(define (problem multirobot_83_50%_c1) (:domain multirobot) (:objects v0 r186 v1 r308 v2 r194 v3 r287 v4 r203 v5 v6 r193 v7 r197 v8 r284 v9 v10 r317 v11 v12 r310 v13 r311 v14 v15 r145 v16 v17 r188 v18 r289 v19 r190 v20 r223 v21 r236 v22 v23 v24 v25 r274 v26 r307 v27 r264 v28 v29 v30 r261 v31 r267 v32 r166 v33 r276 v34 r246 v35 r160 v36 r225 v37 r205 v38 r292 v39 v40 v41 r224 v42 r288 v43 r303 v44 r286 v45 v46 v47 v48 v49 v50 v51 r297 v52 r209 v53 r273 v54 v55 r219 v56 v57 r277 v58 r232 v59 r152 v60 r206 v61 v62 r172 v63 r259 v64 r302 v65 r199 v66 r158 v67 v68 v69 r269 v70 v71 v72 v73 v74 v75 r256 v76 r168 v77 v78 v79 r182 v80 v81 r293 v82 v83 v84 v85 r153 v86 r300 v87 r301 v88 v89 r155 v90 v91 v92 r184 v93 v94 r233 v95 v96 v97 r150 v98 r169 v99 r147 v100 r255 v101 v102 r268 v103 r200 v104 v105 r228 v106 r192 v107 v108 v109 r187 v110 v111 r211 v112 v113 r189 v114 r247 v115 r177 v116 v117 v118 r231 v119 r229 v120 r280 v121 r210 v122 v123 r305 v124 v125 v126 v127 v128 r239 v129 r213 v130 v131 v132 v133 v134 r282 v135 r315 v136 r174 v137 r207 v138 v139 r176 v140 r214 v141 v142 v143 r198 v144 r221 v145 r201 v146 v147 v148 v149 v150 v151 r195 v152 r242 v153 v154 v155 r235 v156 r170 v157 r218 v158 v159 v160 r270 v161 r230 v162 v163 r275 v164 r271 v165 r279 v166 r316 v167 r140 v168 r146 v169 v170 v171 r181 v172 r278 v173 r258 v174 r257 v175 v176 v177 v178 v179 r149 v180 r179 v181 v182 v183 r312 v184 r165 v185 v186 r245 v187 r309 v188 v189 v190 v191 v192 v193 v194 v195 v196 r260 v197 r180 v198 v199 r212 v200 v201 v202 r222 v203 v204 r237 v205 v206 v207 r241 v208 v209 v210 r249 v211 r244 v212 v213 r161 v214 r238 v215 v216 r263 v217 v218 r272 v219 r234 v220 r254 v221 r144 v222 r142 v223 r306 v224 v225 r185 v226 r154 v227 v228 r217 v229 r148 v230 v231 v232 v233 r296 v234 r283 v235 r240 v236 r298 v237 v238 v239 r314 v240 r164 v241 v242 r202 v243 r243 v244 v245 v246 r227 v247 v248 v249 v250 v251 v252 r290 v253 r141 v254 r175 v255 r248 v256 r251 v257 v258 v259 v260 r294 v261 r215 v262 r173 v263 r191 v264 r266 v265 v266 r265 v267 r252 v268 v269 r204 v270 r208 v271 v272 r304 v273 v274 r291 v275 v276 r319 v277 r167 v278 r220 v279 v280 v281 r295 v282 v283 v284 r159 v285 r178 v286 v287 r151 v288 r171 v289 r281 v290 r285 v291 r183 v292 v293 v294 r163 v295 r313 v296 r250 v297 r156 v298 r318 v299 r299 v300 v301 r143 v302 v303 r253 v304 v305 v306 r162 v307 r262 v308 r226 v309 v310 r157 v311 v312 v313 v314 v315 v316 r216 v317 v318 v319 r196 ) (:init (at r186 v0) (at r308 v1) (at r194 v2) (at r287 v3) (at r203 v4) (free v5) (at r193 v6) (at r197 v7) (at r284 v8) (free v9) (at r317 v10) (free v11) (at r310 v12) (at r311 v13) (free v14) (at r145 v15) (free v16) (at r188 v17) (at r289 v18) (at r190 v19) (at r223 v20) (at r236 v21) (free v22) (free v23) (free v24) (at r274 v25) (at r307 v26) (at r264 v27) (free v28) (free v29) (at r261 v30) (at r267 v31) (at r166 v32) (at r276 v33) (at r246 v34) (at r160 v35) (at r225 v36) (at r205 v37) (at r292 v38) (free v39) (free v40) (at r224 v41) (at r288 v42) (at r303 v43) (at r286 v44) (free v45) (free v46) (free v47) (free v48) (free v49) (free v50) (at r297 v51) (at r209 v52) (at r273 v53) (free v54) (at r219 v55) (free v56) (at r277 v57) (at r232 v58) (at r152 v59) (at r206 v60) (free v61) (at r172 v62) (at r259 v63) (at r302 v64) (at r199 v65) (at r158 v66) (free v67) (free v68) (at r269 v69) (free v70) (free v71) (free v72) (free v73) (free v74) (at r256 v75) (at r168 v76) (free v77) (free v78) (at r182 v79) (free v80) (at r293 v81) (free v82) (free v83) (free v84) (at r153 v85) (at r300 v86) (at r301 v87) (free v88) (at r155 v89) (free v90) (free v91) (at r184 v92) (free v93) (at