(define (problem multirobot_79_50%_c2) (:domain multirobot) (:objects v0 v1 v2 v3 v4 r174 v5 r173 v6 r202 v7 v8 v9 v10 v11 r254 v12 v13 v14 r281 v15 v16 r247 v17 v18 v19 r248 v20 r243 v21 v22 r276 v23 v24 r176 v25 v26 r234 v27 r197 v28 v29 r168 v30 r223 v31 v32 r260 v33 v34 r238 v35 v36 r206 v37 r205 v38 r194 v39 r166 v40 r187 v41 v42 r261 v43 r178 v44 v45 r241 v46 r207 v47 v48 r209 v49 v50 r273 v51 v52 v53 r164 v54 r210 v55 v56 v57 v58 r195 v59 r196 v60 v61 v62 r169 v63 v64 r262 v65 r180 v66 r256 v67 v68 r167 v69 v70 r263 v71 r218 v72 v73 v74 v75 r186 v76 r158 v77 r220 v78 v79 v80 v81 r255 v82 r177 v83 v84 v85 v86 v87 v88 v89 r160 v90 r236 v91 r211 v92 v93 r226 v94 r240 v95 r279 v96 v97 v98 r235 v99 v100 v101 v102 v103 r204 v104 v105 r181 v106 r224 v107 v108 r231 v109 r200 v110 r215 v111 v112 v113 v114 v115 v116 r185 v117 r151 v118 v119 v120 v121 v122 r230 v123 v124 v125 v126 v127 r155 v128 r280 v129 r191 v130 v131 r192 v132 r251 v133 v134 v135 v136 v137 v138 r149 v139 r268 v140 r244 v141 r165 v142 v143 v144 r242 v145 r232 v146 r189 v147 v148 r282 v149 r171 v150 v151 r253 v152 v153 v154 r265 v155 v156 v157 v158 r190 v159 v160 r221 v161 r208 v162 v163 v164 v165 r246 v166 r203 v167 v168 v169 r175 v170 v171 v172 v173 v174 v175 v176 v177 r153 v178 v179 r272 v180 v181 r162 v182 r213 v183 r157 v184 r219 v185 r170 v186 v187 r228 v188 v189 v190 v191 v192 v193 v194 r199 v195 v196 r237 v197 v198 v199 r229 v200 v201 v202 r264 v203 r212 v204 r267 v205 r227 v206 r156 v207 r269 v208 r225 v209 r259 v210 r150 v211 v212 r277 v213 v214 r284 v215 r183 v216 r216 v217 r252 v218 r217 v219 v220 v221 v222 r257 v223 v224 r188 v225 v226 r201 v227 v228 v229 r159 v230 v231 v232 r214 v233 v234 v235 r193 v236 r270 v237 r179 v238 r283 v239 v240 r271 v241 r274 v242 v243 r161 v244 r154 v245 r245 v246 v247 v248 r249 v249 v250 v251 v252 v253 r278 v254 r239 v255 v256 v257 r163 v258 r233 v259 v260 r172 v261 v262 r258 v263 r198 v264 v265 r182 v266 r184 v267 r266 v268 r275 v269 v270 v271 v272 v273 v274 v275 v276 r222 v277 v278 v279 r152 v280 v281 r250 v282 v283 v284 ) (:init (free v0) (free v1) (free v2) (free v3) (at r174 v4) (at r173 v5) (at r202 v6) (free v7) (free v8) (free v9) (free v10) (at r254 v11) (free v12) (free v13) (at r281 v14) (free v15) (at r247 v16) (free v17) (free v18) (at r248 v19) (at r243 v20) (free v21) (at r276 v22) (free v23) (at r176 v24) (free v25) (at r234 v26) (at r197 v27) (free v28) (at r168 v29) (at r223 v30) (free v31) (at r260 v32) (free v33) (at r238 v34) (free v35) (at r206 v36) (at r205 v37) (at r194 v38) (at r166 v39) (at r187 v40) (free v41) (at r261 v42) (at r178 v43) (free v44) (at r241 v45) (at r207 v46) (free v47) (at r209 v48) (free v49) (at r273 v50) (free v51) (free v52) (at r164 v53) (at r210 v54) (free v55) (free v56) (free v57) (at r195 v58) (at r196 v59) (free v60) (free v61) (at r169 v62) (free v63) (at r262 v64) (at r180 v65) (at r256 v66) (free v67) (at r167 v68) (free v69) (at r263 v70) (at r218 v71) (free v72) (free v73) (free v74) (at r186 v75) (at r158 v76) (at r220 v77) (free v78) (free v79) (free v80) (at r255 v81) (at r177 v82) (free v83) (free v84) (free v85) (free v86) (free v87) (free v88) (at r160 v89) (at r236 v90) (at r211 v91) (free v92) (at