at r153 v2) (free v3) (at r168 v4) (at r152 v5) (at r175 v6) (at r159 v7) (at r98 v8) (at r162 v9) (at r150 v10) (free v11) (at r189 v12) (free v13) (free v14) (free v15) (at r158 v16) (at r123 v17) (free v18) (at r128 v19) (at r188 v20) (at r118 v21) (free v22) (free v23) (at r102 v24) (at r170 v25) (at r121 v26) (at r95 v27) (free v28) (free v29) (free v30) (free v31) (free v32) (free v33) (at r183 v34) (free v35) (free v36) (at r193 v37) (free v38) (free v39) (at r139 v40) (free v41) (at r91 v42) (free v43) (free v44) (free v45) (free v46) (at r145 v47) (free v48) (at r169 v49) (at r101 v50) (at r143 v51) (at r156 v52) (at r196 v53) (at r96 v54) (free v55) (at r185 v56) (at r166 v57) (free v58) (at r89 v59) (at r103 v60) (free v61) (free v62) (free v63) (free v64) (at r144 v65) (at r120 v66) (free v67) (at r124 v68) (at r106 v69) (at r122 v70) (at r134 v71) (at r172 v72) (free v73) (at r142 v74) (free v75) (free v76) (free v77) (at r154 v78) (free v79) (at r100 v80) (free v81) (at r173 v82) (free v83) (at r125 v84) (free v85) (at r147 v86) (free v87) (at r146 v88) (at r88 v89) (free v90) (at r135 v91) (at r108 v92) (at r140 v93) (free v94) (at r117 v95) (at r113 v96) (free v97) (free v98) (free v99) (free v100) (at r99 v101) (at r184 v102) (at r112 v103) (at r114 v104) (free v105) (at r93 v106) (at r176 v107) (at r197 v108) (free v109) (free v110) (free v111) (free v112) (at r104 v113) (at r178 v114) (free v115) (at r179 v116) (at r116 v117) (at r110 v118) (at r149 v119) (at r171 v120) (free v121) (at r132 v122) (at r129 v123) (at r148 v124) (at r180 v125) (at r138 v126) (at r157 v127) (free v128) (at r163 v129) (at r126 v130) (free v131) (at r164 v132) (at r94 v133) (free v134) (at r174 v135) (free v136) (free v137) (free v138) (free v139) (at r167 v140) (free v141) (at r131 v142) (at r119 v143) (at r90 v144) (at r109 v145) (free v146) (at r151 v147) (at r92 v148) (free v149) (free v150) (at r191 v151) (free v152) (at r105 v153) (free v154) (free v155) (free v156) (at r141 v157) (at r133 v158) (free v159) (at r194 v160) (free v161) (free v162) (at r195 v163) (at r127 v164) (at r155 v165) (at r111 v166) (free v167) (free v168) (free v169) (free v170) (at r107 v171) (free v172) (free v173) (at r177 v174) (at r182 v175) (free v176) (free v177) (free v178) (at r190 v179) (at r130 v180) (at r192 v181) (free v182) (at r97 v183) (free v184) (at r165 v185) (at r87 v186) (at r161 v187) (free v188) (free v189) (free v190) (free v191) (at r160 v192) (at r136 v193) (at r187 v194) (at r181 v195) (at r137 v196) (free v197) ) ) )