(define (problem multirobot_80_50%_c8) (:domain multirobot) (:objects v0 r264 v1 r212 v2 v3 v4 v5 v6 r278 v7 v8 r176 v9 v10 r258 v11 v12 v13 v14 r231 v15 v16 v17 v18 v19 v20 v21 v22 v23 r251 v24 v25 v26 r274 v27 r188 v28 v29 v30 r219 v31 r199 v32 v33 r226 v34 r253 v35 r215 v36 r194 v37 r269 v38 r286 v39 v40 v41 v42 r252 v43 v44 v45 v46 r162 v47 v48 v49 v50 r186 v51 v52 v53 r168 v54 r160 v55 v56 v57 v58 r183 v59 r240 v60 v61 r169 v62 r180 v63 v64 r224 v65 v66 r241 v67 v68 v69 r217 v70 v71 v72 v73 v74 r280 v75 v76 r182 v77 r282 v78 r159 v79 r268 v80 v81 v82 v83 v84 v85 v86 v87 v88 r265 v89 v90 v91 v92 r165 v93 r247 v94 v95 v96 r244 v97 v98 r220 v99 v100 r285 v101 r267 v102 v103 v104 r259 v105 v106 v107 r214 v108 r164 v109 r190 v110 r243 v111 v112 v113 v114 v115 r171 v116 v117 v118 r248 v119 r263 v120 v121 v122 v123 v124 v125 r205 v126 r271 v127 r238 v128 v129 r260 v130 v131 v132 r230 v133 r254 v134 v135 v136 v137 r221 v138 r275 v139 v140 v141 r216 v142 r179 v143 v144 r200 v145 r196 v146 v147 r210 v148 r262 v149 v150 v151 r228 v152 v153 v154 v155 r272 v156 v157 r198 v158 v159 r234 v160 v161 v162 v163 v164 r174 v165 v166 r175 v167 r261 v168 r204 v169 v170 v171 v172 r213 v173 r235 v174 v175 r177 v176 v177 r193 v178 r250 v179 r283 v180 v181 v182 r203 v183 r185 v184 r237 v185 v186 r158 v187 r197 v188 v189 v190 v191 r266 v192 v193 r245 v194 v195 v196 r170 v197 v198 r276 v199 r172 v200 r227 v201 v202 r206 v203 r201 v204 r232 v205 r233 v206 r189 v207 v208 v209 v210 r167 v211 r208 v212 r223 v213 r178 v214 r239 v215 r246 v216 r249 v217 r284 v218 v219 v220 r222 v221 r211 v222 v223 v224 r256 v225 r173 v226 v227 v228 v229 r161 v230 v231 r279 v232 v233 r207 v234 v235 r192 v236 v237 r236 v238 v239 v240 r270 v241 v242 r181 v243 v244 v245 r229 v246 v247 v248 r287 v249 v250 r255 v251 r242 v252 v253 v254 r281 v255 r273 v256 r277 v257 v258 v259 v260 v261 v262 v263 v264 v265 v266 r257 v267 v268 r187 v269 r191 v270 r166 v271 r157 v272 v273 r184 v274 v275 v276 r163 v277 v278 v279 r209 v280 v281 r225 v282 r195 v283 v284 v285 r218 v286 v287 r202 ) (:init (at r264 v0) (at r212 v1) (free v2) (free v3) (free v4) (free v5) (at r278 v6) (free v7) (at r176 v8) (free v9) (at r258 v10) (free v11) (free v12) (free v13) (at r231 v14) (free v15) (free v16) (free v17) (free v18) (free v19) (free v20) (free v21) (free v22) (at r251 v23) (free v24) (free v25) (at r274 v26) (at r188 v27) (free v28) (free v29) (at r219 v30) (at r199 v31) (free v32) (at r226 v33) (at r253 v34) (at r215 v35) (at r194 v36) (at r269 v37) (at r286 v38) (free v39) (free v40) (free v41) (at r252 v42) (free v43) (free v44) (free v45) (at r162 v46) (free v47) (free v48) (free v49) (at r186 v50) (free v51) (free v52) (at r168 v53) (at r160 v54) (free v55) (free v56) (free v57) (at r183 v58) (at r240 v59) (free v60) (at r169 v61) (at r180 v62) (free v63) (at r224 v64) (free v65) (at r241 v66) (free v67) (free v68) (at r217 v69) (free v70) (free v71) (free v72) (free v73) (at r280 v74) (free v75) (at r182 v76) (at r282 v77) (at r159 v78) (at r268 v79) (free v80) (free v81) (free v82) (free v83) (free v84) (free v85) (free v86) (free v87) (at r265 v88) (free v89) (free v90) (free v91) (at r165 v92) (at r247 v93) (free