r233 v94) (free v95) (free v96) (at r150 v97) (at r169 v98) (at r147 v99) (at r255 v100) (free v101) (at r268 v102) (at r200 v103) (free v104) (at r228 v105) (at r192 v106) (free v107) (free v108) (at r187 v109) (free v110) (at r211 v111) (free v112) (at r189 v113) (at r247 v114) (at r177 v115) (free v116) (free v117) (at r231 v118) (at r229 v119) (at r280 v120) (at r210 v121) (free v122) (at r305 v123) (free v124) (free v125) (free v126) (free v127) (at r239 v128) (at r213 v129) (free v130) (free v131) (free v132) (free v133) (at r282 v134) (at r315 v135) (at r174 v136) (at r207 v137) (free v138) (at r176 v139) (at r214 v140) (free v141) (free v142) (at r198 v143) (at r221 v144) (at r201 v145) (free v146) (free v147) (free v148) (free v149) (free v150) (at r195 v151) (at r242 v152) (free v153) (free v154) (at r235 v155) (at r170 v156) (at r218 v157) (free v158) (free v159) (at r270 v160) (at r230 v161) (free v162) (at r275 v163) (at r271 v164) (at r279 v165) (at r316 v166) (at r140 v167) (at r146 v168) (free v169) (free v170) (at r181 v171) (at r278 v172) (at r258 v173) (at r257 v174) (free v175) (free v176) (free v177) (free v178) (at r149 v179) (at r179 v180) (free v181) (free v182) (at r312 v183) (at r165 v184) (free v185) (at r245 v186) (at r309 v187) (free v188) (free v189) (free v190) (free v191) (free v192) (free v193) (free v194) (free v195) (at r260 v196) (at r180 v197) (free v198) (at r212 v199) (free v200) (free v201) (at r222 v202) (free v203) (at r237 v204) (free v205) (free v206) (at r241 v207) (free v208) (free v209) (at r249 v210) (at r244 v211) (free v212) (at r161 v213) (at r238 v214) (free v215) (at r263 v216) (free v217) (at r272 v218) (at r234 v219) (at r254 v220) (at r144 v221) (at r142 v222) (at r306 v223) (free v224) (at r185 v225) (at r154 v226) (free v227) (at r217 v228) (at r148 v229) (free v230) (free v231) (free v232) (at r296 v233) (at r283 v234) (at r240 v235) (at r298 v236) (free v237) (free v238) (at r314 v239) (at r164 v240) (free v241) (at r202 v242) (at r243 v243) (free v244) (free v245) (at r227 v246) (free v247) (free v248) (free v249) (free v250) (free v251) (at r290 v252) (at r141 v253) (at r175 v254) (at r248 v255) (at r251 v256) (free v257) (free v258) (free v259) (at r294 v260) (at r215 v261) (at r173 v262) (at r191 v263) (at r266 v264) (free 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(adjacent v57 v58) (adjacent v59 v60) (adjacent v59 v87) (adjacent v60 v61) (adjacent v60 v107) (adjacent v60 v276) (adjacent v61 v62) (adjacent v61 v194) (adjacent v61 v209) (adjacent v62 v63) (adjacent v62 v118) (adjacent v63 v64) (adjacent v63 v214) (adjacent v65 v66) (adjacent v66 v67) (adjacent v66 v188) (adjacent v66 v203) (adjacent v67 v195) (adjacent v68 v69) (adjacent v68 v269) (adjacent v69 v70) (adjacent v70 v71) (adjacent v70 v83) (adjacent v70 v158) (adjacent v71 v72) (adjacent v72 v132) (adjacent v73 v74) (adjacent v73 v88) (adjacent v74 v75) (adjacent v74 v283) (adjacent v75 v76) (adjacent v75 v139) (adjacent v76 v77) (adjacent v76 v121) (adjacent v77 v78) (adjacent v77 v197) (adjacent v78 v146) (adjacent v78 v171) (adjacent v79 v80) (adjacent v79 v112) (adjacent v79 v115) (adjacent v79 v117) (adjacent v80 v81) (adjacent v81 v82) (adjacent v81 v104) (adjacent v82 v83) (adjacent v82 v116) (adjacent v82 v172) (adjacent v83 v84) (adjacent v84 v85) (adjacent v85 v86) (adjacent v85 v154) (adjacent v86 v87) (adjacent v86 v196) (adjacent v87 v97) (adjacent v88 v301) (adjacent v89 v90) (adjacent v89 v195) (adjacent v90 v91) (adjacent v90 v117) (adjacent v92 v93) (adjacent v92 v224) (adjacent v92 v252) (adjacent v93 v94) (adjacent v93 v138) (adjacent v94 