r226 v93) (at r240 v94) (at r279 v95) (free v96) (free v97) (at r235 v98) (free v99) (free v100) (free v101) (free v102) (at r204 v103) (free v104) (at r181 v105) (at r224 v106) (free v107) (at r231 v108) (at r200 v109) (at r215 v110) (free v111) (free v112) (free v113) (free v114) (free v115) (at r185 v116) (at r151 v117) (free v118) (free v119) (free v120) (free v121) (at r230 v122) (free v123) (free v124) (free v125) (free v126) (at r155 v127) (at r280 v128) (at r191 v129) (free v130) (at r192 v131) (at r251 v132) (free v133) (free v134) (free v135) (free v136) (free v137) (at r149 v138) (at r268 v139) (at r244 v140) (at r165 v141) (free v142) (free v143) (at r242 v144) (at r232 v145) (at r189 v146) (free v147) (at r282 v148) (at r171 v149) (free v150) (at r253 v151) (free v152) (free v153) (at r265 v154) (free v155) (free v156) (free v157) (at r190 v158) (free v159) (at r221 v160) (at r208 v161) (free v162) (free v163) (free v164) (at r246 v165) (at r203 v166) (free v167) (free v168) (at r175 v169) (free v170) (free v171) (free v172) (free v173) (free v174) (free v175) (free v176) (at r153 v177) (free v178) (at r272 v179) (free v180) (at r162 v181) (at r213 v182) (at r157 v183) (at r219 v184) (at r170 v185) (free v186) (at r228 v187) (free v188) (free v189) (free v190) (free v191) (free v192) (free v193) (at r199 v194) (free v195) (at r237 v196) (free v197) (free v198) (at r229 v199) (free v200) (free v201) (at r264 v202) (at r212 v203) (at r267 v204) (at r227 v205) (at r156 v206) (at r269 v207) (at r225 v208) (at r259 v209) (at r150 v210) (free v211) (at r277 v212) (free v213) (at r284 v214) (at r183 v215) (at r216 v216) (at r252 v217) (at r217 v218) (free v219) (free v220) (free v221) (at r257 v222) (free v223) (at r188 v224) (free v225) (at r201 v226) (free v227) (free v228) (at r159 v229) (free v230) (free v231) (at r214 v232) (free v233) (free v234) (at r193 v235) (at r270 v236) (at r179 v237) (at r283 v238) (free v239) (at r271 v240) (at r274 v241) (free v242) (at r161 v243) (at r154 v244) (at r245 v245) (free v246) (free v247) (at r249 v248) (free v249) (free v250) (free v251) (free v252) (at r278 v253) (at r239 v254) (free v255) (free v256) (at r163 v257) (at r233 v258) (free v259) (at r172 v260) (free v261) (at r258 v262) (at r198 v263) (free v264) (at r182 v265) (at r184 v266) (at r266 v267) (at r275 v268) (free v269) (free v270) (free v271) (free v272) (free v273) (free v274) (free v275) (at r222 v276) (free v277) (free v278) (at r152 v279) (free v280) (at r250 v281) (free v282) (free v283) (free v284) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v5) (adjacent v0 v50) (adjacent v0 v154) (adjacent v1 v2) (adjacent v1 v65) (adjacent v1 v216) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v11) (adjacent v2 v16) (adjacent v2 v22) (adjacent v3 v4) (adjacent v3 v6) (adjacent v4 v21) (adjacent v4 v31) (adjacent v4 v65) (adjacent v4 v146) (adjacent v4 v157) (adjacent v4 v253) (adjacent v5 v283) (adjacent v6 v7) (adjacent v6 v66) (adjacent v7 v8) (adjacent v7 v133) (adjacent v8 v9) (adjacent v8 v15) (adjacent v8 v141) (adjacent v9 v10) (adjacent v9 v12) (adjacent v9 v71) (adjacent v10 v11) (adjacent v11 v19) (adjacent v12 v13) (adjacent v12 v18) (adjacent