(define (problem multirobot_81_50%_c4) (:domain multirobot) (:objects v0 v1 v2 v3 v4 v5 v6 v7 r291 v8 v9 r239 v10 v11 r250 v12 r209 v13 v14 v15 r197 v16 r285 v17 v18 r219 v19 v20 v21 v22 v23 v24 v25 r245 v26 v27 r179 v28 v29 v30 r183 v31 v32 r266 v33 r300 v34 r186 v35 v36 r220 v37 r235 v38 r265 v39 r199 v40 v41 v42 r274 v43 v44 r172 v45 v46 v47 v48 v49 r195 v50 v51 v52 v53 r236 v54 r223 v55 v56 v57 v58 v59 v60 v61 r299 v62 v63 v64 r203 v65 v66 v67 v68 v69 v70 r260 v71 v72 v73 v74 r253 v75 r185 v76 v77 v78 r259 v79 r280 v80 v81 v82 r275 v83 r204 v84 r194 v85 r242 v86 r301 v87 v88 v89 v90 r178 v91 v92 v93 v94 v95 r213 v96 v97 r238 v98 v99 r160 v100 r294 v101 r193 v102 v103 r284 v104 r247 v105 r218 v106 r233 v107 v108 r190 v109 r207 v110 v111 v112 v113 v114 v115 r295 v116 v117 r255 v118 v119 r165 v120 r276 v121 r221 v122 v123 v124 v125 r216 v126 r212 v127 r225 v128 v129 r174 v130 v131 r162 v132 v133 r282 v134 r205 v135 r170 v136 r257 v137 r261 v138 v139 v140 r290 v141 v142 v143 v144 r217 v145 v146 r237 v147 r163 v148 r200 v149 r180 v150 r229 v151 r244 v152 r226 v153 r287 v154 v155 v156 r281 v157 r248 v158 v159 r177 v160 r188 v161 r293 v162 r187 v163 r292 v164 r196 v165 v166 v167 v168 v169 v170 v171 v172 r264 v173 v174 r302 v175 r230 v176 v177 v178 v179 r208 v180 r158 v181 v182 r168 v183 v184 v185 r189 v186 r241 v187 v188 r303 v189 v190 v191 r240 v192 r169 v193 r298 v194 r256 v195 r249 v196 r289 v197 v198 v199 r215 v200 v201 v202 r297 v203 r277 v204 r184 v205 v206 v207 v208 r159 v209 v210 v211 r171 v212 r278 v213 v214 r192 v215 r167 v216 r232 v217 r176 v218 r224 v219 v220 r234 v221 v222 r273 v223 r288 v224 v225 r268 v226 r181 v227 r258 v228 v229 v230 v231 r191 v232 r243 v233 r271 v234 v235 r161 v236 r173 v237 v238 r272 v239 v240 v241 v242 v243 v244 v245 r252 v246 r254 v247 v248 v249 v250 r210 v251 v252 r267 v253 r296 v254 r286 v255 r262 v256 v257 v258 v259 v260 v261 r166 v262 v263 r263 v264 r269 v265 v266 v267 v268 r246 v269 r279 v270 v271 r270 v272 r198 v273 r182 v274 v275 r283 v276 v277 v278 v279 r251 v280 r227 v281 v282 v283 v284 r175 v285 v286 r164 v287 v288 r211 v289 v290 v291 r214 v292 r228 v293 v294 r201 v295 r222 v296 v297 v298 r231 v299 r202 v300 v301 r206 v302 v303 ) (:init (free v0) (free v1) (free v2) (free v3) (free v4) (free v5) (free v6) (at r291 v7) (free v8) (at r239 v9) (free v10) (at r250 v11) (at r209 v12) (free v13) (free v14) (at r197 v15) (at r285 v16) (free v17) (at r219 v18) (free v19) (free v20) (free v21) (free v22) (free v23) (free v24) (at r245 v25) (free v26) (at r179 v27) (free v28) (free v29) (at r183 v30) (free v31) (at r266 v32) (at r300 v33) (at r186 v34) (free v35) (at r220 v36) (at r235 v37) (at r265 v38) (at r199 v39) (free v40) (free v41) (at r274 v42) (free v43) (at r172 v44) (free v45) (free v46) (free v47) (free v48) (at r195 v49) (free v50) (free v51) (free v52) (at r236 v53) (at r223 v54) (free v55) (free v56) (free v57) (free v58) (free v59) (free v60) (at r299 v61) (free v62) (free v63) (at r203 v64) (free v65) (free v66) (free v67) (free v68) (free v69) (at r260 v70) (free v71) (free v72) (free v73) (at r253 v74) (at r185 v75) (free v76) (free v77) (at r259 v78) (at r280 v79) (free v80) (free v81) (at r275 v82) (at r204 v83) (at r194 v84) (at r242 v85) (at r301 v86) (free v87) (free v88) (free v89) (at r178 v90) (free v91) (free v92) (free v93) (free v94) (at r213 v95) (free v96) (at r238 v97) (free v98) (at r160 v99) (at r294 v100) (at r193 v101) (free v102) (at r284 v103) (at