(define (problem multirobot_50_90%_c5) (:domain multirobot) (:objects v0 r102 v1 v2 v3 v4 v5 r114 v6 r94 v7 r168 v8 v9 v10 v11 r179 v12 v13 r180 v14 v15 r105 v16 v17 v18 r198 v19 r184 v20 r96 v21 v22 v23 r156 v24 r137 v25 v26 r145 v27 v28 v29 v30 v31 v32 r177 v33 v34 v35 r95 v36 r111 v37 r134 v38 v39 r93 v40 v41 v42 r128 v43 v44 v45 r172 v46 v47 r161 v48 v49 v50 r195 v51 r160 v52 r152 v53 r153 v54 v55 r174 v56 r147 v57 v58 r112 v59 v60 r192 v61 v62 r127 v63 r92 v64 r117 v65 r187 v66 v67 v68 r108 v69 v70 r120 v71 v72 r124 v73 v74 r185 v75 r136 v76 r149 v77 r132 v78 v79 v80 v81 r115 v82 r118 v83 r197 v84 r162 v85 r123 v86 r139 v87 v88 r122 v89 r126 v90 v91 r199 v92 r165 v93 v94 v95 r135 v96 v97 v98 v99 r166 v100 r194 v101 r173 v102 r171 v103 r101 v104 v105 v106 r133 v107 r176 v108 v109 v110 r181 v111 r104 v112 r119 v113 v114 r141 v115 v116 r129 v117 v118 r138 v119 v120 r183 v121 r155 v122 v123 v124 r98 v125 v126 v127 r154 v128 v129 r164 v130 v131 r186 v132 r193 v133 r163 v134 v135 r140 v136 v137 v138 r178 v139 r144 v140 v141 v142 r109 v143 r99 v144 r188 v145 v146 r159 v147 r196 v148 v149 v150 v151 r125 v152 r175 v153 v154 v155 r157 v156 r167 v157 v158 r97 v159 r170 v160 r182 v161 r142 v162 r110 v163 v164 v165 r113 v166 r107 v167 v168 r146 v169 r131 v170 v171 v172 r100 v173 r169 v174 r150 v175 r148 v176 v177 v178 r103 v179 v180 v181 v182 r121 v183 v184 v185 v186 r130 v187 v188 v189 r151 v190 r106 v191 r158 v192 v193 r191 v194 v195 r189 v196 v197 r190 v198 r143 v199 r116 ) (:init (at r102 v0) (free v1) (free v2) (free v3) (free v4) (at r114 v5) (at r94 v6) (at r168 v7) (free v8) (free v9) (free v10) (at r179 v11) (free v12) (at r180 v13) (free v14) (at r105 v15) (free v16) (free v17) (at r198 v18) (at r184 v19) (at r96 v20) (free v21) (free v22) (at r156 v23) (at r137 v24) (free v25) (at r145 v26) (free v27) (free v28) (free v29) (free v30) (free v31) (at r177 v32) (free v33) (free v34) (at r95 v35) (at r111 v36) (at r134 v37) (free v38) (at r93 v39) (free v40) (free v41) (at r128 v42) (free v43) (free v44) (at r172 v45) (free v46) (at r161 v47) (free v48) (free v49) (at r195 v50) (at r160 v51) (at r152 v52) (at r153 v53) (free v54) (at r174 v55) (at r147 v56) (free v57) (at r112 v58) (free v59) (at r192 v60) (free v61) (at r127 v62) (at r92 v63) (at r117 v64) (at r187 v65) (free v66) (free v67) (at r108 v68) (free v69) (at r120 v70) (free v71) (at r124 v72) (free v73) (at r185 v74) (at r136 v75) (at r149 v76) (at r132 v77) (free v78) (free v79) (free v80) (at r115 v81) (at r118 v82) (at r197 v83) (at r162 v84) (at r123 v85) (at r139 v86) (free v87) (at r122 v88) (at r126 v89) (free v90) (at r199 v91) (at r165 v92) (free v93) (free v94) (at r135 v95) (free v96) (free v97) (free v98) (at r166 v99) (at r194 v100) (at r173 v101) (at r171 v102) (at r101 v103) (free v104) (free v105) (at r133 v106) (at r176 v107) (free v108) (free v109) (at r181 v110) (at r104 v111) (at r119 v112) (free v113) (at r141 v114) (free v115) (at r129 v116) (free v117) (at r138 v118) (free v119) (at r183 v120) (at r155 v121) (free v122) (free v123) (at r98 v124) (free v125) (free