v12 v47) (adjacent v13 v14) (adjacent v14 v15) (adjacent v14 v36) (adjacent v14 v80) (adjacent v14 v140) (adjacent v15 v111) (adjacent v16 v17) (adjacent v17 v18) (adjacent v17 v25) (adjacent v19 v20) (adjacent v19 v211) (adjacent v19 v280) (adjacent v20 v21) (adjacent v20 v154) (adjacent v20 v177) (adjacent v21 v32) (adjacent v21 v44) (adjacent v21 v60) (adjacent v22 v23) (adjacent v22 v45) (adjacent v22 v66) (adjacent v22 v73) (adjacent v23 v24) (adjacent v24 v25) (adjacent v24 v79) (adjacent v24 v130) (adjacent v24 v185) (adjacent v25 v26) (adjacent v25 v37) (adjacent v26 v27) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v92) (adjacent v28 v106) (adjacent v29 v30) (adjacent v29 v80) (adjacent v29 v204) (adjacent v30 v31) (adjacent v30 v43) (adjacent v31 v220) (adjacent v32 v33) (adjacent v32 v59) (adjacent v33 v34) (adjacent v33 v240) (adjacent v34 v35) (adjacent v34 v100) (adjacent v34 v124) (adjacent v35 v36) (adjacent v36 v52) (adjacent v37 v38) (adjacent v37 v121) (adjacent v37 v147) (adjacent v38 v39) (adjacent v38 v49) (adjacent v38 v153) (adjacent v39 v40) (adjacent v39 v46) (adjacent v40 v41) (adjacent v40 v46) (adjacent v40 v53) (adjacent v40 v95) (adjacent v41 v42) (adjacent v42 v43) (adjacent v42 v67) (adjacent v43 v257) (adjacent v44 v45) (adjacent v44 v158) (adjacent v45 v181) (adjacent v46 v61) (adjacent v46 v86) (adjacent v46 v148) (adjacent v47 v48) (adjacent v48 v49) (adjacent v48 v167) (adjacent v48 v228) (adjacent v49 v72) (adjacent v49 v221) (adjacent v50 v51) (adjacent v51 v52) (adjacent v51 v222) (adjacent v52 v81) (adjacent v52 v134) (adjacent v52 v171) (adjacent v52 v182) (adjacent v53 v54) (adjacent v54 v55) (adjacent v54 v64) (adjacent v55 v56) (adjacent v55 v197) (adjacent v56 v57) (adjacent v56 v267) (adjacent v57 v58) (adjacent v57 v70) (adjacent v58 v59) (adjacent v58 v62) (adjacent v60 v61) (adjacent v61 v139) (adjacent v62 v63) (adjacent v62 v198) (adjacent v63 v64) (adjacent v64 v160) (adjacent v67 v68) (adjacent v68 v69) (adjacent v68 v176) (adjacent v68 v239) (adjacent v68 v274) (adjacent v69 v70) (adjacent v71 v72) (adjacent v73 v74) (adjacent v73 v96) (adjacent v73 v273) (adjacent v74 v75) (adjacent v75 v76) (adjacent v75 v105) (adjacent v75 v145) (adjacent v76 v77) (adjacent v77 v78) (adjacent v77 v101) (adjacent v77 v115) (adjacent v78 v79) (adjacent v78 v112) (adjacent v79 v276) (adjacent v80 v87) (adjacent v81 v82) (adjacent v82 v83) (adjacent v83 v84) (adjacent v83 v265) (adjacent v84 v85) (adjacent v84 v129) (adjacent v85 v86) (adjacent v86 v239) (adjacent v87 v88) (adjacent v87 v94) (adjacent v88 v89) (adjacent v89 v90) (adjacent v89 v123) (adjacent v89 v215) (adjacent v90 v91) (adjacent v90 v93) (adjacent v91 v92) (adjacent v91 v93) (adjacent v91 v249) (adjacent v94 v95) (adjacent v95 v216) (adjacent v96 v97) (adjacent v96 v116) (adjacent v97 v98) (adjacent v97 v229) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v120) (adjacent v99 v217) (adjacent v100 v251) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v103 v168) (adjacent v103 v236) (adjacent v104 v105) (adjacent v104 v170) (adjacent v106 v107) (adjacent v107 v108) (adjacent v107 v122) (adjacent v107 v184) (adjacent v108 v109) (adjacent v108 