(define (problem multirobot_83_50%_c2) (:domain multirobot) (:objects v0 v1 v2 r165 v3 r157 v4 r201 v5 v6 r175 v7 v8 v9 v10 r228 v11 v12 r200 v13 r182 v14 v15 r146 v16 v17 r256 v18 r192 v19 v20 v21 r199 v22 v23 v24 v25 v26 r241 v27 r166 v28 v29 v30 v31 r259 v32 v33 r188 v34 v35 v36 v37 v38 v39 r272 v40 v41 v42 v43 v44 v45 r170 v46 r185 v47 v48 r189 v49 r237 v50 v51 r292 v52 r233 v53 v54 r227 v55 v56 r164 v57 r289 v58 v59 r216 v60 v61 r285 v62 v63 r158 v64 r156 v65 r193 v66 v67 r222 v68 r280 v69 v70 v71 r232 v72 v73 r238 v74 r223 v75 r252 v76 r171 v77 r254 v78 v79 r250 v80 r239 v81 v82 v83 v84 r255 v85 r231 v86 v87 v88 r155 v89 v90 v91 r151 v92 v93 r273 v94 r147 v95 r183 v96 r161 v97 r173 v98 v99 r179 v100 v101 v102 r277 v103 v104 v105 r149 v106 r196 v107 v108 r167 v109 v110 r144 v111 v112 r184 v113 v114 r213 v115 r169 v116 r177 v117 v118 r226 v119 v120 r270 v121 r148 v122 v123 v124 v125 r249 v126 v127 r269 v128 v129 v130 v131 r236 v132 r214 v133 v134 r194 v135 v136 v137 r218 v138 v139 r208 v140 r291 v141 r206 v142 r197 v143 r242 v144 v145 v146 v147 r268 v148 v149 v150 v151 r251 v152 r176 v153 r279 v154 v155 r215 v156 v157 v158 v159 v160 v161 v162 r261 v163 r282 v164 v165 r253 v166 v167 r266 v168 r243 v169 r210 v170 r264 v171 v172 r283 v173 r202 v174 r168 v175 v176 r150 v177 v178 v179 v180 v181 r247 v182 r287 v183 v184 v185 r221 v186 r240 v187 r245 v188 r207 v189 v190 v191 v192 v193 r286 v194 r186 v195 v196 v197 v198 r274 v199 r212 v200 r244 v201 r160 v202 v203 r258 v204 v205 v206 v207 r293 v208 r225 v209 v210 v211 r290 v212 r265 v213 v214 v215 v216 v217 v218 r205 v219 v220 r230 v221 r260 v222 r234 v223 v224 r162 v225 r275 v226 v227 r294 v228 r203 v229 r153 v230 r198 v231 r235 v232 v233 v234 r195 v235 r281 v236 r219 v237 v238 r181 v239 v240 r163 v241 r224 v242 r288 v243 r217 v244 v245 v246 v247 r154 v248 v249 r276 v250 r278 v251 r220 v252 r159 v253 r191 v254 r190 v255 v256 r284 v257 r262 v258 r248 v259 r263 v260 r204 v261 v262 v263 r145 v264 r172 v265 v266 v267 v268 v269 v270 v271 v272 v273 v274 r211 v275 v276 v277 r180 v278 v279 r271 v280 r187 v281 v282 r267 v283 r229 v284 v285 v286 r174 v287 r209 v288 r178 v289 r246 v290 v291 r152 v292 r257 v293 v294 ) (:init (free v0) (free v1) (at r165 v2) (at r157 v3) (at r201 v4) (free v5) (at r175 v6) (free v7) (free v8) (free v9) (at r228 v10) (free v11) (at r200 v12) (at r182 v13) (free v14) (at r146 v15) (free v16) (at r256 v17) (at r192 v18) (free v19) (free v20) (at r199 v21) (free v22) (free v23) (free v24) (free v25) (at r241 v26) (at r166 v27) (free v28) (free v29) (free v30) (at r259 v31) (free v32) (at r188 v33) (free v34) (free v35) (free v36) (free v37) (free v38) (at r272 v39) (free v40) (free v41) (free v42) (free v43) (free v44) (at r170 v45) (at r185 v46) (free v47) (at r189 v48) (at r237 v49) (free v50) (at r292 v51) (at r233 v52) (free v53) (at r227 v54) (free v55) (at r164 v56) (at r289 v57) (free v58) (at r216 v59) (free v60) (at r285 v61) (free v62) (at r158 v63) (at r156 v64) (at r193 v65) (free v66) (at r222 v67) (at r280 v68) (free v69) (free v70) (at r232 v71) (free v72) (at r238 v73) (at r223 v74) (at r252 v75) (at r171 v76) (at r254 v77) (free v78) (at r250 v79) (at r239 v80) (free v81) (free v82) (free v83) (at r255 v84) (at r231 v85) (free v86) (free v87) (at r155 v88) (free v89) (free v90) (at r151 v91) (free v92) (at r273 v93) (at r147 v94) (at r183 v95) (at r161 v96) (at r173 v97) (free v98) (at r179 v99) (free v100) (free v101) (at r277 v102) (free v103) (free v104) (at r149 v105) (at r196 v106) (free v107) (at r167 v108) (free v109) (at r144 v110) (free v111) (at r184 v112) (free v113) (at r213 v114) (at r169 v115) (at r177 v116) (free v117) (at r226 v118) (free v119) (at r270 v120) (at r148 