(define (problem multirobot_82_50%_c2) (:domain multirobot) (:objects v0 v1 v2 v3 r282 v4 v5 r250 v6 r218 v7 r217 v8 v9 v10 v11 v12 v13 v14 v15 r215 v16 v17 v18 v19 r261 v20 r252 v21 v22 v23 r195 v24 r179 v25 v26 v27 v28 r203 v29 v30 v31 v32 r168 v33 r196 v34 v35 v36 v37 v38 r238 v39 v40 v41 r167 v42 r255 v43 v44 r243 v45 r188 v46 r157 v47 v48 r176 v49 r246 v50 r221 v51 v52 v53 v54 v55 r229 v56 v57 v58 v59 v60 r177 v61 v62 v63 r165 v64 r258 v65 v66 r245 v67 v68 v69 v70 r235 v71 r201 v72 v73 r166 v74 r211 v75 r247 v76 v77 v78 r178 v79 v80 v81 r212 v82 v83 v84 v85 v86 v87 v88 v89 v90 v91 r199 v92 r276 v93 r280 v94 v95 v96 r244 v97 v98 v99 v100 r213 v101 r242 v102 r268 v103 r266 v104 r160 v105 r220 v106 v107 v108 r260 v109 v110 v111 v112 v113 r277 v114 v115 r267 v116 v117 r239 v118 v119 r256 v120 v121 r271 v122 r272 v123 r225 v124 r162 v125 v126 v127 v128 v129 r159 v130 r186 v131 v132 v133 v134 v135 v136 r278 v137 v138 r224 v139 v140 r205 v141 v142 r254 v143 v144 v145 v146 r158 v147 r210 v148 v149 r222 v150 v151 r164 v152 r184 v153 r163 v154 v155 r230 v156 v157 v158 v159 r257 v160 v161 r191 v162 r154 v163 v164 r185 v165 r197 v166 v167 r284 v168 v169 r233 v170 r208 v171 r264 v172 v173 v174 r169 v175 v176 r171 v177 r175 v178 v179 r153 v180 v181 r190 v182 r249 v183 v184 r214 v185 r281 v186 r182 v187 v188 r237 v189 v190 v191 r216 v192 v193 r283 v194 v195 r174 v196 r262 v197 v198 r269 v199 v200 r241 v201 r263 v202 v203 r183 v204 r172 v205 v206 v207 v208 v209 v210 r161 v211 r180 v212 r274 v213 v214 r192 v215 v216 r232 v217 r270 v218 v219 v220 v221 v222 v223 r152 v224 r170 v225 v226 v227 r206 v228 v229 r226 v230 v231 r234 v232 r223 v233 v234 r240 v235 v236 r253 v237 v238 r151 v239 r173 v240 v241 r231 v242 r198 v243 r275 v244 v245 v246 r202 v247 v248 v249 v250 v251 r207 v252 r227 v253 v254 v255 r189 v256 v257 r228 v258 r279 v259 r251 v260 v261 r155 v262 r248 v263 r156 v264 r181 v265 r236 v266 r187 v267 v268 r209 v269 v270 r204 v271 v272 r219 v273 r273 v274 r200 v275 v276 r259 v277 r265 v278 v279 v280 r194 v281 v282 r193 v283 v284 ) (:init (free v0) (free v1) (free v2) (at r282 v3) (free v4) (at r250 v5) (at r218 v6) (at r217 v7) (free v8) (free v9) (free v10) (free v11) (free v12) (free v13) (free v14) (at r215 v15) (free v16) (free v17) (free v18) (at r261 v19) (at r252 v20) (free v21) (free v22) (at r195 v23) (at r179 v24) (free v25) (free v26) (free v27) (at r203 v28) (free v29) (free v30) (free v31) (at r168 v32) (at r196 v33) (free v34) (free v35) (free v36) (free v37) (at r238 v38) (free v39) (free v40) (at r167 v41) (at r255 v42) (free v43) (at r243 v44) (at r188 v45) (at r157 v46) (free v47) (at r176 v48) (at r246 v49) (at r221 v50) (free v51) (free v52) (free v53) (free v54) (at r229 v55) (free v56) (free v57) (free v58) (free v59) (at r177 v60) (free v61) (free v62) (at r165 v63) (at r258 v64) (free v65) (at r245 v66) (free v67) (free v68) (free v69) (at r235 v70) (at r201 v71) (free v72) (at r166 v73) (at r211 v74) (at r247 v75) (free v76) (free v77) (at r178 v78) (free v79) (free v80) (at r212 v81) (free v82) (free v83) (free v84) (free v85) (free v86) (free v87) (free v88) (free v89) (free v90) (at r199 v91) (at r276 v92) (at r280 v93) (free