r247 v104) (at r218 v105) (at r233 v106) (free v107) (at r190 v108) (at r207 v109) (free v110) (free v111) (free v112) (free v113) (free v114) (at r295 v115) (free v116) (at r255 v117) (free v118) (at r165 v119) (at r276 v120) (at r221 v121) (free v122) (free v123) (free v124) (at r216 v125) (at r212 v126) (at r225 v127) (free v128) (at r174 v129) (free v130) (at r162 v131) (free v132) (at r282 v133) (at r205 v134) (at r170 v135) (at r257 v136) (at r261 v137) (free v138) (free v139) (at r290 v140) (free v141) (free v142) (free v143) (at r217 v144) (free v145) (at r237 v146) (at r163 v147) (at r200 v148) (at r180 v149) (at r229 v150) (at r244 v151) (at r226 v152) (at r287 v153) (free v154) (free v155) (at r281 v156) (at r248 v157) (free v158) (at r177 v159) (at r188 v160) (at r293 v161) (at r187 v162) (at r292 v163) (at r196 v164) (free v165) (free v166) (free v167) (free v168) (free v169) (free v170) (free v171) (at r264 v172) (free v173) (at r302 v174) (at r230 v175) (free v176) (free v177) (free v178) (at r208 v179) (at r158 v180) (free v181) (at r168 v182) (free v183) (free v184) (at r189 v185) (at r241 v186) (free v187) (at r303 v188) (free v189) (free v190) (at r240 v191) (at r169 v192) (at r298 v193) (at r256 v194) (at r249 v195) (at r289 v196) (free v197) (free v198) (at r215 v199) (free v200) (free v201) (at r297 v202) (at r277 v203) (at r184 v204) (free v205) (free v206) (free v207) (at r159 v208) (free v209) (free v210) (at r171 v211) (at r278 v212) (free v213) (at r192 v214) (at r167 v215) (at r232 v216) (at r176 v217) (at r224 v218) (free v219) (at r234 v220) (free v221) (at r273 v222) (at r288 v223) (free v224) (at r268 v225) (at r181 v226) (at r258 v227) (free v228) (free v229) (free v230) (at r191 v231) (at r243 v232) (at r271 v233) (free v234) (at r161 v235) (at r173 v236) (free v237) (at r272 v238) (free v239) (free v240) (free v241) (free v242) (free v243) (free v244) (at r252 v245) (at r254 v246) (free v247) (free v248) (free v249) (at r210 v250) (free v251) (at r267 v252) (at r296 v253) (at r286 v254) (at r262 v255) (free v256) (free v257) (free v258) (free v259) (free v260) (at r166 v261) (free v262) (at r263 v263) (at r269 v264) (free v265) (free v266) (free v267) (at r246 v268) (at r279 v269) (free v270) (at r270 v271) (at r198 v272) (at r182 v273) (free v274) (at r283 v275) (free v276) (free v277) (free v278) (at r251 v279) (at r227 v280) (free v281) (free v282) (free v283) (at r175 v284) (free v285) (at r164 v286) (free v287) (at r211 v288) (free v289) (free v290) (at r214 v291) (at r228 v292) (free v293) (at r201 v294) (at r222 v295) (free v296) (free v297) (at r231 v298) (at r202 v299) (free v300) (at r206 v301) (free v302) (free v303) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v34) (adjacent v0 v35) (adjacent v1 v2) (adjacent v1 v22) (adjacent v1 v212) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v16) (adjacent v2 v86) (adjacent v2 v172) (adjacent v3 v4) (adjacent v3 v9) (adjacent v3 v10) (adjacent v3 v15) (adjacent v3 v29) (adjacent v3 v118) (adjacent v3 v171) (adjacent v4 v14) (adjacent v4 v234) (adjacent v5 v6) (adjacent v6 v7) (adjacent v6 v38) (adjacent v7 v8) (adjacent v7 v41) (adjacent v8 v9) (adjacent v8 v44) (adjacent v8 v138) (adjacent v9 v15) (adjacent v9 v40) (adjacent v9 v161) (adjacent v10 v11) (adjacent v10 v67) (adjacent v10 v118) (adjacent v11 v12) (adjacent v11 v30) (adjacent v11 v43) (adjacent v11 v56) (adjacent v11 v81) (adjacent v12 v13) (adjacent v13 