(define (problem multirobot_72_50%_c4) (:domain multirobot) (:objects v0 v1 r160 v2 v3 v4 r144 v5 v6 r196 v7 r138 v8 r228 v9 v10 v11 r171 v12 v13 v14 r253 v15 r232 v16 r198 v17 v18 r191 v19 r227 v20 r236 v21 v22 v23 v24 r149 v25 v26 r258 v27 r212 v28 v29 r156 v30 v31 v32 r218 v33 r152 v34 r185 v35 v36 v37 r141 v38 v39 v40 r273 v41 v42 v43 v44 v45 r182 v46 r214 v47 r267 v48 v49 v50 r146 v51 r153 v52 v53 r226 v54 r216 v55 v56 v57 r143 v58 r254 v59 r193 v60 r221 v61 v62 v63 v64 v65 r255 v66 v67 v68 r165 v69 r206 v70 r201 v71 r164 v72 r151 v73 r244 v74 r217 v75 v76 v77 v78 r207 v79 r163 v80 v81 v82 v83 v84 r284 v85 v86 r137 v87 r145 v88 v89 r139 v90 v91 r223 v92 v93 r281 v94 r239 v95 r280 v96 v97 v98 r248 v99 v100 v101 v102 r187 v103 r230 v104 v105 v106 r148 v107 r202 v108 v109 v110 v111 r283 v112 v113 v114 r238 v115 v116 r155 v117 r186 v118 v119 r271 v120 v121 r263 v122 v123 r233 v124 v125 r246 v126 v127 r195 v128 r199 v129 r176 v130 r270 v131 v132 r157 v133 v134 v135 v136 v137 r250 v138 r277 v139 v140 r179 v141 r166 v142 v143 v144 v145 r234 v146 r285 v147 r158 v148 r241 v149 v150 r272 v151 v152 v153 r150 v154 v155 r276 v156 r262 v157 r235 v158 v159 v160 v161 r265 v162 r159 v163 v164 r269 v165 r177 v166 v167 v168 v169 r170 v170 r200 v171 v172 v173 v174 r261 v175 r247 v176 v177 v178 v179 r210 v180 v181 v182 v183 v184 r154 v185 r181 v186 r180 v187 v188 r215 v189 r222 v190 r203 v191 v192 r256 v193 r136 v194 r167 v195 v196 r240 v197 v198 r275 v199 r266 v200 r183 v201 r220 v202 r140 v203 r274 v204 v205 v206 r257 v207 r172 v208 r184 v209 r142 v210 v211 r161 v212 r211 v213 v214 v215 r205 v216 r162 v217 r178 v218 r204 v219 r197 v220 v221 v222 r188 v223 v224 r169 v225 r225 v226 r224 v227 v228 r252 v229 r243 v230 r268 v231 r213 v232 v233 v234 v235 r259 v236 v237 r135 v238 v239 r279 v240 v241 r242 v242 r245 v243 v244 r219 v245 v246 v247 r192 v248 v249 r260 v250 r147 v251 v252 v253 v254 v255 v256 r175 v257 v258 r229 v259 v260 r249 v261 v262 r282 v263 r168 v264 r251 v265 r190 v266 r208 v267 v268 v269 r237 v270 v271 v272 r264 v273 v274 r173 v275 v276 r174 v277 v278 r231 v279 r189 v280 r278 v281 r209 v282 v283 v284 r194 v285 ) (:init (free v0) (at r160 v1) (free v2) (free v3) (at r144 v4) (free v5) (at r196 v6) (at r138 v7) (at r228 v8) (free v9) (free v10) (at r171 v11) (free v12) (free v13) (at r253 v14) (at r232 v15) (at r198 v16) (free v17) (at r191 v18) (at r227 v19) (at r236 v20) (free v21) (free v22) (free v23) (at r149 v24) (free v25) (at r258 v26) (at r212 v27) (free v28) (at r156 v29) (free v30) (free v31) (at r218 v32) (at r152 v33) (at r185 v34) (free v35) (free v36) (at r141 v37) (free v38) (free v39) (at r273 v40) (free v41) (free v42) (free v43) (free v44) (at r182 v45) (at r214 v46) (at r267 v47) (free v48) (free v49) (at r146 v50) (at r153 v51) (free v52) (at r226 v53) (at r216 v54) (free v55) (free v56) (at r143 v57) (at r254 v58) (at r193 v59) (at r221 v60) (free v61) (free v62) (free v63) (free v64) (at r255 v65) (free v66) (free v67) (at r165 v68) (at r206 v69) (at r201 v70) (at r164 v71) (at r151 v72) (at r244 v73) (at r217 v74) (free v75) (free v76) (free v77) (at r207 v78) (at r163 v79) (free v80) (free v81) (free v82) (free v83) (at r284 v84) (free v85) (at r137 