v94) (free v95) (at r244 v96) (free v97) (at r220 v98) (free v99) (at r285 v100) (at r267 v101) (free v102) (free v103) (at r259 v104) (free v105) (free v106) (at r214 v107) (at r164 v108) (at r190 v109) (at r243 v110) (free v111) (free v112) (free v113) (free v114) (at r171 v115) (free v116) (free v117) (at r248 v118) (at r263 v119) (free v120) (free v121) (free v122) (free v123) (free v124) (at r205 v125) (at r271 v126) (at r238 v127) (free v128) (at r260 v129) (free v130) (free v131) (at r230 v132) (at r254 v133) (free v134) (free v135) (free v136) (at r221 v137) (at r275 v138) (free v139) (free v140) (at r216 v141) (at r179 v142) (free v143) (at r200 v144) (at r196 v145) (free v146) (at r210 v147) (at r262 v148) (free v149) (free v150) (at r228 v151) (free v152) (free v153) (free v154) (at r272 v155) (free v156) (at r198 v157) (free v158) (at r234 v159) (free v160) (free v161) (free v162) (free v163) (at r174 v164) (free v165) (at r175 v166) (at r261 v167) (at r204 v168) (free v169) (free v170) (free v171) (at r213 v172) (at r235 v173) (free v174) (at r177 v175) (free v176) (at r193 v177) (at r250 v178) (at r283 v179) (free v180) (free v181) (at r203 v182) (at r185 v183) (at r237 v184) (free v185) (at r158 v186) (at r197 v187) (free v188) (free v189) (free v190) (at r266 v191) (free v192) (at r245 v193) (free v194) (free v195) (at r170 v196) (free v197) (at r276 v198) (at r172 v199) (at r227 v200) (free v201) (at r206 v202) (at r201 v203) (at r232 v204) (at r233 v205) (at r189 v206) (free v207) (free v208) (free v209) (at r167 v210) (at r208 v211) (at r223 v212) (at r178 v213) (at r239 v214) (at r246 v215) (at r249 v216) (at r284 v217) (free v218) (free v219) (at r222 v220) (at r211 v221) (free v222) (free v223) (at r256 v224) (at r173 v225) (free v226) (free v227) (free v228) (at r161 v229) (free v230) (at r279 v231) (free v232) (at r207 v233) (free v234) (at r192 v235) (free v236) (at r236 v237) (free v238) (free v239) (at r270 v240) (free v241) (at r181 v242) (free v243) (free v244) (at r229 v245) (free v246) (free v247) (at r287 v248) (free v249) (at r255 v250) (at r242 v251) (free v252) (free v253) (at r281 v254) (at r273 v255) (at r277 v256) (free v257) (free v258) (free v259) (free v260) (free v261) (free v262) (free v263) (free v264) (free v265) (at r257 v266) (free v267) (at r187 v268) (at r191 v269) (at r166 v270) (at r157 v271) (free v272) (at r184 v273) (free v274) (free v275) (at r163 v276) (free v277) (free v278) (at r209 v279) (free v280) (at r225 v281) (at r195 v282) (free v283) (free v284) (at r218 v285) (free v286) (at r202 v287) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v7) (adjacent v0 v11) (adjacent v0 v17) (adjacent v0 v111) (adjacent v0 v190) (adjacent v1 v2) (adjacent v1 v13) (adjacent v1 v79) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v52) (adjacent v2 v99) (adjacent v3 v4) (adjacent v3 v32) (adjacent v3 v60) (adjacent v3 v88) (adjacent v4 v37) (adjacent v4 v45) (adjacent v5 v6) (adjacent v5 v8) (adjacent v5 v97) (adjacent v5 v115) (adjacent v5 v136) (adjacent v6 v7) (adjacent v6 v9) (adjacent v6 v13) (adjacent v6 v59) (adjacent v7 v8) (adjacent v7 v30) (adjacent v8 v10) (adjacent v8 v11) (adjacent