(define (problem multirobot_78_50%_c4)
 (:domain multirobot)
 (:objects
  v0 r227
  v1 r167
  v2 r179
  v3
  v4 r235
  v5
  v6 r225
  v7
  v8
  v9
  v10
  v11
  v12 r180
  v13 r176
  v14 r219
  v15 r259
  v16 r201
  v17 r191
  v18
  v19 r156
  v20
  v21 r183
  v22
  v23
  v24
  v25
  v26 r200
  v27
  v28 r202
  v29
  v30
  v31
  v32
  v33 r159
  v34 r249
  v35
  v36
  v37
  v38
  v39 r229
  v40
  v41 r205
  v42
  v43
  v44
  v45 r230
  v46 r172
  v47 r255
  v48
  v49
  v50
  v51 r220
  v52
  v53 r238
  v54 r173
  v55
  v56
  v57 r171
  v58 r164
  v59
  v60 r198
  v61 r213
  v62 r234
  v63
  v64 r203
  v65 r165
  v66
  v67 r153
  v68
  v69
  v70
  v71 r215
  v72
  v73
  v74
  v75 r163
  v76
  v77
  v78
  v79 r243
  v80 r206
  v81
  v82 r168
  v83 r196
  v84 r212
  v85
  v86
  v87
  v88 r254
  v89
  v90 r166
  v91
  v92
  v93
  v94 r175
  v95 r250
  v96
  v97 r161
  v98 r242
  v99 r195
  v100
  v101
  v102 r221
  v103 r157
  v104 r248
  v105 r257
  v106
  v107
  v108 r178
  v109
  v110
  v111 r184
  v112
  v113 r246
  v114 r245
  v115
  v116
  v117
  v118 r189
  v119
  v120
  v121 r188
  v122 r251
  v123
  v124 r207
  v125
  v126 r244
  v127 r224
  v128
  v129
  v130 r231
  v131
  v132
  v133
  v134
  v135
  v136
  v137 r216
  v138 r211
  v139
  v140
  v141
  v142 r252
  v143
  v144
  v145 r223
  v146
  v147
  v148
  v149
  v150
  v151 r185
  v152 r177
  v153
  v154 r192
  v155 r154
  v156 r190
  v157
  v158
  v159 r204
  v160 r247
  v161 r218
  v162
  v163 r152
  v164
  v165 r151
  v166 r199
  v167 r217
  v168 r197
  v169 r214
  v170 r222
  v171 r228
  v172
  v173
  v174
  v175
  v176 r239
  v177 r209
  v178
  v179
  v180 r155
  v181
  v182
  v183
  v184 r181
  v185 r241
  v186
  v187
  v188
  v189
  v190
  v191 r210
  v192
  v193
  v194 r256
  v195
  v196
  v197
  v198
  v199 r182
  v200
  v201
  v202
  v203 r253
  v204 r170
  v205
  v206
  v207 r174
  v208 r208
  v209
  v210
  v211
  v212
  v213
  v214
  v215 r232
  v216 r150
  v217 r237
  v218
  v219 r240
  v220 r158
  v221 r258
  v222
  v223
  v224
  v225
  v226 r193
  v227
  v228 r160
  v229 r169
  v230
  v231
  v232
  v233 r186
  v234
  v235
  v236 r187
  v237
  v238 r194
  v239
  v240
  v241
  v242
  v243
  v244 r236
  v245
  v246
  v247
  v248
  v249
  v250 r233
  v251
  v252 r226
  v253
  v254
  v255
  v256
  v257 r162
  v258
  v259
 )
 (:init
  (at r227 v0)
  (at r167 v1)
  (at r179 v2)
  (free v3)
  (at r235 v4)
  (free v5)
  (at r225 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r180 v12)
  (at r176 v13)
  (at r219 v14)
  (at r259 v15)
  (at r201 v16)
  (at r191 v17)
  (free v18)
  (at r156 v19)
  (free v20)
  (at r183 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r200 v26)
  (free v27)
  (at r202 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r159 v33)
  (at r249 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (at r229 v39)
  (free v40)
  (at r205 v41)
  (free v42)
  (free v43)
  (free v44)
  (at r230 v45)
  (at r172 v46)
  (at r255 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r220 v51)
  (free v52)
  (at r238 v53)
  (at r173 v54)
  (free v55)
  (free v56)
  (at r171 v57)
  (at r164 v58)
  (free v59)
  (at r198 v60)
  (at r213 v61)
  (at r234 v62)
  (free v63)
  (at r203 v64)
  (at r165 v65)
  (free v66)
  (at r153 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r215 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r163 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r243 v79)
