(define (problem multirobot_77_50%_c0) (:domain multirobot) (:objects v0 v1 v2 r277 v3 r237 v4 v5 v6 v7 v8 r218 v9 r216 v10 v11 r189 v12 r244 v13 v14 v15 r287 v16 r151 v17 r288 v18 v19 r158 v20 r282 v21 v22 r194 v23 v24 r195 v25 r252 v26 v27 r217 v28 v29 v30 v31 v32 r156 v33 r175 v34 r154 v35 r281 v36 r280 v37 r208 v38 r211 v39 v40 v41 r278 v42 r171 v43 v44 v45 r264 v46 v47 v48 r215 v49 v50 r296 v51 r181 v52 v53 r249 v54 v55 r267 v56 r174 v57 r255 v58 v59 r247 v60 r290 v61 r262 v62 v63 r145 v64 v65 r219 v66 v67 r203 v68 v69 v70 r243 v71 r202 v72 r162 v73 r292 v74 v75 r209 v76 r157 v77 v78 v79 v80 r286 v81 v82 r184 v83 v84 v85 v86 r198 v87 v88 v89 r295 v90 r196 v91 v92 v93 r182 v94 v95 r236 v96 v97 r206 v98 r283 v99 v100 r220 v101 v102 r230 v103 r223 v104 v105 v106 v107 r147 v108 r207 v109 v110 r168 v111 r183 v112 v113 v114 r166 v115 v116 v117 r260 v118 v119 v120 r228 v121 v122 r274 v123 v124 v125 r245 v126 r149 v127 v128 r265 v129 r187 v130 v131 v132 r159 v133 v134 v135 v136 v137 r233 v138 v139 v140 r176 v141 v142 v143 v144 v145 r201 v146 r258 v147 r257 v148 r275 v149 r160 v150 v151 r224 v152 r284 v153 v154 r200 v155 v156 r289 v157 v158 v159 v160 v161 v162 v163 r214 v164 v165 r150 v166 r213 v167 v168 r222 v169 v170 v171 v172 v173 r250 v174 v175 v176 r231 v177 r251 v178 r238 v179 v180 v181 r148 v182 v183 r263 v184 v185 r153 v186 v187 v188 v189 r173 v190 r163 v191 v192 v193 r185 v194 r178 v195 r294 v196 r210 v197 r256 v198 v199 r291 v200 r152 v201 v202 r199 v203 r192 v204 v205 v206 r177 v207 r186 v208 r293 v209 r235 v210 r266 v211 v212 r279 v213 v214 r221 v215 r172 v216 v217 v218 v219 v220 v221 v222 r146 v223 r193 v224 r242 v225 r254 v226 r188 v227 v228 r205 v229 v230 r164 v231 v232 v233 r191 v234 v235 v236 v237 r190 v238 r197 v239 r298 v240 v241 r170 v242 r161 v243 v244 v245 r167 v246 v247 r155 v248 r240 v249 v250 r268 v251 v252 r241 v253 r179 v254 r212 v255 r259 v256 v257 r246 v258 r234 v259 r272 v260 r273 v261 r269 v262 v263 r239 v264 v265 r204 v266 r276 v267 v268 r297 v269 v270 r165 v271 r270 v272 v273 v274 r271 v275 v276 r169 v277 r225 v278 v279 v280 r248 v281 r229 v282 v283 v284 v285 v286 v287 r180 v288 v289 v290 r285 v291 r253 v292 r226 v293 r227 v294 v295 v296 r261 v297 v298 r232 ) (:init (free v0) (free v1) (at r277 v2) (at r237 v3) (free v4) (free v5) (free v6) (free v7) (at r218 v8) (at r216 v9) (free v10) (at r189 v11) (at r244 v12) (free v13) (free v14) (at r287 v15) (at r151 v16) (at r288 v17) (free v18) (at r158 v19) (at r282 v20) (free v21) (at r194 v22) (free v23) (at r195 v24) (at r252 v25) (free v26) (at r217 v27) (free v28) (free v29) (free v30) (free v31) (at r156 v32) (at r175 v33) (at r154 v34) (at r281 v35) (at r280 v36) (at r208 v37) (at r211 v38) (free v39) (free v40) (at r278 v41) (at r171 v42) (free v43) (free v44) (at r264 v45) (free v46) (free v47) (at r215 v48) (free v49) (at r296 v50) (at r181 v51) (free v52) (at r249 v53) (free v54) (at r267 v55) (at r174 v56) (at r255 v57) (free v58) (at r247 v59) (at r290 v60) (at r262 v61) (free v62) (at r145 v63) (free v64) (at r219 v65) (free v66) (at r203 v67) (free v68) (free v69) (at r243 v70) (at r202 v71) (at r162 v72) (at r292 v73) (free v74) (at r209 v75) (at r157 v76) (free v77) (free v78) (free v79) (at r286 v80) (free v81) (at r184 v82) (free v83) (free v84) (free v85) (at r198 v86) (free v87) (free v88) (at r295 v89) (at r196 v90) (free v91) (free v92) (at r182 v93) (free v94) (at