v121) (free v122) (free v123) (free v124) (at r249 v125) (free v126) (at r269 v127) (free v128) (free v129) (free v130) (at r236 v131) (at r214 v132) (free v133) (at r194 v134) (free v135) (free v136) (at r218 v137) (free v138) (at r208 v139) (at r291 v140) (at r206 v141) (at r197 v142) (at r242 v143) (free v144) (free v145) (free v146) (at r268 v147) (free v148) (free v149) (free v150) (at r251 v151) (at r176 v152) (at r279 v153) (free v154) (at r215 v155) (free v156) (free v157) (free v158) (free v159) (free v160) (free v161) (at r261 v162) (at r282 v163) (free v164) (at r253 v165) (free v166) (at r266 v167) (at r243 v168) (at r210 v169) (at r264 v170) (free v171) (at r283 v172) (at r202 v173) (at r168 v174) (free v175) (at r150 v176) (free v177) (free v178) (free v179) (free v180) (at r247 v181) (at r287 v182) (free v183) (free v184) (at r221 v185) (at r240 v186) (at r245 v187) (at r207 v188) (free v189) (free v190) (free v191) (free v192) (at r286 v193) (at r186 v194) (free v195) (free v196) (free v197) (at r274 v198) (at r212 v199) (at r244 v200) (at r160 v201) (free v202) (at r258 v203) (free v204) (free v205) (free v206) (at r293 v207) (at r225 v208) (free v209) (free v210) (at r290 v211) (at r265 v212) (free v213) (free v214) (free v215) (free v216) (free v217) (at r205 v218) (free v219) (at r230 v220) (at r260 v221) (at r234 v222) (free v223) (at r162 v224) (at r275 v225) (free v226) (at r294 v227) (at r203 v228) (at r153 v229) (at r198 v230) (at r235 v231) (free v232) (free v233) (at r195 v234) (at r281 v235) (at r219 v236) (free v237) (at r181 v238) (free v239) (at r163 v240) (at r224 v241) (at r288 v242) (at r217 v243) (free v244) (free v245) (free v246) (at r154 v247) (free v248) (at r276 v249) (at r278 v250) (at r220 v251) (at r159 v252) (at r191 v253) (at r190 v254) (free v255) (at r284 v256) (at r262 v257) (at r248 v258) (at r263 v259) (at r204 v260) (free v261) (free v262) (at r145 v263) (at r172 v264) (free v265) (free v266) (free v267) (free v268) (free v269) (free v270) (free v271) (free v272) (free v273) (at r211 v274) (free v275) (free v276) (at r180 v277) (free v278) (at r271 v279) (at r187 v280) (free v281) (at r267 v282) (at r229 v283) (free v284) (free v285) (at r174 v286) (at r209 v287) (at r178 v288) (at r246 v289) (free v290) (at r152 v291) (at r257 v292) (free v293) (free v294) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v12) (adjacent v0 v216) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v26) (adjacent v1 v36) (adjacent v1 v37) (adjacent v1 v43) (adjacent v1 v159) (adjacent v1 v219) (adjacent v2 v3) (adjacent v2 v152) (adjacent v3 v4) (adjacent v3 v16) (adjacent v3 v42) (adjacent v3 v91) (adjacent v3 v131) (adjacent v4 v11) (adjacent v4 v68) (adjacent v4 v112) (adjacent v5 v6) (adjacent v5 v44) (adjacent v5 v53) (adjacent v5 v71) (adjacent v5 v114) (adjacent v5 v201) (adjacent v5 v207) (adjacent v6 v7) (adjacent v6 v35) (adjacent v6 v204) (adjacent v7 v8) (adjacent v7 v69) (adjacent v8 v9) (adjacent v8 v30) (adjacent v8 v57) (adjacent v9 v10) (adjacent v9 v17) (adjacent v9 v20) (adjacent v9 v173) (adjacent v10 v11) (adjacent v10 v41) (adjacent v10 v100) (adjacent v12 v13) (adjacent v12 v42) (adjacent v12 v113) (adjacent v12 v187) (adjacent v13 v14) (adjacent v13 v276) 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v73 v74) (adjacent v74 v75) (adjacent v74 v92) (adjacent v75 v76) (adjacent v75 v141) (adjacent v76 v211) (adjacent v77 v78) (adjacent v78 v79) (adjacent v78 v280) (adjacent v80 v81) (adjacent v81 v82) (adjacent v82 v83) (adjacent v82 v156) (adjacent v83 v84) (adjacent v83 v220) (adjacent v84 v154) (adjacent v86 v87) (adjacent v86 v104) (adjacent v87 v205) (adjacent v87 v258) (adjacent v88 v89) (adjacent