  (at r206 v80)
  (free v81)
  (at r168 v82)
  (at r196 v83)
  (at r212 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r254 v88)
  (free v89)
  (at r166 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r175 v94)
  (at r250 v95)
  (free v96)
  (at r161 v97)
  (at r242 v98)
  (at r195 v99)
  (free v100)
  (free v101)
  (at r221 v102)
  (at r157 v103)
  (at r248 v104)
  (at r257 v105)
  (free v106)
  (free v107)
  (at r178 v108)
  (free v109)
  (free v110)
  (at r184 v111)
  (free v112)
  (at r246 v113)
  (at r245 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r189 v118)
  (free v119)
  (free v120)
  (at r188 v121)
  (at r251 v122)
  (free v123)
  (at r207 v124)
  (free v125)
  (at r244 v126)
  (at r224 v127)
  (free v128)
  (free v129)
  (at r231 v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r216 v137)
  (at r211 v138)
  (free v139)
  (free v140)
  (free v141)
  (at r252 v142)
  (free v143)
  (free v144)
  (at r223 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r185 v151)
  (at r177 v152)
  (free v153)
  (at r192 v154)
  (at r154 v155)
  (at r190 v156)
  (free v157)
  (free v158)
  (at r204 v159)
  (at r247 v160)
  (at r218 v161)
  (free v162)
  (at r152 v163)
  (free v164)
  (at r151 v165)
  (at r199 v166)
  (at r217 v167)
  (at r197 v168)
  (at r214 v169)
  (at r222 v170)
  (at r228 v171)
  (free v172)
  (free v173)
  (free v174)
  (free v175)
  (at r239 v176)
  (at r209 v177)
  (free v178)
  (free v179)
  (at r155 v180)
  (free v181)
  (free v182)
  (free v183)
  (at r181 v184)
  (at r241 v185)
  (free v186)
  (free v187)
  (free v188)
  (free v189)
  (free v190)
  (at r210 v191)
  (free v192)
  (free v193)
  (at r256 v194)
  (free v195)
  (free v196)
  (free v197)
  (free v198)
  (at r182 v199)
  (free v200)
  (free v201)
  (free v202)
  (at r253 v203)
  (at r170 v204)
  (free v205)
  (free v206)
  (at r174 v207)
  (at r208 v208)
  (free v209)
  (free v210)
  (free v211)
  (free v212)
  (free v213)
  (free v214)
  (at r232 v215)
  (at r150 v216)
  (at r237 v217)
  (free v218)
  (at r240 v219)
  (at r158 v220)
  (at r258 v221)
  (free v222)
  (free v223)
  (free v224)
  (free v225)
  (at r193 v226)
  (free v227)
  (at r160 v228)
  (at r169 v229)
  (free v230)
  (free v231)
  (free v232)
  (at r186 v233)
  (free v234)
  (free v235)
  (at r187 v236)
  (free v237)
  (at r194 v238)
  (free v239)
  (free v240)
  (free v241)
  (free v242)
  (free v243)
  (at r236 v244)
  (free v245)
  (free v246)
  (free v247)
  (free v248)
  (free v249)
  (at r233 v250)
  (free v251)
  (at r226 v252)
  (free v253)
  (free v254)
  (free v255)
  (free v256)
  (at r162 v257)
  (free v258)
  (free v259)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v76)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v15)
  (adjacent v1 v85)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v24)
  (adjacent v2 v170)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v19)
  (adjacent v3 v20)
  (adjacent v3 v73)
  (adjacent v4 v10)
  (adjacent v4 v43)
  (adjacent v5 v6)
  (adjacent v5 v23)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v6 v18)
  (adjacent v7 v13)
  (adjacent v7 v31)
  (adjacent v7 v152)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v8 v44)
  (adjacent v8 v52)
  (adjacent v8 v72)
  (adjacent v9 v10)
  (adjacent v9 v14)
  (adjacent v9 v46)
  (adjacent v10 v58)
  (adjacent v11 v12)
  (adjacent v11 v55)
  (adjacent v12 v13)