v142) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v169) (adjacent v110 v221) (adjacent v112 v113) (adjacent v113 v114) (adjacent v114 v115) (adjacent v115 v141) (adjacent v115 v193) (adjacent v116 v117) (adjacent v116 v123) (adjacent v116 v198) (adjacent v117 v118) (adjacent v118 v119) (adjacent v118 v140) (adjacent v119 v120) (adjacent v119 v212) (adjacent v121 v122) (adjacent v123 v186) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v127 v128) (adjacent v127 v205) (adjacent v127 v238) (adjacent v128 v129) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v134 v135) (adjacent v135 v136) (adjacent v136 v137) (adjacent v136 v258) (adjacent v137 v138) (adjacent v137 v200) (adjacent v138 v139) (adjacent v140 v168) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v146 v147) (adjacent v148 v149) (adjacent v149 v150) (adjacent v149 v192) (adjacent v149 v268) (adjacent v150 v151) (adjacent v151 v152) (adjacent v151 v278) (adjacent v152 v153) (adjacent v153 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v156 v199) (adjacent v158 v159) (adjacent v158 v161) (adjacent v159 v160) (adjacent v159 v185) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v167) (adjacent v169 v170) (adjacent v171 v172) (adjacent v171 v235) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v174 v246) (adjacent v175 v176) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v182 v183) (adjacent v182 v254) (adjacent v183 v184) (adjacent v185 v252) (adjacent v186 v187) (adjacent v186 v199) (adjacent v187 v188) (adjacent v187 v260) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v279) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v196 v266) (adjacent v200 v201) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v247) (adjacent v205 v206) (adjacent v206 v207) (adjacent v207 v208) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v210 v284) (adjacent v212 v213) (adjacent v213 v214) (adjacent v214 v215) (adjacent v214 v248) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v221 v279) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v232) (adjacent v232 v233) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v261) (adjacent v236 v237) (adjacent v237 v238) (adjacent v239 v277) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v244 v245) (adjacent v245 v246) (adjacent v246 v284) (adjacent v247 v248) (adjacent v249 v250) (adjacent v250 v251) (adjacent v252 v253) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v258 v259) (adjacent v259 v260) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v264 v265) (adjacent v266 v267) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v274 v275) (adjacent v275 v276) (adjacent v277 v278) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) ) (:goal (and (free v0) (at r246 v1) (at r155 v2) (at r152 v3) (at r170 v4) (at r190 v5) (free v6) (free v7) (free v8) (at r268 v9) (free v10) (at r177 v11) (at r149 v12) (free v13) (free v14) (free v15) (at r171 v16) (at r198 v17) (at r232 v18) (free v19) (at r251 v20) (free v21) (free v22) (at r215 v23) (at r247 v24) (at r164 v25) (free v26) (at r206 v27) (at r276 v28) (free v29) (at r154 v30) (free v31) (at r151 v32) (free v33) (free v34) (free v35) (at r271 v36) (free v37) (free v38) (at r178 v39) (at