(define (problem multirobot_80_50%_c2) (:domain multirobot) (:objects v0 v1 v2 r278 v3 r314 v4 v5 r259 v6 r207 v7 v8 r282 v9 r293 v10 r198 v11 v12 v13 r266 v14 v15 r228 v16 v17 r299 v18 r298 v19 v20 r173 v21 v22 r221 v23 r165 v24 r281 v25 v26 v27 r261 v28 v29 v30 v31 r175 v32 r182 v33 v34 r292 v35 r306 v36 v37 r196 v38 r214 v39 v40 v41 r225 v42 r272 v43 v44 r303 v45 v46 v47 v48 v49 r164 v50 v51 r240 v52 v53 r258 v54 r190 v55 v56 r249 v57 v58 r253 v59 r151 v60 v61 v62 r152 v63 v64 v65 r302 v66 v67 r189 v68 r193 v69 v70 v71 v72 r160 v73 r241 v74 r268 v75 r218 v76 v77 r199 v78 v79 r319 v80 v81 v82 r185 v83 r178 v84 v85 r209 v86 v87 r318 v88 v89 r159 v90 v91 r245 v92 v93 v94 r254 v95 v96 r289 v97 v98 r210 v99 r201 v100 r250 v101 r309 v102 r187 v103 v104 r219 v105 r156 v106 r260 v107 v108 r273 v109 v110 r313 v111 v112 v113 r220 v114 r265 v115 r204 v116 v117 r203 v118 r276 v119 r216 v120 r188 v121 r257 v122 v123 r277 v124 v125 r271 v126 v127 v128 v129 r166 v130 v131 v132 r230 v133 v134 r247 v135 r168 v136 r195 v137 v138 r280 v139 r233 v140 r290 v141 r307 v142 v143 r184 v144 v145 r310 v146 v147 r283 v148 r212 v149 r275 v150 v151 r205 v152 v153 v154 r284 v155 r321 v156 r167 v157 r211 v158 v159 v160 v161 r270 v162 v163 v164 v165 v166 r237 v167 r316 v168 v169 r158 v170 r163 v171 v172 v173 r305 v174 v175 v176 v177 r294 v178 v179 r288 v180 v181 r231 v182 r157 v183 v184 r180 v185 r197 v186 v187 r235 v188 r232 v189 r174 v190 v191 r312 v192 r286 v193 r263 v194 r291 v195 r244 v196 r255 v197 v198 v199 r153 v200 r206 v201 r239 v202 r202 v203 v204 r223 v205 r308 v206 v207 v208 v209 r234 v210 v211 r301 v212 v213 r295 v214 v215 r238 v216 r155 v217 v218 v219 v220 v221 v222 v223 r183 v224 v225 r311 v226 r297 v227 r171 v228 r226 v229 v230 r222 v231 r251 v232 v233 v234 v235 r320 v236 r246 v237 v238 r300 v239 v240 r154 v241 v242 r267 v243 v244 r181 v245 r242 v246 v247 r269 v248 v249 v250 v251 v252 r179 v253 v254 r191 v255 v256 r192 v257 v258 v259 r252 v260 r315 v261 v262 v263 r161 v264 v265 v266 v267 v268 r322 v269 r208 v270 v271 r229 v272 r215 v273 r243 v274 r186 v275 v276 v277 r170 v278 r224 v279 r213 v280 r236 v281 r217 v282 r227 v283 v284 v285 v286 r200 v287 r162 v288 r274 v289 v290 r169 v291 v292 r262 v293 r172 v294 v295 r177 v296 v297 r279 v298 v299 v300 v301 v302 v303 r264 v304 r304 v305 r248 v306 r287 v307 v308 v309 r149 v310 r150 v311 r194 v312 v313 r317 v314 v315 r285 v316 r176 v317 v318 v319 v320 r296 v321 r148 v322 r256 ) (:init (free v0) (free v1) (at r278 v2) (at r314 v3) (free v4) (at r259 v5) (at r207 v6) (free v7) (at r282 v8) (at r293 v9) (at r198 v10) (free v11) (free v12) (at r266 v13) (free v14) (at r228 v15) (free v16) (at r299 v17) (at r298 v18) (free v19) (at r173 v20) (free v21) (at r221 v22) (at r165 v23) (at r281 v24) (free v25) (free v26) (at r261 v27) (free v28) (free v29) (free v30) (at r175 v31) (at r182 v32) (free v33) (at r292 v34) (at r306 v35) (free v36) (at r196 v37) (at r214 v38) (free v39) (free v40) (at r225 v41) (at r272 v42) (free v43) (at r303 v44) (free v45) (free v46) (free v47) (free v48) (at r164 v49) (free v50) (at r240 v51) (free v52) (at r258 v53) (at