  (adjacent v13 v51)
  (adjacent v14 v67)
  (adjacent v15 v16)
  (adjacent v15 v22)
  (adjacent v15 v187)
  (adjacent v16 v17)
  (adjacent v16 v25)
  (adjacent v16 v138)
  (adjacent v16 v151)
  (adjacent v18 v19)
  (adjacent v18 v164)
  (adjacent v19 v40)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v30)
  (adjacent v21 v159)
  (adjacent v21 v180)
  (adjacent v22 v25)
  (adjacent v23 v24)
  (adjacent v23 v37)
  (adjacent v25 v26)
  (adjacent v25 v65)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v41)
  (adjacent v28 v29)
  (adjacent v28 v38)
  (adjacent v29 v30)
  (adjacent v29 v239)
  (adjacent v30 v54)
  (adjacent v30 v99)
  (adjacent v30 v243)
  (adjacent v31 v32)
  (adjacent v31 v182)
  (adjacent v32 v33)
  (adjacent v32 v45)
  (adjacent v32 v134)
  (adjacent v33 v34)
  (adjacent v33 v210)
  (adjacent v34 v35)
  (adjacent v34 v54)
  (adjacent v34 v59)
  (adjacent v34 v68)
  (adjacent v35 v36)
  (adjacent v35 v113)
  (adjacent v36 v37)
  (adjacent v36 v66)
  (adjacent v37 v211)
  (adjacent v38 v39)
  (adjacent v38 v259)
  (adjacent v39 v40)
  (adjacent v41 v42)
  (adjacent v41 v100)
  (adjacent v41 v106)
  (adjacent v42 v43)
  (adjacent v43 v53)
  (adjacent v43 v74)
  (adjacent v44 v45)
  (adjacent v44 v83)
  (adjacent v45 v187)
  (adjacent v46 v47)
  (adjacent v46 v111)
  (adjacent v47 v48)
  (adjacent v47 v157)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v73)
  (adjacent v50 v51)
  (adjacent v50 v144)
  (adjacent v50 v160)
  (adjacent v51 v154)
  (adjacent v51 v182)
  (adjacent v52 v53)
  (adjacent v52 v72)
  (adjacent v53 v110)
  (adjacent v53 v258)
  (adjacent v55 v56)
  (adjacent v55 v86)
  (adjacent v55 v120)
  (adjacent v55 v243)
  (adjacent v56 v57)
  (adjacent v56 v71)
  (adjacent v56 v82)
  (adjacent v56 v83)
  (adjacent v56 v218)
  (adjacent v57 v58)
  (adjacent v58 v66)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v94)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v100)
  (adjacent v63 v64)
  (adjacent v63 v89)
  (adjacent v64 v65)
  (adjacent v64 v77)
  (adjacent v64 v93)
  (adjacent v64 v249)
  (adjacent v65 v125)
  (adjacent v66 v69)
  (adjacent v67 v68)
  (adjacent v68 v105)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v102)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v186)
  (adjacent v77 v78)
  (adjacent v77 v88)
  (adjacent v78 v79)
  (adjacent v78 v146)
  (adjacent v79 v80)
  (adjacent v79 v84)
  (adjacent v79 v179)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v219)
  (adjacent v87 v88)
  (adjacent v88 v198)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v230)
  (adjacent v90 v253)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v131)
  (adjacent v93 v135)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v143)
  (adjacent v96 v145)
  (adjacent v96 v201)
  (adjacent v96 v224)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v101)
  (adjacent v98 v183)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v177)
  (adjacent v103 v104)
  (adjacent v103 v121)
  (adjacent v103 v206)
  (adjacent v104 v105)
  (adjacent v105 v139)
  (adjacent v106 v107)
  (adjacent v106 v114)
  (adjacent v106 v130)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v111 v124)
  (adjacent v111 v155)
  (adjacent v112 v113)
  (adjacent v113 v192)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v189)
  (adjacent v118 v119)
  (adjacent v119 v120)