r212 v40) (free v41) (free v42) (free v43) (free v44) (free v45) (at r238 v46) (at r214 v47) (at r257 v48) (at r163 v49) (at r162 v50) (at r239 v51) (free v52) (free v53) (free v54) (free v55) (at r199 v56) (at r186 v57) (at r234 v58) (at r223 v59) (free v60) (free v61) (at r260 v62) (free v63) (at r205 v64) (at r225 v65) (free v66) (at r153 v67) (at r202 v68) (at r227 v69) (at r176 v70) (at r283 v71) (at r228 v72) (free v73) (at r281 v74) (at r193 v75) (free v76) (at r217 v77) (free v78) (free v79) (free v80) (free v81) (at r254 v82) (at r196 v83) (at r269 v84) (free v85) (at r245 v86) (at r278 v87) (free v88) (free v89) (free v90) (at r236 v91) (free v92) (at r150 v93) (at r237 v94) (free v95) (free v96) (at r182 v97) (at r273 v98) (at r263 v99) (at r258 v100) (at r180 v101) (at r250 v102) (at r253 v103) (at r221 v104) (at r203 v105) (free v106) (free v107) (at r241 v108) (at r185 v109) (free v110) (free v111) (at r262 v112) (free v113) (free v114) (free v115) (free v116) (at r174 v117) (at r166 v118) (at r192 v119) (free v120) (free v121) (free v122) (at r230 v123) (at r229 v124) (free v125) (at r194 v126) (free v127) (free v128) (free v129) (free v130) (at r265 v131) (free v132) (free v133) (at r275 v134) (free v135) (free v136) (free v137) (free v138) (at r274 v139) (free v140) (at r220 v141) (free v142) (at r189 v143) (at r158 v144) (at r264 v145) (free v146) (at r280 v147) (free v148) (free v149) (free v150) (at r179 v151) (at r252 v152) (at r204 v153) (free v154) (free v155) (at r282 v156) (free v157) (free v158) (free v159) (free v160) (free v161) (free v162) (at r222 v163) (free v164) (at r201 v165) (free v166) (free v167) (free v168) (at r244 v169) (free v170) (free v171) (at r216 v172) (at r167 v173) (free v174) (free v175) (free v176) (free v177) (free v178) (at r270 v179) (free v180) (free v181) (at r168 v182) (free v183) (free v184) (at r256 v185) (free v186) (at r248 v187) (free v188) (free v189) (at r211 v190) (at r279 v191) (free v192) (at r173 v193) (free v194) (at r181 v195) (free v196) (at r277 v197) (at r175 v198) (free v199) (at r243 v200) (at r284 v201) (free v202) (free v203) (free v204) (at r209 v205) (at r195 v206) (free v207) (free v208) (free v209) (at r213 v210) (at r219 v211) (at r197 v212) (at r231 v213) (at r267 v214) (at r191 v215) (at r249 v216) (free v217) (free v218) (free v219) (free v220) (free v221) (free v222) (at r156 v223) (free v224) (free v225) (at r207 v226) (at r259 v227) (at r210 v228) (at r200 v229) (free v230) (at r159 v231) (free v232) (at r169 v233) (free v234) (free v235) (free v236) (free v237) (at r235 v238) (at r224 v239) (free v240) (free v241) (at r188 v242) (free v243) (free v244) (free v245) (free v246) (free v247) (at r160 v248) (at r184 v249) (at r165 v250) (free v251) (at r208 v252) (free v253) (at r240 v254) (free v255) (free v256) (free v257) (at r233 v258) (free v259) (at r161 v260) (free v261) (at r183 v262) (at r272 v263) (at r187 v264) (at r157 v265) (free v266) (at r261 v267) (at r218 v268) (at r226 v269) (free v270) (at r255 v271) (free v272) (free v273) (free v274) (free v275) (free v276) (free v277) (free v278) (at r266 v279) (free v280) (at r242 v281) (at r172 v282) (free v283) (free v284) ) ) )