v95) (adjacent v94 v120) (adjacent v94 v230) (adjacent v94 v231) (adjacent v95 v96) (adjacent v95 v106) (adjacent v95 v193) (adjacent v96 v97) (adjacent v97 v138) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v204) (adjacent v100 v101) (adjacent v100 v205) (adjacent v100 v220) (adjacent v101 v102) (adjacent v101 v115) (adjacent v102 v103) (adjacent v103 v104) (adjacent v105 v106) (adjacent v105 v108) (adjacent v108 v109) (adjacent v109 v110) (adjacent v109 v119) (adjacent v110 v111) (adjacent v110 v202) (adjacent v111 v112) (adjacent v111 v170) (adjacent v113 v114) (adjacent v117 v207) (adjacent v118 v119) (adjacent v119 v137) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) 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v161 v162) (adjacent v162 v279) (adjacent v163 v164) (adjacent v164 v165) (adjacent v164 v302) (adjacent v165 v166) (adjacent v166 v167) (adjacent v166 v222) (adjacent v167 v168) (adjacent v168 v169) (adjacent v168 v221) (adjacent v170 v171) (adjacent v172 v173) (adjacent v173 v174) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v178 v232) (adjacent v179 v180) (adjacent v179 v204) (adjacent v181 v182) (adjacent v182 v183) (adjacent v182 v310) (adjacent v183 v184) (adjacent v183 v264) (adjacent v184 v185) (adjacent v185 v186) (adjacent v185 v309) (adjacent v186 v187) (adjacent v187 v251) (adjacent v188 v189) (adjacent v188 v211) (adjacent v189 v190) (adjacent v189 v221) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v196 v213) (adjacent v197 v198) (adjacent v197 v258) (adjacent v198 v199) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v308) (adjacent v202 v203) (adjacent v205 v206) (adjacent v209 v210) (adjacent v210 v211) (adjacent v210 v220) (adjacent v211 v291) (adjacent v212 v213) (adjacent v214 v215) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v222 v223) (adjacent v223 v224) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v232 v233) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v235 v277) (adjacent v235 v284) (adjacent v236 v237) (adjacent v237 v238) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v244 v245) (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 v257 v258) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v270 v271) (adjacent v270 v297) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v275 v276) (adjacent v277 v278) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v284 v285) (adjacent v285 v286) (adjacent v286 v287) (adjacent v287 v288) (adjacent v288 v289) (adjacent v289 v290) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) (adjacent v294 v295) (adjacent v295 v296) (adjacent v296 v297) (adjacent v296 v309) (adjacent v298 v299) (adjacent v299 v300) (adjacent v299 v317) (adjacent v300 v301) (adjacent v302 v303) (adjacent v303 v304) (adjacent v304 v305) (adjacent v305 v306) (adjacent v306 v307) (adjacent v307 v308) (adjacent v310 v311) (adjacent v311 v312) (adjacent v312 v313) (adjacent v313 v314) (adjacent v314 v315) (adjacent v315 v316) (adjacent v317 v318) (adjacent v318 v319) ) (:goal (and (at r311 v0) (free v1) (free v2) (at r199 v3) (at r269 v4) (free v5) (at r291 v6) (at r159 v7) (at r205 v8) (free v9) (free v10) (at r154 v11) (free v12) (free v13) (free v14) (at r177 v15) (at r272 v16) (at r217 v17) (at r229 v18) (at r192 v19) (free v20) (free v21) (at r204 v22) (at r178 v23) (at r189 v24) (free v25) (at r318 v26) (at r215 v27) (at r144 v28) (free v29) (at r194 v30) (at r143 v31) (free v32) (at r200 v33) (free v34) (free v35) (free v36) (at r185 v37) (at r314 v38) (free v39) (at r226 v40) (free v41) (free v42) (at r250 v43) (free v44) (free v45) (free v46) (free v47) (at r289 v48) (at