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  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v239)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v171)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v131 v165)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v178)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v136 v259)
  (adjacent v137 v138)
  (adjacent v138 v156)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v155)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v144 v212)
  (adjacent v144 v244)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v150 v193)
  (adjacent v150 v258)
  (adjacent v151 v156)
  (adjacent v151 v238)
  (adjacent v152 v153)
  (adjacent v152 v202)
  (adjacent v153 v154)
  (adjacent v153 v197)
  (adjacent v157 v158)
  (adjacent v157 v211)
  (adjacent v157 v252)
  (adjacent v158 v159)
  (adjacent v158 v188)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v232)
  (adjacent v163 v257)
  (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 v174 v190)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v180 v205)
  (adjacent v180 v231)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v250)
  (adjacent v188 v189)
  (adjacent v188 v250)
  (adjacent v190 v191)
  (adjacent v191 v192)
  (adjacent v191 v244)
  (adjacent v193 v194)
  (adjacent v194 v195)
  (adjacent v195 v196)
  (adjacent v196 v197)
  (adjacent v198 v199)
  (adjacent v198 v245)
  (adjacent v199 v200)
  (adjacent v199 v242)
  (adjacent v200 v201)
  (adjacent v202 v203)
  (adjacent v203 v204)
  (adjacent v204 v205)
  (adjacent v204 v240)
  (adjacent v206 v207)
  (adjacent v207 v208)
  (adjacent v208 v209)
  (adjacent v209 v210)
  (adjacent v212 v213)
  (adjacent v213 v214)
  (adjacent v214 v215)
  (adjacent v215 v216)
  (adjacent v215 v223)
  (adjacent v216 v217)
  (adjacent v217 v218)
  (adjacent v218 v251)
  (adjacent v219 v220)
  (adjacent v220 v221)
  (adjacent v221 v222)
  (adjacent v222 v223)
  (adjacent v224 v225)
  (adjacent v225 v226)
  (adjacent v226 v227)
  (adjacent v227 v228)
  (adjacent v228 v229)
  (adjacent v229 v230)
  (adjacent v230 v231)
  (adjacent v232 v233)
  (adjacent v233 v234)
  (adjacent v234 v235)
  (adjacent v235 v236)
  (adjacent v236 v237)
  (adjacent v237 v238)
  (adjacent v240 v241)
  (adjacent v241 v242)
  (adjacent v245 v246)
  (adjacent v246 v247)
  (adjacent v247 v248)
  (adjacent v248 v249)
  (adjacent v251 v252)
  (adjacent v253 v254)
  (adjacent v254 v255)
  (adjacent v255 v256)
  (adjacent v256 v257)
 )
 (:goal
  (and
  (free v0)
  (at r197 v1)
  (free v2)
  (free v3)
  (at r181 v4)
  (at r164 v5)
  (free v6)
  (free v7)
  (at r177 v8)
  (free v9)
  (free v10)
  (at r198 v11)
  (at r241 v12)
  (free v13)
  (at r240 v14)
  (free v15)
  (free v16)
  (at r236 v17)
  (free v18)
  (free v19)
  (at r232 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r191 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r257 v32)
  (at r212 v33)
  (free v34)
  (at r228 v35)
  (free v36)
  (free v37)
  (at r222 v38)
  (at r244 v39)
  (free v40)
  (at r188 v41)
  (at r169 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r243 v47)
  (free v48)
  (free v49)
  (at r201 v50)
  (at r224 v51)
  (free v52)
  (at r200 v53)
  (free v54)
  (at r233 v55)
  (free v56)
  (free v57)
  (free v58)
  (at r187 v59)
  (at r202 v60)
  (free v61)
  (at r205 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
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  )
 )
)