r190 v54) (free v55) (at r249 v56) (free v57) (at r253 v58) (at r151 v59) (free v60) (free v61) (at r152 v62) (free v63) (free v64) (at r302 v65) (free v66) (at r189 v67) (at r193 v68) (free v69) (free v70) (free v71) (at r160 v72) (at r241 v73) (at r268 v74) (at r218 v75) (free v76) (at r199 v77) (free v78) (at r319 v79) (free v80) (free v81) (at r185 v82) (at r178 v83) (free v84) (at r209 v85) (free v86) (at r318 v87) (free v88) (at r159 v89) (free v90) (at r245 v91) (free v92) (free v93) (at r254 v94) (free v95) (at r289 v96) (free v97) (at r210 v98) (at r201 v99) (at r250 v100) (at r309 v101) (at r187 v102) (free v103) (at r219 v104) (at r156 v105) (at r260 v106) (free v107) (at r273 v108) (free v109) (at r313 v110) (free v111) (free v112) (at r220 v113) (at r265 v114) (at r204 v115) (free v116) (at r203 v117) (at r276 v118) (at r216 v119) (at r188 v120) (at r257 v121) (free v122) (at r277 v123) (free v124) (at r271 v125) (free v126) (free v127) (free v128) (at r166 v129) (free v130) (free v131) (at r230 v132) (free v133) (at r247 v134) (at r168 v135) (at r195 v136) (free v137) (at r280 v138) (at r233 v139) (at r290 v140) (at r307 v141) (free v142) (at r184 v143) (free v144) (at r310 v145) (free v146) (at r283 v147) (at r212 v148) (at r275 v149) (free v150) (at r205 v151) (free v152) (free v153) (at r284 v154) (at r321 v155) (at r167 v156) (at r211 v157) (free v158) (free v159) (free v160) (at r270 v161) (free v162) (free v163) (free v164) (free v165) (at r237 v166) (at r316 v167) (free v168) (at r158 v169) (at r163 v170) (free v171) (free v172) (at r305 v173) (free v174) (free v175) (free v176) (at r294 v177) (free v178) (at r288 v179) (free v180) (at r231 v181) (at r157 v182) (free v183) (at r180 v184) (at r197 v185) (free v186) (at r235 v187) (at r232 v188) (at r174 v189) (free v190) (at r312 v191) (at r286 v192) (at r263 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v89 v90) (adjacent v89 v139) (adjacent v90 v91) (adjacent v91 v92) (adjacent v91 v236) (adjacent v92 v93) (adjacent v93 v94) (adjacent v93 v252) (adjacent v94 v131) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v132) (adjacent v99 v159) (adjacent v99 v284) (adjacent v100 v303) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v104 v145) (adjacent v105 v106) (adjacent v106 v107) (adjacent v106 v146) (adjacent v107 v108) (adjacent v107 v127) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v232) (adjacent v113 v114) (adjacent v114 v115) (adjacent v115 v116) (adjacent v115 v144) (adjacent v115 v197) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v143) (adjacent v119 v120) (adjacent v120 v121) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v259) (adjacent v124 v125) (adjacent v124 v315) (adjacent v127 v128) (adjacent v128 v129) 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v171 v172) (adjacent v172 v173) (adjacent v172 v253) (adjacent v173 v174) (adjacent v173 v315) (adjacent v174 v175) (adjacent v175 v187) (adjacent v175 v226) (adjacent v176 v177) (adjacent v177 v178) (adjacent v179 v180) (adjacent v180 v181) (adjacent v180 v182) (adjacent v180 v190) (adjacent v181 