r236 v95) (free v96) (at r206 v97) (at r283 v98) (free v99) (at r220 v100) (free v101) (at r230 v102) (at r223 v103) (free v104) (free v105) (free v106) (at r147 v107) (at r207 v108) (free v109) (at r168 v110) (at r183 v111) (free v112) (free v113) (at r166 v114) (free v115) (free v116) (at r260 v117) (free v118) (free v119) (at r228 v120) (free v121) (at r274 v122) (free v123) (free v124) (at r245 v125) (at r149 v126) (free v127) (at r265 v128) (at r187 v129) (free v130) (free v131) (at r159 v132) (free v133) (free v134) (free v135) (free v136) (at r233 v137) (free v138) (free v139) (at r176 v140) (free v141) (free v142) (free v143) (free v144) (at r201 v145) (at r258 v146) (at r257 v147) (at r275 v148) (at r160 v149) (free v150) (at r224 v151) (at r284 v152) (free v153) (at r200 v154) (free v155) (at r289 v156) (free v157) (free v158) (free v159) (free v160) (free v161) (free v162) (at r214 v163) (free v164) (at r150 v165) (at r213 v166) (free v167) (at r222 v168) (free v169) (free v170) (free v171) (free v172) (at r250 v173) (free v174) (free v175) (at r231 v176) (at r251 v177) (at r238 v178) (free v179) (free v180) (at r148 v181) (free v182) (at r263 v183) (free v184) (at r153 v185) (free v186) (free v187) (free v188) (at r173 v189) (at r163 v190) (free v191) (free v192) (at r185 v193) (at r178 v194) (at r294 v195) (at r210 v196) (at r256 v197) (free v198) (at r291 v199) (at r152 v200) (free v201) (at r199 v202) (at r192 v203) (free v204) (free v205) (at r177 v206) (at r186 v207) (at r293 v208) (at r235 v209) (at r266 v210) (free v211) (at r279 v212) (free v213) (at r221 v214) (at r172 v215) (free v216) (free v217) (free v218) (free v219) (free v220) (free v221) (at r146 v222) (at r193 v223) (at r242 v224) (at r254 v225) (at r188 v226) (free v227) (at r205 v228) (free v229) (at r164 v230) (free v231) (free v232) (at r191 v233) (free v234) (free v235) (free v236) (at r190 v237) (at r197 v238) (at r298 v239) (free v240) (at r170 v241) (at r161 v242) (free v243) (free v244) (at r167 v245) (free v246) (at r155 v247) (at r240 v248) (free v249) (at r268 v250) (free v251) (at r241 v252) (at r179 v253) (at r212 v254) (at r259 v255) (free v256) (at r246 v257) (at r234 v258) (at r272 v259) (at r273 v260) (at r269 v261) (free v262) (at r239 v263) (free v264) (at r204 v265) (at r276 v266) (free v267) (at r297 v268) (free v269) (at r165 v270) (at r270 v271) (free v272) (free v273) (at r271 v274) (free v275) (at r169 v276) (at r225 v277) (free v278) (free v279) (at r248 v280) (at r229 v281) (free v282) (free v283) (free v284) (free v285) (free v286) (at r180 v287) (free v288) (free v289) (at r285 v290) (at r253 v291) (at r226 v292) (at r227 v293) (free v294) (free v295) (at r261 v296) (free v297) (at r232 v298) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v5) (adjacent v0 v6) (adjacent v0 v7) (adjacent v0 v28) (adjacent v0 v212) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v9) (adjacent v1 v17) (adjacent v1 v92) (adjacent v1 v147) (adjacent v2 v3) (adjacent v2 v37) (adjacent v3 v4) (adjacent v3 v8) (adjacent v3 v12) (adjacent v3 v17) (adjacent v3 v22) (adjacent v4 v16) (adjacent v5 v6) (adjacent v5 v10) (adjacent v6 v33) (adjacent v6 v149) (adjacent v7 v8) (adjacent v7 v9) (adjacent v7 v13) (adjacent v9 v44) (adjacent v10 v11) (adjacent v10 v96) (adjacent v10 v264) (adjacent v11 v12) (adjacent v13 v14) (adjacent v13 v58) (adjacent v13 v66) (adjacent v14 