v8 v33) (adjacent v8 v69) (adjacent v9 v10) (adjacent v9 v12) (adjacent v9 v103) (adjacent v10 v21) (adjacent v10 v60) (adjacent v11 v12) (adjacent v11 v67) (adjacent v12 v20) (adjacent v13 v14) (adjacent v13 v31) (adjacent v14 v15) (adjacent v14 v18) (adjacent v14 v31) (adjacent v14 v38) (adjacent v14 v245) (adjacent v15 v16) (adjacent v15 v41) (adjacent v16 v17) (adjacent v16 v40) (adjacent v17 v25) (adjacent v17 v129) (adjacent v18 v19) (adjacent v18 v98) (adjacent v18 v102) (adjacent v18 v239) (adjacent v19 v20) (adjacent v19 v42) (adjacent v19 v61) (adjacent v19 v75) (adjacent v19 v261) (adjacent v20 v43) (adjacent v20 v143) (adjacent v21 v22) (adjacent v22 v23) (adjacent v23 v24) (adjacent v23 v26) (adjacent v23 v53) (adjacent v24 v25) (adjacent v24 v268) (adjacent v25 v59) (adjacent v25 v114) (adjacent v26 v27) (adjacent v26 v136) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v68) (adjacent v29 v30) (adjacent v30 v32) (adjacent v30 v46) (adjacent v31 v130) (adjacent v33 v34) (adjacent v33 v83) (adjacent v33 v204) (adjacent v34 v35) (adjacent v35 v36) (adjacent v36 v37) (adjacent v36 v220) (adjacent v37 v102) (adjacent v38 v39) (adjacent v38 v70) (adjacent v38 v92) (adjacent v38 v167) (adjacent v39 v40) (adjacent v39 v109) (adjacent v39 v147) (adjacent v41 v42) (adjacent v43 v44) (adjacent v44 v45) (adjacent v44 v101) (adjacent v45 v212) (adjacent v45 v259) (adjacent v46 v47) (adjacent v46 v183) (adjacent v47 v48) (adjacent v47 v208) (adjacent v48 v49) (adjacent v48 v128) (adjacent v49 v50) (adjacent v49 v82) (adjacent v50 v51) (adjacent v50 v58) (adjacent v50 v122) (adjacent v51 v52) (adjacent v52 v78) (adjacent v52 v137) (adjacent v52 v148) (adjacent v53 v54) (adjacent v53 v121) (adjacent v53 v126) (adjacent v54 v55) (adjacent v55 v56) (adjacent v55 v262) (adjacent v56 v57) (adjacent v57 v58) (adjacent v61 v62) (adjacent v62 v63) (adjacent v62 v166) (adjacent v63 v64) (adjacent v63 v143) (adjacent v64 v65) (adjacent v64 v74) (adjacent v64 v160) (adjacent v64 v225) (adjacent v65 v66) (adjacent v66 v67) (adjacent v68 v69) (adjacent v68 v189) (adjacent v68 v211) (adjacent v70 v71) (adjacent v70 v108) (adjacent v70 v256) (adjacent v70 v262) (adjacent v71 v72) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v129) (adjacent v75 v76) (adjacent v75 v179) (adjacent v76 v77) (adjacent v77 v78) (adjacent v77 v112) (adjacent v78 v127) (adjacent v79 v80) (adjacent v80 v81) (adjacent v80 v98) (adjacent v80 v184) (adjacent v81 v82) (adjacent v82 v87) (adjacent v83 v84) (adjacent v83 v93) (adjacent v84 v85) (adjacent v84 v226) (adjacent v85 v86) (adjacent v86 v87) (adjacent v87 v144) (adjacent v87 v250) (adjacent v88 v89) (adjacent v88 v159) (adjacent v88 v246) (adjacent v89 v90) (adjacent v89 v275) (adjacent v90 v91) (adjacent v90 v198) (adjacent v91 v92) (adjacent v92 v193) (adjacent v93 v94) (adjacent v94 v95) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v260) (adjacent v99 v100) (adjacent v99 v159) (adjacent v100 v101) (adjacent v103 v104) (adjacent v104 v105) (adjacent v104 v111) (adjacent v105 v106) (adjacent v105 v199) (adjacent v106 v107) (adjacent v106 v110) (adjacent v107 v108) (adjacent v109 v110) (adjacent v110 