v88 v257) (adjacent v89 v90) (adjacent v90 v91) (adjacent v90 v95) (adjacent v90 v121) (adjacent v91 v125) (adjacent v92 v93) (adjacent v92 v109) (adjacent v93 v94) (adjacent v95 v96) (adjacent v96 v97) (adjacent v96 v155) (adjacent v96 v221) (adjacent v97 v98) (adjacent v98 v99) (adjacent v100 v101) (adjacent v101 v102) (adjacent v102 v103) (adjacent v104 v105) (adjacent v105 v106) (adjacent v105 v245) (adjacent v106 v107) (adjacent v107 v108) (adjacent v109 v110) (adjacent v109 v166) (adjacent v110 v175) (adjacent v111 v112) (adjacent v112 v262) (adjacent v113 v114) (adjacent v113 v251) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v147) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v120) (adjacent v120 v273) (adjacent v120 v282) (adjacent v121 v122) (adjacent v122 v123) (adjacent v122 v176) (adjacent v123 v124) (adjacent v124 v194) (adjacent v125 v126) (adjacent v126 v127) (adjacent v126 v139) (adjacent v127 v128) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v131 v175) (adjacent v132 v133) (adjacent v133 v134) (adjacent v133 v151) (adjacent v134 v135) (adjacent v135 v136) (adjacent v135 v230) (adjacent v136 v137) (adjacent v137 v138) (adjacent v139 v140) (adjacent v139 v185) (adjacent v140 v141) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v144 v186) (adjacent v144 v237) (adjacent v145 v146) (adjacent v145 v250) (adjacent v146 v274) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v150 v167) (adjacent v152 v153) (adjacent v153 v154) (adjacent v153 v160) (adjacent v154 v206) (adjacent v154 v220) (adjacent v155 v156) (adjacent v157 v158) (adjacent v157 v223) (adjacent v158 v159) (adjacent v159 v266) (adjacent v160 v161) (adjacent v160 v193) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v170 v275) (adjacent v171 v172) (adjacent v173 v174) (adjacent v174 v272) (adjacent v176 v177) (adjacent v177 v178) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v182 v183) (adjacent v182 v195) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v217) (adjacent v186 v187) (adjacent v186 v265) (adjacent v186 v286) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v192 v238) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v199 v267) (adjacent v201 v202) (adjacent v201 v261) (adjacent v202 v203) (adjacent v202 v254) (adjacent v203 v204) (adjacent v205 v206) (adjacent v207 v208) (adjacent v207 v246) (adjacent v208 v209) (adjacent v208 v245) (adjacent v209 v210) (adjacent v209 v253) (adjacent v211 v212) (adjacent v212 v213) (adjacent v213 v214) (adjacent v214 v215) (adjacent v214 v287) (adjacent v215 v216) (adjacent v217 v218) (adjacent v218 v219) (adjacent v221 v222) (adjacent v222 v223) (adjacent v224 v225) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v229 v273) (adjacent v231 v232) (adjacent v232 v233) (adjacent v232 v247) (adjacent v232 v281) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v242 v246) (adjacent v243 v244) (adjacent v245 v268) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v251 v252) (adjacent v252 v253) (adjacent v252 v259) (adjacent v254 v255) (adjacent v255 v256) (adjacent v255 v267) (adjacent v256 v257) (adjacent v258 v259) (adjacent v260 v261) (adjacent v263 v264) (adjacent v264 v265) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v274 v275) (adjacent v276 v277) (adjacent v277 v278) (adjacent v277 v285) (adjacent v278 v279) (adjacent v280 v281) (adjacent v282 v283) (adjacent v283 v284) (adjacent v286 v287) (adjacent v287 v288) (adjacent v288 v289) (adjacent v289 v290) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) ) (:goal (and (free v0) (at r259 v1) (at r207 v2) (at r285 v3) (at r162 v4) (at r209 v5) (free v6) (free v7) (free v8) (free v9) (free v10) (at r184 v11) (free v12) (at