v86) (at r145 v87) (free v88) (at r139 v89) (free v90) (at r223 v91) (free v92) (at r281 v93) (at r239 v94) (at r280 v95) (free v96) (free v97) (at r248 v98) (free v99) (free v100) (free v101) (at r187 v102) (at r230 v103) (free v104) (free v105) (at r148 v106) (at r202 v107) (free v108) (free v109) (free v110) (at r283 v111) (free v112) (free v113) (at r238 v114) (free v115) (at r155 v116) (at r186 v117) (free v118) (at r271 v119) (free v120) (at r263 v121) (free v122) (at r233 v123) (free v124) (at r246 v125) (free v126) (at r195 v127) (at r199 v128) (at r176 v129) (at r270 v130) (free v131) (at r157 v132) (free v133) (free v134) (free v135) (free v136) (at r250 v137) (at r277 v138) (free v139) (at r179 v140) (at r166 v141) (free v142) (free v143) (free v144) (at r234 v145) (at r285 v146) (at r158 v147) (at r241 v148) (free v149) (at r272 v150) (free v151) (free v152) (at r150 v153) (free v154) (at r276 v155) (at r262 v156) (at r235 v157) (free v158) (free v159) (free v160) (at r265 v161) (at r159 v162) (free v163) (at r269 v164) (at r177 v165) (free v166) (free v167) (free v168) (at r170 v169) (at r200 v170) (free v171) (free v172) (free v173) (at r261 v174) (at r247 v175) (free v176) (free v177) (free v178) (at r210 v179) (free v180) (free v181) (free v182) (free v183) (at r154 v184) (at r181 v185) (at r180 v186) (free v187) (at r215 v188) (at r222 v189) (at r203 v190) (free v191) (at r256 v192) (at r136 v193) (at r167 v194) (free v195) (at r240 v196) (free v197) (at r275 v198) (at r266 v199) (at r183 v200) (at r220 v201) (at r140 v202) (at r274 v203) (free v204) (free v205) (at r257 v206) (at r172 v207) (at r184 v208) (at r142 v209) (free v210) (at r161 v211) (at r211 v212) (free v213) (free v214) (at r205 v215) (at r162 v216) (at r178 v217) (at r204 v218) (at r197 v219) (free v220) (free v221) (at r188 v222) (free v223) (at r169 v224) (at r225 v225) (at r224 v226) (free v227) (at r252 v228) (at r243 v229) (at r268 v230) (at r213 v231) (free v232) (free v233) (free v234) (at r259 v235) (free v236) (at r135 v237) (free v238) (at r279 v239) (free v240) (at r242 v241) (at r245 v242) (free v243) (at r219 v244) (free v245) (free v246) (at r192 v247) (free v248) (at r260 v249) (at r147 v250) (free v251) (free v252) (free v253) (free v254) (free v255) (at r175 v256) (free v257) (at r229 v258) (free v259) (at r249 v260) (free v261) (at r282 v262) (at r168 v263) (at r251 v264) (at r190 v265) (at r208 v266) (free v267) (free v268) (at r237 v269) (free v270) (free v271) (at r264 v272) (free v273) (at r173 v274) (free v275) (at r174 v276) (free v277) (at r231 v278) (at r189 v279) (at r278 v280) (at r209 v281) (free v282) (free v283) (at r194 v284) (free v285) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v5) (adjacent v0 v10) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v14) (adjacent v1 v70) (adjacent v1 v156) (adjacent v1 v243) (adjacent v2 v3) (adjacent v3 v4) (adjacent v3 v9) (adjacent v4 v15) (adjacent v5 v6) (adjacent v5 v51) (adjacent v5 v121) (adjacent v5 v177) (adjacent v6 v7) (adjacent v6 v23) (adjacent v6 v90) (adjacent v7 v8) (adjacent v7 v69) (adjacent v7 v233) (adjacent v8 v9) (adjacent v8 v21) (adjacent v8 v94) (adjacent v8 v105) (adjacent v9 v22) (adjacent