v231) (adjacent v111 v185) (adjacent v112 v113) (adjacent v112 v152) (adjacent v113 v114) (adjacent v113 v158) (adjacent v113 v214) (adjacent v115 v116) (adjacent v115 v280) (adjacent v116 v117) (adjacent v117 v118) (adjacent v118 v119) (adjacent v118 v183) (adjacent v119 v120) (adjacent v120 v121) (adjacent v120 v135) (adjacent v120 v238) (adjacent v121 v286) (adjacent v122 v123) (adjacent v122 v213) (adjacent v123 v124) (adjacent v124 v125) (adjacent v125 v126) (adjacent v127 v128) (adjacent v129 v178) (adjacent v130 v131) (adjacent v130 v173) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v136 v142) (adjacent v137 v138) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v140 v261) (adjacent v141 v142) (adjacent v142 v153) (adjacent v142 v180) (adjacent v143 v184) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v148 v149) (adjacent v149 v150) (adjacent v149 v203) (adjacent v150 v151) (adjacent v150 v251) (adjacent v151 v152) (adjacent v152 v219) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v155 v281) (adjacent v156 v157) (adjacent v156 v182) (adjacent v157 v158) (adjacent v159 v274) (adjacent v160 v161) (adjacent v160 v238) (adjacent v161 v162) (adjacent v162 v163) (adjacent v162 v172) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v165 v192) (adjacent v166 v281) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v169 v179) (adjacent v170 v171) (adjacent v171 v172) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v180 v181) (adjacent v181 v182) (adjacent v185 v186) (adjacent v186 v187) (adjacent v186 v257) (adjacent v187 v188) (adjacent v188 v189) (adjacent v189 v287) (adjacent v190 v191) (adjacent v191 v192) (adjacent v191 v263) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v196 v207) (adjacent v197 v198) (adjacent v197 v237) (adjacent v198 v258) (adjacent v199 v200) (adjacent v200 v201) (adjacent v200 v269) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v232) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v207) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v212 v213) (adjacent v214 v215) (adjacent v214 v282) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v226 v227) (adjacent v227 v228) (adjacent v227 v287) (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 v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v244 v245) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v260) (adjacent v251 v252) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v254 v259) (adjacent v255 v256) (adjacent v257 v258) (adjacent v263 v264) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v282 v283) (adjacent v283 v284) (adjacent v284 v285) (adjacent v285 v286) ) (:goal (and (free v0) (free v1) (free v2) (at r196 v3) (at r157 v4) (at r215 v5) (free v6) (at r185 v7) (free v8) (free v9) (at r168 v10) (at r276 v11) (at r267 v12) (at r199 v13) (at r192 v14) (at r228 v15) (at r275 v16) (free v17) (at r193 v18) (at r214 v19) (free v20) (at r237 v21) (free v22) (free v23) (at r207 v24) (at r206 v25) (at r281 v26) (free v27) (at r188 v28) (free v29) (at r161 v30) (at r163 v31) (at r217 v32) (free v33) (free v34) (free v35) (free v36) (at r202 v37) (at r250 v38) (at r240 v39) (at r278 v40) (free v41) (free v42) (free