v14) (adjacent v13 v79) (adjacent v13 v109) (adjacent v14 v28) (adjacent v14 v43) (adjacent v14 v74) (adjacent v14 v115) (adjacent v16 v17) (adjacent v16 v100) (adjacent v16 v128) (adjacent v16 v148) (adjacent v17 v18) (adjacent v17 v89) (adjacent v18 v19) (adjacent v18 v27) (adjacent v18 v39) (adjacent v18 v55) (adjacent v19 v20) (adjacent v19 v23) (adjacent v19 v48) (adjacent v19 v186) (adjacent v19 v298) (adjacent v20 v21) (adjacent v20 v213) (adjacent v20 v218) (adjacent v21 v22) (adjacent v21 v101) (adjacent v21 v242) (adjacent v22 v97) (adjacent v23 v24) (adjacent v24 v25) (adjacent v24 v39) (adjacent v24 v267) (adjacent v25 v26) (adjacent v26 v27) (adjacent v26 v49) (adjacent v26 v90) (adjacent v28 v29) (adjacent v28 v197) (adjacent v29 v42) (adjacent v29 v160) (adjacent v30 v31) (adjacent v30 v42) (adjacent v31 v32) (adjacent v31 v108) (adjacent v32 v33) (adjacent v32 v238) (adjacent v33 v34) (adjacent v35 v36) (adjacent v36 v37) (adjacent v36 v59) (adjacent v37 v38) (adjacent v38 v68) (adjacent v39 v154) (adjacent v40 v41) (adjacent v41 v117) (adjacent v41 v226) (adjacent v41 v294) (adjacent v42 v82) (adjacent v43 v116) (adjacent v44 v45) (adjacent v45 v46) (adjacent v45 v60) (adjacent v46 v47) (adjacent v46 v69) (adjacent v47 v48) (adjacent v47 v166) (adjacent v48 v87) (adjacent v48 v96) (adjacent v48 v102) (adjacent v48 v127) (adjacent v49 v50) (adjacent v50 v51) (adjacent v50 v66) (adjacent v50 v178) (adjacent v50 v189) (adjacent v50 v253) (adjacent v51 v52) (adjacent v52 v53) (adjacent v52 v137) (adjacent v52 v167) (adjacent v53 v54) (adjacent v53 v142) (adjacent v54 v55) (adjacent v54 v78) (adjacent v56 v57) (adjacent v57 v58) (adjacent v58 v59) (adjacent v58 v192) (adjacent v59 v101) (adjacent v60 v61) (adjacent v60 v150) (adjacent v61 v62) (adjacent v62 v63) (adjacent v62 v75) (adjacent v62 v281) (adjacent v63 v64) (adjacent v64 v65) (adjacent v65 v66) (adjacent v66 v124) (adjacent v67 v68) (adjacent v67 v148) (adjacent v69 v70) (adjacent v69 v302) (adjacent v70 v71) (adjacent v70 v120) (adjacent v71 v72) (adjacent v72 v73) (adjacent v72 v263) (adjacent v73 v74) (adjacent v75 v76) (adjacent v76 v77) (adjacent v77 v78) (adjacent v77 v202) (adjacent v79 v80) (adjacent v80 v81) (adjacent v80 v117) (adjacent v80 v204) (adjacent v81 v295) (adjacent v82 v83) (adjacent v83 v84) (adjacent v83 v171) (adjacent v84 v85) (adjacent v85 v86) (adjacent v86 v188) (adjacent v87 v88) (adjacent v87 v207) (adjacent v88 v89) (adjacent v90 v91) (adjacent v90 v170) (adjacent v91 v92) (adjacent v91 v119) (adjacent v91 v149) (adjacent v92 v93) (adjacent v92 v288) (adjacent v93 v94) (adjacent v94 v95) (adjacent v95 v96) (adjacent v97 v98) (adjacent v98 v99) (adjacent v98 v121) (adjacent v99 v100) (adjacent v100 v271) (adjacent v101 v255) (adjacent v102 v103) (adjacent v103 v104) (adjacent v103 v214) (adjacent v103 v239) (adjacent v104 v105) (adjacent v104 v147) (adjacent v105 v106) (adjacent v106 v107) (adjacent v106 v254) (adjacent v107 v108) (adjacent v108 v153) (adjacent v108 v154) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v116) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v114) (adjacent v113 v246) (adjacent v114 v115) (adjacent v114 v125) (adjacent v114 v141) (adjacent v117 v149) (adjacent v118 v133) (adjacent v118 v235) (adjacent v119 v120) (adjacent v119 v134) (adjacent v121 v122) (adjacent v121 v203) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v245) (adjacent v125 v126) (adjacent v125 v211) (adjacent