r251 v13) (at r151 v14) (at r265 v15) (at r174 v16) (at r247 v17) (free v18) (free v19) (at r246 v20) (free v21) (at r218 v22) (free v23) (at r249 v24) (free v25) (free v26) (free v27) (at r192 v28) (at r217 v29) (at r205 v30) (at r178 v31) (at r193 v32) (at r272 v33) (free v34) (free v35) (at r144 v36) (free v37) (free v38) (free v39) (free v40) (free v41) (free v42) (free v43) (free v44) (free v45) (at r289 v46) (free v47) (free v48) (at r171 v49) (free v50) (free v51) (at r147 v52) (at r160 v53) (at r153 v54) (at r176 v55) (at r167 v56) (at r254 v57) (at r281 v58) (at r222 v59) (free v60) (at r283 v61) (at r228 v62) (at r199 v63) (at r276 v64) (free v65) (at r261 v66) (at r189 v67) (at r156 v68) (at r256 v69) (at r165 v70) (free v71) (at r242 v72) (free v73) (free v74) (free v75) (free v76) (at r235 v77) (at r175 v78) (at r226 v79) (at r286 v80) (at r234 v81) (free v82) (at r262 v83) (at r161 v84) (at r198 v85) (at r145 v86) (free v87) (at r243 v88) (at r152 v89) (at r173 v90) (free v91) (free v92) (free v93) (at r220 v94) (free v95) (free v96) (free v97) (free v98) (at r182 v99) (at r213 v100) (at r248 v101) (at r146 v102) (free v103) (free v104) (free v105) (free v106) (free v107) (free v108) (free v109) (free v110) (free v111) (at r269 v112) (free v113) (free v114) (at r282 v115) (free v116) (free v117) (free v118) (free v119) (at r239 v120) (free v121) (at r212 v122) (at r237 v123) (at r187 v124) (at r271 v125) (free v126) (free v127) (free v128) (at r257 v129) (at r157 v130) (free v131) (at r206 v132) (at r238 v133) (free v134) (free v135) (free v136) (free v137) (free v138) (at r214 v139) (at r263 v140) (free v141) (at r202 v142) (free v143) (free v144) (at r196 v145) (at r164 v146) (at r211 v147) (free v148) (at r288 v149) (free v150) (at r236 v151) (free v152) (at r280 v153) (free v154) (free v155) (free v156) (at r224 v157) (at r197 v158) (free v159) (at r284 v160) (free v161) (at r219 v162) (at r244 v163) (at r291 v164) (at r255 v165) (free v166) (free v167) (free v168) (free v169) (free v170) (at r274 v171) (at r169 v172) (free v173) (free v174) (at r232 v175) (at r252 v176) (at r159 v177) (at r210 v178) (free v179) (free v180) (free v181) (free v182) (free v183) (at r253 v184) (at r273 v185) (at r188 v186) (at r279 v187) (at r258 v188) (at r168 v189) (at r148 v190) (free v191) (free v192) (at r166 v193) (free v194) (at r268 v195) (free v196) (free v197) (at r201 v198) (at r267 v199) (at r194 v200) (at r245 v201) (free v202) (at r195 v203) (free v204) (at r190 v205) (at r163 v206) (free v207) (at r292 v208) (at r155 v209) (free v210) (at r191 v211) (free v212) (at r230 v213) (free v214) (free v215) (free v216) (at r149 v217) (free v218) (free v219) (at r154 v220) (free v221) (free v222) (free v223) (at r150 v224) (free v225) (free v226) (at r180 v227) (free v228) (at r200 v229) (at r208 v230) (at r260 v231) (at r264 v232) (at r293 v233) (at r216 v234) (at r181 v235) (free v236) (free v237) (free v238) (free v239) (at r179 v240) (free v241) (free v242) (at r294 v243) (at r240 v244) (at r186 v245) (at r172 v246) (at r287 v247) (free v248) (free v249) (at r231 v250) (at r250 v251) (free v252) (free v253) (free v254) (free v255) (free v256) (at r215 v257) (free v258) (free v259) (free v260) (at r183 v261) (at r223 v262) (free v263) (free v264) (free v265) (free v266) (at r270 v267) (at r266 v268) (at r225 v269) (free v270) (free v271) (at r229 v272) (at r204 v273) (free v274) (at r290 v275) (at r203 v276) (at r277 v277) (free v278) (free v279) (at r158 v280) (at r227 v281) (at r275 v282) (at r221 v283) (at r170 v284) (at r278 v285) (free v286) (at r233 v287) (free v288) (free v289) (free v290) (free v291) (at r241 v292) (at r185 v293) (at r177 v294) ) ) )