v94) (free v95) (at r244 v96) (free v97) (free v98) (free v99) (at r213 v100) (at r242 v101) (at r268 v102) (at r266 v103) (at r160 v104) (at r220 v105) (free v106) (free v107) (at r260 v108) (free v109) (free v110) (free v111) (free v112) (at r277 v113) (free v114) (at r267 v115) (free v116) (at r239 v117) (free v118) (at r256 v119) (free v120) (at r271 v121) (at r272 v122) (at r225 v123) (at r162 v124) (free v125) (free v126) (free v127) (free v128) (at r159 v129) (at r186 v130) (free v131) (free v132) (free v133) (free v134) (free v135) (at r278 v136) (free v137) (at r224 v138) (free v139) (at r205 v140) (free v141) (at r254 v142) (free v143) (free v144) (free v145) (at r158 v146) (at r210 v147) (free v148) (at r222 v149) (free v150) (at r164 v151) (at r184 v152) (at r163 v153) (free v154) (at r230 v155) (free v156) (free v157) (free v158) (at r257 v159) (free v160) (at r191 v161) (at r154 v162) (free v163) (at r185 v164) (at r197 v165) (free v166) (at r284 v167) (free v168) (at r233 v169) (at r208 v170) (at r264 v171) (free v172) (free v173) (at r169 v174) (free v175) (at r171 v176) (at r175 v177) (free v178) (at r153 v179) (free v180) (at r190 v181) (at r249 v182) (free v183) (at r214 v184) (at r281 v185) (at r182 v186) (free v187) (at r237 v188) (free v189) (free v190) (at r216 v191) (free v192) (at r283 v193) (free v194) (at r174 v195) (at r262 v196) (free v197) (at r269 v198) (free v199) (at r241 v200) (at r263 v201) (free v202) (at r183 v203) (at r172 v204) (free v205) (free v206) (free v207) (free v208) (free v209) (at r161 v210) (at r180 v211) (at r274 v212) (free v213) (at r192 v214) (free v215) (at r232 v216) (at r270 v217) (free v218) (free v219) (free v220) (free v221) (free v222) (at r152 v223) (at r170 v224) (free v225) (free v226) (at r206 v227) (free v228) (at r226 v229) (free v230) (at r234 v231) (at r223 v232) (free v233) (at r240 v234) (free v235) (at r253 v236) (free v237) (at r151 v238) (at r173 v239) (free v240) (at r231 v241) (at r198 v242) (at r275 v243) (free v244) (free v245) (at r202 v246) (free v247) (free v248) (free v249) (free v250) (at r207 v251) (at r227 v252) (free v253) (free v254) (at r189 v255) (free v256) (at r228 v257) (at r279 v258) (at r251 v259) (free v260) (at r155 v261) (at r248 v262) (at r156 v263) (at r181 v264) (at r236 v265) (at r187 v266) (free v267) (at r209 v268) (free v269) (at r204 v270) (free v271) (at r219 v272) (at r273 v273) (at r200 v274) (free v275) (at r259 v276) (at r265 v277) (free v278) (free v279) (at r194 v280) (free v281) (at r193 v282) (free v283) (free v284) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v9) (adjacent v0 v23) (adjacent v0 v62) (adjacent v1 v2) (adjacent v2 v3) (adjacent v2 v80) (adjacent v2 v230) (adjacent v3 v4) (adjacent v3 v6) (adjacent v3 v7) (adjacent v3 v20) (adjacent v3 v77) (adjacent v4 v5) (adjacent v4 v11) (adjacent v5 v6) (adjacent v5 v96) (adjacent v6 v43) (adjacent v6 v99) (adjacent v6 v189) (adjacent v7 v8) (adjacent v7 v10) (adjacent v7 v38) (adjacent v8 v9) (adjacent v8 v21) (adjacent v8 v32) (adjacent v8 v44) (adjacent v8 v46) (adjacent v9 v17) (adjacent v9 v18) (adjacent v10 v11) (adjacent v10 v12) (adjacent v10 v21) (adjacent v10 