v125 v274) (adjacent v126 v127) (adjacent v127 v189) (adjacent v127 v224) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v130 v196) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v203) (adjacent v133 v246) (adjacent v134 v135) (adjacent v134 v155) (adjacent v135 v136) (adjacent v136 v137) (adjacent v138 v139) (adjacent v138 v219) (adjacent v139 v140) (adjacent v139 v287) (adjacent v140 v141) (adjacent v140 v294) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v146 v191) (adjacent v147 v233) (adjacent v150 v151) (adjacent v151 v152) (adjacent v151 v179) (adjacent v152 v153) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v159 v160) (adjacent v161 v162) (adjacent v161 v247) (adjacent v162 v163) (adjacent v162 v223) (adjacent v162 v262) (adjacent v163 v164) (adjacent v163 v241) (adjacent v164 v165) (adjacent v165 v166) (adjacent v167 v168) (adjacent v167 v185) (adjacent v168 v169) (adjacent v168 v234) (adjacent v169 v170) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v177 v297) (adjacent v178 v190) (adjacent v179 v180) (adjacent v180 v181) (adjacent v180 v268) (adjacent v181 v182) (adjacent v182 v183) (adjacent v183 v184) (adjacent v183 v245) (adjacent v183 v260) (adjacent v184 v185) (adjacent v186 v187) (adjacent v187 v188) (adjacent v187 v293) (adjacent v189 v273) (adjacent v190 v191) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v195 v244) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v202) (adjacent v204 v205) (adjacent v204 v208) (adjacent v205 v206) (adjacent v206 v207) (adjacent v208 v209) (adjacent v209 v210) (adjacent v209 v272) (adjacent v210 v211) (adjacent v212 v213) (adjacent v214 v215) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v219 v220) (adjacent v219 v270) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v224 v225) (adjacent v224 v227) (adjacent v225 v226) (adjacent v226 v259) (adjacent v227 v228) (adjacent v228 v229) (adjacent v228 v256) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v232) (adjacent v232 v233) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v239 v240) (adjacent v240 v241) (adjacent v242 v243) (adjacent v243 v244) (adjacent v245 v275) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v251) (adjacent v251 v252) (adjacent v252 v253) (adjacent v254 v255) (adjacent v256 v257) (adjacent v256 v303) (adjacent v257 v258) (adjacent v257 v280) (adjacent v258 v259) (adjacent v260 v261) (adjacent v261 v262) (adjacent v263 v264) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v268 v269) (adjacent v269 v270) (adjacent v271 v272) (adjacent v273 v274) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v281 v282) (adjacent v282 v283) (adjacent v283 v284) (adjacent v284 v285) (adjacent v285 v286) (adjacent v286 v287) (adjacent v288 v289) (adjacent v289 v290) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v295 v296) (adjacent v296 v297) (adjacent v298 v299) (adjacent v299 v300) (adjacent v300 v301) (adjacent v301 v302) (adjacent v301 v303) ) (:goal (and (at r213 v0) (at r272 v1) (free v2) (at r217 v3) (free v4) (at r240 v5) (free v6) (at r235 v7) (free v8) (free v9) (free v10) (at r268 v11) (free v12) (at r182 v13) (free v14) (at r273 v15) (free v16) (free v17) (at r208 v18) (at r199 v19) (free v20) (free v21) (free v22) (free v23) (at r271 v24) (free v25) (free v26) (free v27) (at r176 v28) (at r184 v29) (free v30) (at r159 v31) (at r295 v32) (free v33) (free v34) (free v35) (free v36) (at r223 v37) (at r267 v38) (at r243 v39) (free v40) (at