v15) (adjacent v14 v18) (adjacent v14 v62) (adjacent v14 v97) (adjacent v15 v16) (adjacent v15 v50) (adjacent v15 v142) (adjacent v16 v78) (adjacent v17 v23) 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(adjacent v112 v113) (adjacent v113 v196) (adjacent v113 v205) (adjacent v114 v115) (adjacent v114 v143) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v160) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v298) (adjacent v121 v122) (adjacent v121 v197) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v227) (adjacent v124 v125) (adjacent v125 v175) (adjacent v125 v181) (adjacent v126 v127) (adjacent v127 v128) (adjacent v127 v276) (adjacent v128 v129) (adjacent v129 v155) (adjacent v130 v131) (adjacent v130 v204) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v136 v137) (adjacent v137 v138) (adjacent v137 v251) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v143 v144) (adjacent v144 v145) (adjacent v144 v276) (adjacent v146 v147) (adjacent v149 v150) (adjacent v149 v186) (adjacent v149 v279) (adjacent v150 v151) (adjacent v150 v244) (adjacent v151 v152) (adjacent v151 v295) (adjacent v152 v153) (adjacent v153 v154) (adjacent v155 v156) (adjacent v156 v157) (adjacent v156 v217) (adjacent v157 v158) (adjacent v158 v159) (adjacent v159 v160) (adjacent v159 v192) (adjacent v160 v286) (adjacent v161 v162) (adjacent v162 v163) (adjacent v162 v168) (adjacent v162 v238) (adjacent v163 v164) (adjacent v163 v288) (adjacent v164 v165) (adjacent v166 v167) (adjacent v167 v168) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v175 v176) (adjacent v175 v193) (adjacent v175 v275) (adjacent v176 v177) (adjacent v176 v221) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v181 v182) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) (adjacent v184 v278) (adjacent v186 v187) (adjacent v187 v188) (adjacent v188 v189) (adjacent v189 v190) (adjacent v189 v198) (adjacent v190 v191) (adjacent v191 v203) (adjacent v193 v194) (adjacent v193 v256) (adjacent v194 v287) (adjacent v196 v197) (adjacent v199 v200) (adjacent v199 v295) (adjacent v200 v226) (adjacent v201 v202) (adjacent v202 v203) (adjacent v205 v206) (adjacent v206 v207) (adjacent v206 v257) (adjacent v207 v208) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v212 v213) (adjacent v213 v214) (adjacent v214 v215) (adjacent v215 v216) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v296) (adjacent v232 v233) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v251) (adjacent v251 v294) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v257 v258) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v276 v282) (adjacent v277 v278) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v283 v284) (adjacent v284 v285) (adjacent v286 v287) (adjacent v288 v289) (adjacent v289 v290) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) (adjacent v296 v297) (adjacent v297 v298) ) (:goal (and (free v0) (at r269 v1) (free v2) (at r187 v3) (at r215 v4) (free v5) (at r149 v6) (at r180 v7) (free v8) (at r231 v9) (free v10) (at r229 v11) (at r249 v12) (free v13) (free v14) (free v15) (free v16) (at r159 v17) (free v18) (at r235 v19) (free v20) (at r270 v21) (at r203 v22) (at r257 v23) (free v24) (free v25) (free v26) (free v27) (at r145 v28) (free v29) (at r193 v30) (free v31) (at r182 v32) (free v33) (free v34) (free v35) (free v36) (at r286 v37) (free v38) (free v39) (free v40) (free v41) (at r255 v42) (free