v53) (adjacent v11 v22) (adjacent v11 v81) (adjacent v12 v13) (adjacent v12 v67) (adjacent v12 v126) (adjacent v13 v14) (adjacent v13 v30) (adjacent v14 v15) (adjacent v14 v82) (adjacent v15 v16) (adjacent v15 v30) (adjacent v15 v31) (adjacent v15 v82) (adjacent v16 v17) (adjacent v16 v29) (adjacent v16 v33) (adjacent v16 v85) (adjacent v17 v168) (adjacent v17 v278) (adjacent v18 v19) (adjacent v18 v22) (adjacent v19 v20) (adjacent v19 v153) (adjacent v21 v66) (adjacent v23 v24) (adjacent v23 v107) (adjacent v23 v162) (adjacent v24 v25) (adjacent v24 v45) (adjacent v24 v62) (adjacent v24 v271) (adjacent v25 v26) (adjacent v26 v27) (adjacent v26 v54) (adjacent v26 v61) (adjacent v26 v97) (adjacent v26 v130) (adjacent v26 v212) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v105) (adjacent v30 v37) (adjacent v30 v70) (adjacent v30 v167) (adjacent v31 v32) (adjacent v31 v120) (adjacent v32 v81) (adjacent v33 v34) (adjacent v33 v83) (adjacent v33 v278) (adjacent v34 v35) (adjacent v35 v36) (adjacent v36 v37) (adjacent v37 v129) (adjacent v37 v173) (adjacent v38 v39) (adjacent v38 v210) (adjacent v39 v40) (adjacent v40 v41) (adjacent v40 v158) (adjacent v40 v270) (adjacent v41 v42) (adjacent v41 v55) (adjacent v41 v66) (adjacent v42 v43) (adjacent v42 v98) (adjacent v42 v251) (adjacent v44 v45) (adjacent v44 v52) (adjacent v45 v85) (adjacent v46 v47) (adjacent v46 v218) (adjacent v47 v48) (adjacent v47 v127) (adjacent v48 v49) (adjacent v48 v72) (adjacent v49 v50) (adjacent v50 v51) (adjacent v50 v65) (adjacent v50 v74) (adjacent v51 v52) (adjacent v51 v63) (adjacent v51 v97) (adjacent v51 v154) (adjacent v52 v138) (adjacent v53 v54) (adjacent v53 v168) (adjacent v53 v276) (adjacent v55 v56) (adjacent v56 v57) (adjacent v57 v58) (adjacent v57 v91) (adjacent v58 v59) (adjacent v59 v60) (adjacent v59 v73) (adjacent v60 v61) (adjacent v60 v131) (adjacent v61 v79) (adjacent v61 v80) (adjacent v63 v64) (adjacent v63 v167) (adjacent v64 v65) (adjacent v66 v69) (adjacent v66 v211) (adjacent v67 v68) (adjacent v67 v73) (adjacent v68 v69) (adjacent v68 v205) (adjacent v68 v234) (adjacent v69 v83) (adjacent v69 v98) (adjacent v70 v71) (adjacent v71 v72) (adjacent v71 v104) (adjacent v71 v128) (adjacent v72 v78) (adjacent v73 v119) (adjacent v74 v75) (adjacent v75 v76) (adjacent v75 v169) (adjacent v76 v77) (adjacent v77 v92) (adjacent v78 v79) (adjacent v78 v143) (adjacent v80 v84) (adjacent v80 v86) (adjacent v81 v181) (adjacent v83 v84) (adjacent v85 v180) (adjacent v86 v87) (adjacent v86 v106) (adjacent v87 v88) (adjacent v87 v127) (adjacent v88 v89) (adjacent v89 v90) (adjacent v89 v166) (adjacent v90 v91) (adjacent v92 v93) (adjacent v93 v94) (adjacent v94 v95) (adjacent v95 v96) (adjacent v95 v190) (adjacent v95 v239) (adjacent v96 v125) (adjacent v99 v100) (adjacent v100 v101) (adjacent v100 v113) (adjacent v100 v136) (adjacent v100 v144) (adjacent v101 v102) (adjacent v101 v209) (adjacent v102 v103) (adjacent v103 v104) (adjacent v104 v139) (adjacent v105 v106) (adjacent v107 v108) (adjacent v107 v126) (adjacent v107 v157) (adjacent v108 v109) (adjacent v108 v264) (adjacent v108 v279) (adjacent v109 v110) (adjacent v109 v219) (adjacent v110 v111) (adjacent