v213) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v186 v283) (adjacent v188 v189) (adjacent v189 v190) (adjacent v191 v192) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v225) (adjacent v196 v259) (adjacent v198 v199) (adjacent v200 v201) (adjacent v201 v202) (adjacent v201 v286) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v204 v237) (adjacent v205 v206) (adjacent v207 v208) (adjacent v208 v209) (adjacent v209 v210) (adjacent v209 v314) (adjacent v210 v211) (adjacent v210 v228) (adjacent v211 v212) (adjacent v213 v214) (adjacent v213 v251) (adjacent v214 v215) (adjacent v214 v285) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v220 v221) (adjacent v220 v245) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v227) (adjacent v225 v297) (adjacent v226 v237) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v232) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v243 v244) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v251 v252) (adjacent v253 v254) (adjacent v253 v264) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v258) (adjacent v260 v261) (adjacent v260 v280) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v268 v289) (adjacent v269 v270) (adjacent v270 v271) (adjacent v273 v274) (adjacent v274 v275) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v308) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v286 v287) (adjacent v286 v309) (adjacent v287 v288) (adjacent v288 v289) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) (adjacent v294 v295) (adjacent v296 v316) (adjacent v297 v298) (adjacent v299 v300) (adjacent v300 v301) (adjacent v301 v302) (adjacent v302 v303) (adjacent v304 v305) (adjacent v305 v306) (adjacent v306 v307) (adjacent v307 v308) (adjacent v309 v310) (adjacent v310 v311) (adjacent v311 v312) (adjacent v312 v313) (adjacent v313 v314) (adjacent v316 v317) (adjacent v317 v318) (adjacent v318 v319) (adjacent v319 v320) (adjacent v320 v321) (adjacent v321 v322) ) (:goal (and (free v0) (at r183 v1) (at r170 v2) (at r258 v3) (at r263 v4) (at r222 v5) (free v6) (at r264 v7) (free v8) (at r265 v9) (at r219 v10) (free v11) (free v12) (at r266 v13) (free v14) (at r167 v15) (free v16) (at r256 v17) (at r275 v18) (at r261 v19) (at r224 v20) (free v21) (free v22) (free v23) (free v24) (at r232 v25) (at r149 v26) (free v27) (at r279 v28) (at r155 v29) (at r267 v30) (at r177 v31) (free v32) (at r277 v33) (at r298 v34) (free v35) (at r308 v36) (at r321 v37) (at r176 v38) (free v39) (at r281 v40) (at r161 v41) (free v42) (free v43) (free v44) (at r278 v45) (free v46) (free v47) (at r270 v48) (at r274 v49) (free v50) (at r317 v51) (at r213 v52) (at r290 v53) (at r215 v54) (at r166 v55) (at r157 v56) (at r178 v57) (at r318 v58) (free v59) (free v60) (at r284 v61) (at r216 v62) (at r307 v63) (at r190 v64) (free v65) (at r201 v66) (at r268 v67) (free v68) (free v69) (free v70) (free v71) (at r181 v72) (free v73) (at r169 v74) (free v75) (at r173 v76) (at r257 v77) (at r240 v78) (at r253 v79) (free v80) (free v81) (free v82) (at r192 v83) (free v84) (free v85) (free v86) (free v87) (at r289 v88) (free v89) (at r227 v90) (at r309 