v43) (free v44) (free v45) (free v46) (at r278 v47) (at r248 v48) (free v49) (at r163 v50) (at r197 v51) (free v52) (at r289 v53) (free v54) (at r201 v55) (at r263 v56) (at r274 v57) (at r243 v58) (free v59) (at r198 v60) (free v61) (at r183 v62) (free v63) (free v64) (at r155 v65) (at r250 v66) (free v67) (free v68) (free v69) (at r276 v70) (free v71) (free v72) (at r148 v73) (free v74) (at r294 v75) (free v76) (free v77) (free v78) (at r259 v79) (free v80) (at r156 v81) (free v82) (free v83) (free v84) (free v85) (at r184 v86) (free v87) (at r297 v88) (at r208 v89) (free v90) (free v91) (free v92) (free v93) (free v94) (at r178 v95) (at r153 v96) (at r238 v97) (free v98) (at r241 v99) (at r216 v100) (at r264 v101) (at r172 v102) (free v103) (at r169 v104) (at r160 v105) (free v106) (free v107) (at r181 v108) (at r206 v109) (at r291 v110) (at r176 v111) (at r150 v112) (at r225 v113) (free v114) (at r295 v115) (at r293 v116) (free v117) (at r237 v118) (at r195 v119) (at r213 v120) (free v121) (free v122) (at r261 v123) (at r218 v124) (free v125) (at r282 v126) (at r152 v127) (at r256 v128) (at r194 v129) (free v130) (free v131) (at r211 v132) (free v133) (free v134) (free v135) (free v136) (at r162 v137) (free v138) (at r284 v139) (free v140) (free v141) (free v142) (at r258 v143) (at r228 v144) (at r166 v145) (at r202 v146) (at r200 v147) (free v148) (free v149) (free v150) (at r277 v151) (free v152) (at r253 v153) (free v154) (free v155) (at r185 v156) (at r186 v157) (free v158) (free v159) (at r209 v160) (free v161) (free v162) (at r287 v163) (free v164) (free v165) (at r265 v166) (free v167) (at r170 v168) (free v169) (free v170) (at r161 v171) (free v172) (at r275 v173) (at r151 v174) (free v175) (at r262 v176) (at r168 v177) (at r212 v178) (at r233 v179) (at r251 v180) (free v181) (at r210 v182) (at r226 v183) (at r189 v184) (at r266 v185) (at r221 v186) (at r146 v187) (at r204 v188) (free v189) (free v190) (at r236 v191) (at r190 v192) (at r230 v193) (at r147 v194) (free v195) (free v196) (at r157 v197) (free v198) (free v199) (at r245 v200) (free v201) (at r205 v202) (at r268 v203) (at r220 v204) (free v205) (free v206) (at r177 v207) (free v208) (free v209) (at r247 v210) (free v211) (at r285 v212) (free v213) (free v214) (at r252 v215) (free v216) (at r188 v217) (free v218) (at r296 v219) (free v220) (at r171 v221) (free v222) (at r292 v223) (at r207 v224) (free v225) (at r254 v226) (free v227) (free v228) (at r271 v229) (free v230) (at r239 v231) (free v232) (free v233) (at r298 v234) (at r260 v235) (free v236) (at r173 v237) (free v238) (free v239) (at r223 v240) (at r154 v241) (free v242) (at r240 v243) (at r227 v244) (at r175 v245) (at r164 v246) (free v247) (at r219 v248) (free v249) (free v250) (at r280 v251) (at r242 v252) (at r222 v253) (at r192 v254) (free v255) (at r165 v256) (at r232 v257) (at r281 v258) (at r199 v259) (at r283 v260) (at r224 v261) (at r246 v262) (free v263) (free v264) (free v265) (at r279 v266) (at r234 v267) (free v268) (free v269) (free v270) (free v271) (free v272) (at r290 v273) (free v274) (free v275) (at r272 v276) (free v277) (free v278) (at r174 v279) (at r158 v280) (free v281) (free v282) (at r167 v283) (at r273 v284) (free v285) (free v286) (at r267 v287) (free v288) (at r288 v289) (at r244 v290) (at r191 v291) (at r179 v292) (free v293) (free v294) (at r214 v295) (free v296) (at r217 v297) (at r196 v298) ) ) )