v10 v11) (adjacent v10 v22) (adjacent v11 v12) (adjacent v11 v50) (adjacent v12 v13) (adjacent v12 v52) (adjacent v12 v55) (adjacent v12 v127) (adjacent v13 v14) (adjacent v13 v37) (adjacent v13 v109) (adjacent v14 v86) (adjacent v15 v16) (adjacent v15 v43) (adjacent v15 v77) (adjacent v16 v17) (adjacent v16 v56) (adjacent v16 v97) (adjacent v16 v102) (adjacent v16 v196) (adjacent v16 v252) (adjacent v17 v18) (adjacent v17 v89) (adjacent v18 v19) (adjacent v18 v42) (adjacent v18 v62) (adjacent v19 v20) (adjacent v19 v87) (adjacent v20 v21) (adjacent v21 v29) (adjacent v21 v30) (adjacent v22 v46) (adjacent v22 v83) (adjacent v22 v149) (adjacent v22 v157) (adjacent v22 v235) (adjacent v23 v24) (adjacent v23 v30) (adjacent v23 v31) (adjacent v23 v47) (adjacent v23 v156) (adjacent v24 v25) (adjacent v25 v26) (adjacent v26 v27) (adjacent v26 v36) (adjacent v27 v28) (adjacent v28 v29) (adjacent v29 v68) (adjacent v29 v115) (adjacent v30 v51) (adjacent v30 v128) (adjacent v31 v32) (adjacent v31 v175) (adjacent v32 v33) (adjacent v33 v34) (adjacent v34 v35) (adjacent v34 v76) (adjacent v35 v36) (adjacent v35 v95) (adjacent v36 v209) (adjacent v37 v38) (adjacent v37 v55) (adjacent v38 v39) (adjacent v39 v40) (adjacent v39 v54) (adjacent v40 v41) (adjacent v40 v68) (adjacent v41 v42) (adjacent v41 v63) (adjacent v43 v44) (adjacent v43 v67) (adjacent v43 v166) (adjacent v44 v45) (adjacent v44 v170) (adjacent v45 v46) (adjacent v45 v81) (adjacent v45 v82) (adjacent v46 v195) (adjacent v47 v48) (adjacent v47 v69) (adjacent v47 v174) (adjacent v48 v49) (adjacent v49 v50) (adjacent v50 v132) (adjacent v52 v53) (adjacent v53 v54) (adjacent v53 v82) (adjacent v55 v176) (adjacent v56 v57) (adjacent v57 v58) (adjacent v57 v98) (adjacent v58 v59) (adjacent v59 v60) (adjacent v60 v61) (adjacent v61 v62) (adjacent v62 v176) (adjacent v63 v64) (adjacent v64 v65) (adjacent v65 v66) (adjacent v66 v67) (adjacent v68 v177) (adjacent v69 v158) (adjacent v70 v71) (adjacent v70 v106) (adjacent v71 v72) (adjacent v71 v83) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v185) (adjacent v74 v75) (adjacent v75 v76) (adjacent v76 v137) (adjacent v77 v78) (adjacent v78 v79) (adjacent v78 v84) (adjacent v79 v80) (adjacent v80 v81) (adjacent v81 v101) (adjacent v83 v167) (adjacent v84 v85) (adjacent v84 v159) (adjacent v85 v86) (adjacent v85 v259) (adjacent v86 v120) (adjacent v87 v88) (adjacent v87 v249) (adjacent v88 v89) (adjacent v88 v114) (adjacent v90 v91) (adjacent v91 v92) (adjacent v92 v93) (adjacent v92 v207) (adjacent v93 v94) (adjacent v95 v96) (adjacent v96 v97) (adjacent v96 v143) (adjacent v98 v99) (adjacent v99 v100) (adjacent v100 v101) (adjacent v101 v148) (adjacent v101 v191) (adjacent v102 v103) (adjacent v102 v142) (adjacent v102 v245) (adjacent v103 v104) (adjacent v103 v282) (adjacent v104 v105) (adjacent v104 v159) (adjacent v104 v223) (adjacent v105 v207) (adjacent v106 v107) (adjacent v106 v133) (adjacent v107 v108) (adjacent v108 v109) (adjacent v109 v110) (adjacent v109 v206) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v114) (adjacent v114 v252) (adjacent v115 v116) (adjacent v115 v208) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v120) (adjacent v119 v160) (adjacent