r307 v49) (at r171 v50) (free v51) (at r174 v52) (at r242 v53) (at r233 v54) (free v55) (at r310 v56) (at r163 v57) (at r216 v58) (at r146 v59) (at r238 v60) (free v61) (free v62) (free v63) (free v64) (at r176 v65) (free v66) (free v67) (at r303 v68) (free v69) (at r248 v70) (free v71) (at r184 v72) (at r161 v73) (free v74) (free v75) (free v76) (free v77) (at r148 v78) (at r187 v79) (at r236 v80) (at r213 v81) (free v82) (at r223 v83) (free v84) (at r315 v85) (free v86) (at r220 v87) (at r167 v88) (at r172 v89) (free v90) (free v91) (free v92) (at r235 v93) (free v94) (at r252 v95) (free v96) (free v97) (at r170 v98) (at r319 v99) (free v100) (at r180 v101) (free v102) (free v103) (at r153 v104) (free v105) (free v106) (free v107) (at r267 v108) (at r152 v109) (free v110) (free v111) (free v112) (at r316 v113) (free v114) (free v115) (at r219 v116) (at r263 v117) (at r246 v118) (free v119) (free v120) (free v121) (at r224 v122) (at r298 v123) (free v124) (at r141 v125) (at r218 v126) (at r225 v127) (at r296 v128) (free v129) (at r186 v130) (free v131) (at r198 v132) (at r297 v133) (free v134) (at r241 v135) (free v136) (at r295 v137) (at r293 v138) (free v139) (at r255 v140) (at r179 v141) (free v142) (at r266 v143) (at r275 v144) (at r256 v145) (at r290 v146) (free v147) (free v148) (at r276 v149) (at r306 v150) (at r228 v151) (free v152) (at r301 v153) (at r193 v154) (at r282 v155) (free v156) (at r227 v157) (free v158) (at r304 v159) (at r158 v160) (at r162 v161) (at r312 v162) (at r274 v163) (at r202 v164) (at r160 v165) (at r142 v166) (at r140 v167) (at r231 v168) (at r196 v169) (free v170) (at r210 v171) (at r145 v172) (at r197 v173) (free v174) (free v175) (at r151 v176) (at r262 v177) (at r292 v178) (at r168 v179) (free v180) (at r239 v181) (free v182) (free v183) (at r308 v184) (at r253 v185) (free v186) (at r188 v187) (at r191 v188) (free v189) (at r299 v190) (free v191) (free v192) (free v193) (at r206 v194) (at r251 v195) (free v196) (at r247 v197) (at r149 v198) (at r270 v199) (free v200) (at r271 v201) (at r221 v202) (at r283 v203) (at r169 v204) (at r278 v205) (at r260 v206) (at r245 v207) (free v208) (free v209) (at r305 v210) (free v211) (at r203 v212) (at r317 v213) (free v214) (free v215) (at r211 v216) (at r230 v217) (free v218) (at r288 v219) (free v220) (free v221) (at r183 v222) (at r268 v223) (free v224) (at r150 v225) (free v226) (at r243 v227) (at r201 v228) (free v229) (at r214 v230) (at r190 v231) (free v232) (at r182 v233) (at r280 v234) (at r277 v235) (free v236) (free v237) (free v238) (free v239) (at r261 v240) (free v241) (free v242) (free v243) (free v244) (at r237 v245) (free v246) (free v247) (at r157 v248) (at r209 v249) (free v250) (free v251) (at r254 v252) (at r155 v253) (free v254) (at r208 v255) (at r147 v256) (at r232 v257) (at r165 v258) (free v259) (free v260) (free v261) (at r286 v262) (at r212 v263) (at r284 v264) (at r265 v265) (at r279 v266) (at r173 v267) (at r249 v268) (at r285 v269) (at r257 v270) (at r240 v271) (free v272) (free v273) (free v274) (at r300 v275) (at r166 v276) (free v277) (at r281 v278) (free v279) (at r264 v280) (free v281) (free v282) (at r195 v283) (at r175 v284) (free v285) (free v286) (free v287) (free v288) (free v289) (at r156 v290) (free v291) (at r258 v292) (at r294 v293) (free v294) (at r207 v295) (at r302 v296) (free v297) (free v298) (at r234 v299) (free v300) (at r181 v301) (free v302) (at r244 v303) (at r313 v304) (free v305) (free v306) (free v307) (free v308) (free v309) (free v310) (at r259 v311) (at r287 v312) (free v313) (at r222 v314) (at r164 v315) (at r273 v316) (free v317) (free v318) (at r309 v319) ) ) )