v43) (free v44) (at r179 v45) (free v46) (free v47) (at r270 v48) (at r248 v49) (at r216 v50) (at r264 v51) (at r224 v52) (at r256 v53) (free v54) (free v55) (at r201 v56) (free v57) (at r205 v58) (free v59) (free v60) (at r212 v61) (free v62) (free v63) (free v64) (at r159 v65) (free v66) (free v67) (at r233 v68) (at r254 v69) (at r239 v70) (at r181 v71) (at r249 v72) (at r227 v73) (free v74) (at r178 v75) (free v76) (free v77) (at r274 v78) (free v79) (free v80) (free v81) (at r247 v82) (at r253 v83) (free v84) (at r251 v85) (at r284 v86) (at r268 v87) (free v88) (at r198 v89) (at r279 v90) (at r173 v91) (free v92) (at r190 v93) (free v94) (free v95) (free v96) (free v97) (at r265 v98) (free v99) (free v100) (free v101) (free v102) (free v103) (free v104) (at r232 v105) (free v106) (at r170 v107) (free v108) (at r285 v109) (free v110) (at r194 v111) (free v112) (free v113) (at r246 v114) (free v115) (at r245 v116) (at r160 v117) (free v118) (free v119) (free v120) (at r242 v121) (at r236 v122) (at r252 v123) (free v124) (at r186 v125) (free v126) (free v127) (free v128) (free v129) (at r283 v130) (at r172 v131) (at r203 v132) (at r162 v133) (at r213 v134) (free v135) (at r180 v136) (at r220 v137) (free v138) (free v139) (free v140) (free v141) (free v142) (free v143) (free v144) (free v145) (at r255 v146) (free v147) (at r210 v148) (at r187 v149) (at r282 v150) (at r204 v151) (free v152) (at r174 v153) (free v154) (at r167 v155) (free v156) (free v157) (free v158) (free v159) (free v160) (at r222 v161) (free v162) (free v163) (free v164) (free v165) (free v166) (free v167) (free v168) (at r221 v169) (free v170) (free v171) (at r171 v172) (free v173) (at r231 v174) (free v175) (free v176) (at r164 v177) (free v178) (free v179) (at r169 v180) (free v181) (free v182) (at r226 v183) (free v184) (free v185) (at r243 v186) (free v187) (free v188) (free v189) (at r166 v190) (at r189 v191) (at r208 v192) (free v193) (free v194) (free v195) (free v196) (at r225 v197) (free v198) (at r184 v199) (free v200) (free v201) (free v202) (at r271 v203) (free v204) (at r223 v205) (free v206) (at r287 v207) (free v208) (free v209) (at r219 v210) (free v211) (free v212) (at r269 v213) (free v214) (free v215) (free v216) (free v217) (free v218) (free v219) (free v220) (free v221) (free v222) (at r272 v223) (free v224) (at r263 v225) (free v226) (free v227) (free v228) (at r211 v229) (at r176 v230) (at r235 v231) (at r241 v232) (free v233) (at r230 v234) (at r244 v235) (free v236) (at r266 v237) (at r177 v238) (at r200 v239) (free v240) (free v241) (at r261 v242) (at r234 v243) (at r209 v244) (at r257 v245) (at r260 v246) (free v247) (at r273 v248) (at r280 v249) (at r262 v250) (at r286 v251) (free v252) (free v253) (at r218 v254) (free v255) (at r195 v256) (free v257) (free v258) (free v259) (at r175 v260) (at r238 v261) (free v262) (free v263) (free v264) (at r197 v265) (free v266) (at r229 v267) (free v268) (at r165 v269) (at r182 v270) (free v271) (at r258 v272) (at r259 v273) (free v274) (at r158 v275) (at r191 v276) (free v277) (free v278) (at r183 v279) (free v280) (free v281) (free v282) (free v283) (free v284) (free v285) (free v286) (at r277 v287) ) ) )