r183 v41) (free v42) (at r254 v43) (free v44) (at r301 v45) (free v46) (free v47) (at r238 v48) (at r164 v49) (at r293 v50) (free v51) (at r201 v52) (at r229 v53) (free v54) (at r248 v55) (free v56) (free v57) (free v58) (free v59) (at r227 v60) (free v61) (free v62) (free v63) (at r179 v64) (at r244 v65) (free v66) (free v67) (free v68) (at r186 v69) (at r185 v70) (at r294 v71) (at r171 v72) (free v73) (free v74) (free v75) (at r221 v76) (at r284 v77) (at r188 v78) (free v79) (at r242 v80) (at r237 v81) (at r165 v82) (at r276 v83) (at r274 v84) (at r255 v85) (at r277 v86) (at r195 v87) (at r200 v88) (free v89) (at r190 v90) (at r234 v91) (at r256 v92) (at r214 v93) (free v94) (free v95) (free v96) (free v97) (at r290 v98) (at r252 v99) (free v100) (free v101) (free v102) (at r289 v103) (at r167 v104) (free v105) (at r225 v106) (at r270 v107) (at r192 v108) (at r180 v109) (at r233 v110) (free v111) (free v112) (free v113) (at r216 v114) (at r259 v115) (free v116) (free v117) (free v118) (at r286 v119) (free v120) (free v121) (at r250 v122) (free v123) (at r263 v124) (free v125) (free v126) (free v127) (free v128) (at r247 v129) (at r161 v130) (at r173 v131) (free v132) (free v133) (free v134) (free v135) (free v136) (at r224 v137) (at r203 v138) (free v139) (at r269 v140) (free v141) (free v142) (free v143) (free v144) (free v145) (at r246 v146) (at r204 v147) (free v148) (free v149) (at r181 v150) (at r282 v151) (at r166 v152) (free v153) (at r212 v154) (free v155) (at r303 v156) (at r297 v157) (at r172 v158) (free v159) (at r220 v160) (at r218 v161) (free v162) (free v163) (free v164) (free v165) (free v166) (at r191 v167) (free v168) (free v169) (at r205 v170) (at r292 v171) (free v172) (at r266 v173) (free v174) (at r299 v175) (free v176) (at r158 v177) (free v178) (at r177 v179) (free v180) (free v181) (free v182) (at r206 v183) (at r281 v184) (at r189 v185) (free v186) (at r209 v187) (free v188) (at r300 v189) (at r280 v190) (free v191) (free v192) (at r231 v193) (free v194) (at r251 v195) (free v196) (free v197) (free v198) (free v199) (at r196 v200) (at r285 v201) (free v202) (at r264 v203) (at r226 v204) (free v205) (free v206) (free v207) (at r211 v208) (at r228 v209) (free v210) (at r163 v211) (at r262 v212) (at r178 v213) (at r187 v214) (at r291 v215) (at r253 v216) (at r215 v217) (free v218) (at r239 v219) (at r174 v220) (at r283 v221) (at r230 v222) (at r198 v223) (free v224) (at r279 v225) (free v226) (free v227) (free v228) (at r265 v229) (at r162 v230) (free v231) (at r260 v232) (at r197 v233) (at r261 v234) (at r169 v235) (at r210 v236) (at r302 v237) (free v238) (at r288 v239) (free v240) (at r194 v241) (free v242) (at r175 v243) (free v244) (at r219 v245) (at r160 v246) (free v247) (free v248) (free v249) (at r202 v250) (at r287 v251) (at r296 v252) (free v253) (at r258 v254) (at r170 v255) (free v256) (free v257) (free v258) (free v259) (free v260) (at r278 v261) (free v262) (free v263) (at r168 v264) (at r249 v265) (free v266) (free v267) (free v268) (free v269) (free v270) (free v271) (free v272) (at r222 v273) (free v274) (at r193 v275) (free v276) (free v277) (free v278) (free v279) (free v280) (free v281) (free v282) (free v283) (free v284) (free v285) (at r236 v286) (free v287) (free v288) (free v289) (at r241 v290) (free v291) (at r257 v292) (free v293) (at r232 v294) (free v295) (at r245 v296) (free v297) (free v298) (at r207 v299) (free v300) (free v301) (at r275 v302) (at r298 v303) ) ) )