v120 v169) (adjacent v120 v175) (adjacent v121 v122) (adjacent v121 v265) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v125 v126) (adjacent v125 v138) (adjacent v126 v127) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v130 v264) (adjacent v131 v132) (adjacent v132 v155) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v136) (adjacent v136 v137) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v143 v144) (adjacent v143 v215) (adjacent v144 v145) (adjacent v144 v184) (adjacent v145 v146) (adjacent v146 v147) (adjacent v147 v148) (adjacent v147 v198) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v152 v153) (adjacent v153 v154) (adjacent v153 v242) (adjacent v154 v155) (adjacent v154 v236) (adjacent v157 v158) (adjacent v159 v253) (adjacent v160 v161) (adjacent v160 v178) (adjacent v160 v235) (adjacent v161 v162) (adjacent v161 v199) (adjacent v161 v251) (adjacent v162 v163) (adjacent v162 v276) (adjacent v163 v164) (adjacent v163 v232) (adjacent v164 v165) (adjacent v164 v246) (adjacent v165 v166) (adjacent v165 v283) (adjacent v167 v168) (adjacent v167 v271) (adjacent v168 v169) (adjacent v169 v208) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v173 v205) (adjacent v174 v190) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v180 v222) (adjacent v181 v182) (adjacent v181 v216) (adjacent v182 v183) (adjacent v183 v184) (adjacent v185 v186) (adjacent v186 v187) (adjacent v187 v188) (adjacent v188 v189) (adjacent v188 v234) (adjacent v189 v190) (adjacent v191 v192) (adjacent v192 v193) (adjacent v192 v228) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v277) (adjacent v196 v197) (adjacent v197 v198) (adjacent v199 v200) (adjacent v199 v245) (adjacent v200 v201) (adjacent v201 v202) (adjacent v201 v206) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v208 v244) (adjacent v209 v210) (adjacent v209 v258) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v213 v214) (adjacent v214 v215) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v220 v221) (adjacent v220 v227) (adjacent v221 v222) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v226 v227) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v230 v248) (adjacent v231 v232) (adjacent v233 v234) (adjacent v236 v237) (adjacent v237 v238) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v243 v244) (adjacent v246 v247) (adjacent v246 v272) (adjacent v246 v285) (adjacent v247 v248) (adjacent v249 v250) (adjacent v250 v251) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v258) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v275 v276) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v283 v284) (adjacent v284 v285) ) (:goal (and (free v0) (at r229 v1) (at r183 v2) (free v3) (at r251 v4) (at r246 v5) (at r160 v6) (free v7) (at r225 v8) (free v9) (free v10) (free v11) (free v12) (at r261 v13) (free v14) (free v15) (free v16) (free v17) (at r192 v18) (free v19) (at r175 v20) (at r234 v21) (at r162 v22) (at r171 v23) (at r236 v24) (at r161 v25) (free v26) (free v27) (free v28) (at r218 v29) (free v30) (free v31) (free v32) (at r220 v33) (at r155 v34) (at r178 v35) (at r203 v36) (at r250 v37) (free v38) (at r216 v39) (free v40) (free v41) (at r285 v42) (at r223 v43) (free