v110 v190) (adjacent v111 v112) (adjacent v111 v135) (adjacent v112 v113) (adjacent v112 v114) (adjacent v112 v150) (adjacent v114 v115) (adjacent v115 v116) (adjacent v115 v198) (adjacent v116 v117) (adjacent v117 v118) (adjacent v117 v195) (adjacent v117 v265) (adjacent v118 v119) (adjacent v119 v145) (adjacent v120 v121) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v124 v203) (adjacent v126 v128) (adjacent v129 v130) (adjacent v129 v196) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v133 v229) (adjacent v134 v135) (adjacent v134 v146) (adjacent v135 v277) (adjacent v136 v137) (adjacent v137 v138) (adjacent v139 v140) (adjacent v139 v257) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v187) (adjacent v142 v143) (adjacent v142 v275) (adjacent v143 v149) (adjacent v144 v145) (adjacent v144 v216) (adjacent v145 v223) (adjacent v146 v147) (adjacent v146 v245) (adjacent v147 v148) (adjacent v148 v149) (adjacent v148 v225) (adjacent v149 v163) (adjacent v150 v151) (adjacent v151 v152) (adjacent v152 v153) (adjacent v154 v155) (adjacent v155 v156) (adjacent v155 v174) (adjacent v155 v186) (adjacent v156 v157) (adjacent v157 v233) (adjacent v158 v159) (adjacent v159 v160) (adjacent v160 v161) (adjacent v161 v162) (adjacent v161 v202) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v165 v206) (adjacent v169 v170) (adjacent v169 v197) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v173) (adjacent v172 v224) (adjacent v173 v240) (adjacent v174 v175) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v178 v191) (adjacent v179 v180) (adjacent v181 v182) (adjacent v181 v211) (adjacent v181 v224) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v185 v284) (adjacent v187 v188) (adjacent v187 v210) (adjacent v188 v189) (adjacent v189 v215) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v196 v197) (adjacent v196 v258) (adjacent v198 v199) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v202) (adjacent v203 v204) (adjacent v204 v205) (adjacent v206 v207) (adjacent v207 v208) (adjacent v208 v209) (adjacent v212 v213) (adjacent v213 v214) (adjacent v214 v215) (adjacent v214 v244) (adjacent v216 v217) (adjacent v217 v218) (adjacent v219 v220) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v252) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v230 v231) (adjacent v231 v232) (adjacent v232 v233) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v238 v239) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v251) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v269 v270) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v276 v277) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v283 v284) ) (:goal (and (free v0) (at r173 v1) (free v2) (free v3) (free v4) (free v5) (at r283 v6) (free v7) (at r237 v8) (free v9) (at r208 v10) (free v11) (free v12) (free v13) (at r267 v14) (free v15) (free v16) (at r207 v17) (free v18) (free v19) (at r181 v20) (free v21) (at r166 v22) (at r269 v23) (free v24) (at r247 v25) (free v26) (at r168 v27) (at r244 v28) (at r265 v29) (at r180 v30) (at r206 v31) (free v32) (at r172 v33) (at r221 v34) (free v35) (free v36) (at r266 v37) (free v38) (at r175 v39) (free v40) (at r250 v41) (free