v91) (free v92) (free v93) (at r188 v94) (at r291 v95) (free v96) (free v97) (at r187 v98) (at r225 v99) (at r223 v100) (at r305 v101) (free v102) (free v103) (at r260 v104) (free v105) (free v106) (free v107) (free v108) (at r251 v109) (at r209 v110) (free v111) (free v112) (at r220 v113) (at r252 v114) (free v115) (at r248 v116) (at r320 v117) (at r236 v118) (free v119) (at r168 v120) (free v121) (at r191 v122) (free v123) (at r292 v124) (at r235 v125) (free v126) (at r156 v127) (at r164 v128) (free v129) (at r205 v130) (free v131) (at r293 v132) (free v133) (free v134) (at r217 v135) (at r230 v136) (free v137) (at r203 v138) (free v139) (free v140) (at r175 v141) (free v142) (at r273 v143) (free v144) (at r171 v145) (at r297 v146) (free v147) (free v148) (free v149) (free v150) (at r172 v151) (free v152) (free v153) (free v154) (free v155) (free v156) (at r194 v157) (free v158) (at r276 v159) (free v160) (free v161) (at r314 v162) (free v163) (at r239 v164) (at r180 v165) (free v166) (at r241 v167) (free v168) (at r247 v169) (at r249 v170) (free v171) (at r153 v172) (free v173) (at r198 v174) (free v175) (free v176) (at r197 v177) (at r259 v178) (free v179) (at r174 v180) (at r315 v181) (free v182) (free v183) (at r165 v184) (at r148 v185) (at r229 v186) (at r300 v187) (at r254 v188) (free v189) (free v190) (at r193 v191) (at r182 v192) (free v193) (at r319 v194) (at r211 v195) (at r186 v196) (free v197) (free v198) (at r202 v199) (at r158 v200) (free v201) (at r151 v202) (at r285 v203) (free v204) (at r204 v205) (at r306 v206) (at r280 v207) (free v208) (free v209) (at r179 v210) (at r228 v211) (at r316 v212) (free v213) (free v214) (at r196 v215) (free v216) (at r221 v217) (free v218) (free v219) (at r245 v220) (free v221) (at r250 v222) (at r282 v223) (at r163 v224) (free v225) (free v226) (free v227) (at r246 v228) (free v229) (at r283 v230) (at r185 v231) (at r150 v232) (at r262 v233) (free v234) (at r269 v235) (at r286 v236) (free v237) (at r231 v238) (at r200 v239) (at r234 v240) (free v241) (free v242) (free v243) (free v244) (free v245) (at r303 v246) (at r311 v247) (free v248) (at r226 v249) (at r184 v250) (at r302 v251) (free v252) (at r272 v253) (free v254) (at r294 v255) (at r189 v256) (at r159 v257) (at r233 v258) (free v259) (at r242 v260) (at r210 v261) (at r152 v262) (free v263) (free v264) (at r162 v265) (at r244 v266) (free v267) (at r295 v268) (free v269) (free v270) (at r299 v271) (free v272) (at r304 v273) (free v274) (at r301 v275) (free v276) (at r199 v277) (free v278) (free v279) (free v280) (free v281) (free v282) (free v283) (free v284) (free v285) (free v286) (free v287) (at r322 v288) (at r310 v289) (free v290) (at r212 v291) (at r195 v292) (at r206 v293) (free v294) (free v295) (free v296) (free v297) (at r160 v298) (at r296 v299) (free v300) (free v301) (free v302) (at r214 v303) (at r288 v304) (at r154 v305) (free v306) (free v307) (at r207 v308) (at r313 v309) (at r271 v310) (at r243 v311) (at r237 v312) (at r312 v313) (at r255 v314) (free v315) (free v316) (at r218 v317) (free v318) (free v319) (at r208 v320) (at r287 v321) (at r238 v322) ) ) )