v44) (at r170 v45) (at r269 v46) (at r141 v47) (at r154 v48) (at r135 v49) (free v50) (free v51) (at r139 v52) (at r274 v53) (free v54) (at r169 v55) (free v56) (at r180 v57) (free v58) (at r138 v59) (at r241 v60) (at r147 v61) (free v62) (at r211 v63) (at r199 v64) (at r185 v65) (free v66) (free v67) (free v68) (free v69) (free v70) (at r277 v71) (at r153 v72) (at r152 v73) (at r257 v74) (at r196 v75) (at r284 v76) (at r238 v77) (free v78) (at r172 v79) (free v80) (at r179 v81) (free v82) (at r207 v83) (at r243 v84) (at r174 v85) (at r143 v86) (free v87) (at r260 v88) (free v89) (at r280 v90) (free v91) (free v92) (free v93) (free v94) (free v95) (free v96) (at r163 v97) (free v98) (at r281 v99) (free v100) (free v101) (at r181 v102) (free v103) (free v104) (free v105) (free v106) (at r226 v107) (free v108) (at r254 v109) (free v110) (free v111) (at r194 v112) (at r221 v113) (free v114) (at r182 v115) (at r206 v116) (free v117) (free v118) (at r144 v119) (at r146 v120) (free v121) (at r233 v122) (free v123) (at r259 v124) (free v125) (free v126) (at r191 v127) (at r219 v128) (free v129) (free v130) (free v131) (at r278 v132) (free v133) (at r212 v134) (free v135) (at r232 v136) (free v137) (at r197 v138) (free v139) (free v140) (at r157 v141) (at r248 v142) (free v143) (at r173 v144) (at r224 v145) (free v146) (at r187 v147) (at r217 v148) (free v149) (free v150) (free v151) (free v152) (free v153) (free v154) (free v155) (at r188 v156) (at r282 v157) (at r204 v158) (at r193 v159) (at r202 v160) (at r270 v161) (at r267 v162) (free v163) (free v164) (free v165) (free v166) (free v167) (at r271 v168) (at r209 v169) (free v170) (free v171) (free v172) (at r239 v173) (free v174) (at r145 v175) (at r249 v176) (free v177) (free v178) (at r156 v179) (free v180) (at r268 v181) (at r275 v182) (free v183) (free v184) (at r283 v185) (free v186) (at r227 v187) (at r148 v188) (at r258 v189) (at r276 v190) (free v191) (free v192) (at r244 v193) (at r165 v194) (free v195) (free v196) (free v197) (at r262 v198) (at r272 v199) (at r242 v200) (at r255 v201) (at r235 v202) (free v203) (at r189 v204) (at r151 v205) (at r253 v206) (at r149 v207) (free v208) (at r273 v209) (free v210) (at r263 v211) (at r240 v212) (at r266 v213) (at r205 v214) (at r279 v215) (at r176 v216) (free v217) (at r264 v218) (at r245 v219) (free v220) (at r213 v221) (at r158 v222) (free v223) (free v224) (free v225) (free v226) (at r201 v227) (at r228 v228) (at r222 v229) (at r184 v230) (at r252 v231) (free v232) (at r167 v233) (free v234) (at r159 v235) (at r195 v236) (free v237) (free v238) (at r214 v239) (free v240) (free v241) (at r177 v242) (free v243) (free v244) (free v245) (free v246) (free v247) (free v248) (free v249) (at r186 v250) (at r190 v251) (at r164 v252) (free v253) (at r256 v254) (at r140 v255) (at r168 v256) (at r166 v257) (free v258) (at r200 v259) (free v260) (free v261) (free v262) (at r265 v263) (free v264) (free v265) (free v266) (at r230 v267) (at r210 v268) (at r247 v269) (at r150 v270) (at r136 v271) (at r231 v272) (free v273) (at r208 v274) (free v275) (free v276) (free v277) (at r137 v278) (at r215 v279) (at r237 v280) (at r142 v281) (free v282) (at r198 v283) (free v284) (free v285) ) ) )