v42) (free v43) (free v44) (at r242 v45) (free v46) (at r158 v47) (at r189 v48) (at r264 v49) (free v50) (at r159 v51) (at r280 v52) (free v53) (free v54) (free v55) (at r190 v56) (free v57) (free v58) (free v59) (at r215 v60) (at r272 v61) (at r195 v62) (at r176 v63) (free v64) (free v65) (at r188 v66) (free v67) (at r177 v68) (free v69) (free v70) (at r211 v71) (at r212 v72) (free v73) (free v74) (free v75) (at r151 v76) (free v77) (free v78) (free v79) (at r248 v80) (free v81) (free v82) (at r201 v83) (free v84) (free v85) (at r224 v86) (at r245 v87) (at r238 v88) (free v89) (free v90) (at r161 v91) (at r193 v92) (free v93) (free v94) (free v95) (free v96) (free v97) (at r273 v98) (at r198 v99) (free v100) (free v101) (at r162 v102) (free v103) (at r228 v104) (free v105) (at r169 v106) (free v107) (free v108) (at r271 v109) (free v110) (free v111) (free v112) (free v113) (free v114) (at r226 v115) (at r262 v116) (at r153 v117) (free v118) (free v119) (at r200 v120) (at r220 v121) (at r239 v122) (at r191 v123) (at r278 v124) (at r276 v125) (free v126) (at r252 v127) (at r167 v128) (free v129) (at r284 v130) (free v131) (free v132) (free v133) (free v134) (at r218 v135) (at r227 v136) (at r277 v137) (free v138) (free v139) (free v140) (free v141) (at r243 v142) (at r202 v143) (at r213 v144) (at r253 v145) (at r165 v146) (free v147) (free v148) (free v149) (at r155 v150) (free v151) (at r170 v152) (free v153) (at r199 v154) (free v155) (free v156) (free v157) (at r214 v158) (at r249 v159) (at r231 v160) (at r157 v161) (at r205 v162) (at r279 v163) (free v164) (free v165) (at r179 v166) (free v167) (at r261 v168) (free v169) (free v170) (free v171) (free v172) (free v173) (free v174) (free v175) (free v176) (free v177) (free v178) (at r223 v179) (at r156 v180) (free v181) (free v182) (at r254 v183) (free v184) (free v185) (at r258 v186) (at r210 v187) (free v188) (at r164 v189) (free v190) (free v191) (free v192) (free v193) (at r236 v194) (at r184 v195) (at r183 v196) (free v197) (at r256 v198) (free v199) (free v200) (free v201) (free v202) (free v203) (free v204) (at r154 v205) (free v206) (free v207) (free v208) (at r263 v209) (at r230 v210) (at r260 v211) (free v212) (free v213) (at r275 v214) (free v215) (at r222 v216) (free v217) (free v218) (at r259 v219) (free v220) (free v221) (at r197 v222) (free v223) (at r178 v224) (free v225) (free v226) (at r268 v227) (at r251 v228) (free v229) (free v230) (at r163 v231) (at r152 v232) (at r257 v233) (at r204 v234) (free v235) (at r233 v236) (free v237) (at r225 v238) (free v239) (at r217 v240) (at r255 v241) (at r209 v242) (free v243) (free v244) (at r235 v245) (at r216 v246) (free v247) (free v248) (at r171 v249) (free v250) (at r203 v251) (free v252) (at r174 v253) (at r240 v254) (at r246 v255) (at r282 v256) (at r182 v257) (at r185 v258) (free v259) (at r187 v260) (at r232 v261) (free v262) (at r234 v263) (free v264) (at r229 v265) (free v266) (at r192 v267) (at r274 v268) (free v269) (free v270) (at r270 v271) (at r281 v272) (at r194 v273) (free v274) (free v275) (free v276) (at r186 v277) (free v278) (at r196 v279) (free v280) (at r219 v281) (at r160 v282) (at r241 v283) (free v284) ) ) )