v126) (at r154 v127) (free v128) (at r164 v129) (free v130) (at r186 v131) (at r193 v132) (at r163 v133) (free v134) (at r140 v135) (free v136) (free v137) (at r178 v138) (at r144 v139) (free v140) (free v141) (at r109 v142) (at r99 v143) (at r188 v144) (free v145) (at r159 v146) (at r196 v147) (free v148) (free v149) (free v150) (at r125 v151) (at r175 v152) (free v153) (free v154) (at r157 v155) (at r167 v156) (free v157) (at r97 v158) (at r170 v159) (at r182 v160) (at r142 v161) (at r110 v162) (free v163) (free v164) (at r113 v165) (at r107 v166) (free v167) (at r146 v168) (at r131 v169) (free v170) (free v171) (at r100 v172) (at r169 v173) (at r150 v174) (at r148 v175) (free v176) (free v177) (at r103 v178) (free v179) (free v180) (free v181) (at r121 v182) (free v183) (free v184) (free v185) (at r130 v186) (free v187) (free v188) (at r151 v189) (at r106 v190) (at r158 v191) (free v192) (at r191 v193) (free v194) (at r189 v195) (free v196) (at r190 v197) (at r143 v198) (at r116 v199) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v45) (adjacent v0 v77) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v94) (adjacent v1 v105) (adjacent v2 v3) (adjacent v2 v10) (adjacent v2 v34) (adjacent v3 v4) (adjacent v3 v11) (adjacent v3 v41) (adjacent v3 v64) (adjacent v4 v18) (adjacent v4 v33) (adjacent v4 v68) (adjacent v4 v153) (adjacent v5 v6) (adjacent v5 v69) (adjacent v6 v7) (adjacent v6 v181) (adjacent v7 v8) (adjacent v8 v9) (adjacent v8 v152) (adjacent v9 v10) (adjacent v9 v30) (adjacent v9 v190) (adjacent v10 v17) (adjacent v11 v12) (adjacent v12 v13) (adjacent v13 v14) (adjacent v14 v15) (adjacent v14 v24) (adjacent v14 v25) (adjacent v14 v41) (adjacent v14 v88) (adjacent v14 v142) (adjacent v15 v16) (adjacent v15 v165) (adjacent v16 v17) (adjacent v16 v58) (adjacent v17 v79) (adjacent v17 v112) (adjacent v17 v118) (adjacent v18 v19) (adjacent v18 v82) (adjacent v18 v172) (adjacent v19 v20) (adjacent v19 v96) (adjacent v20 v21) (adjacent v20 v40) (adjacent v20 v111) (adjacent v21 v22) (adjacent v21 v52) (adjacent v22 v23) (adjacent v22 v46) (adjacent v22 v79) (adjacent v23 v24) (adjacent v23 v36) (adjacent v23 v159) (adjacent v24 v37) (adjacent v25 v26) (adjacent v26 v27) (adjacent v27 v28) (adjacent v27 v70) (adjacent v28 v29) (adjacent v28 v88) (adjacent v29 v30) (adjacent v30 v31) (adjacent v30 v55) (adjacent v31 v32) (adjacent v32 v33) (adjacent v33 v56) (adjacent v33 v69) (adjacent v34 v35) (adjacent v34 v80) (adjacent v34 v87) (adjacent v34 v173) (adjacent v35 v36) (adjacent v35 v42) (adjacent v35 v185) (adjacent v36 v147) (adjacent v37 v38) (adjacent v38 v39) (adjacent v39 v40) (adjacent v39 v166) (adjacent v40 v95) (adjacent v40 v104) (adjacent v41 v53) (adjacent v42 v43) (adjacent v42 v105) (adjacent v43 v44) (adjacent v44 v45) (adjacent v44 v199) (adjacent v45 v81) (adjacent v46 v47) (adjacent v46 v117) (adjacent v47 v48) (adjacent v47 v146) (adjacent v48 v49) (adjacent v48 v89) (adjacent v49 v50) (adjacent v50 v51) (adjacent v51 v52) (adjacent v53 v54) (adjacent v54 v55) (adjacent v54 v126) (adjacent v55 v104) (adjacent v56 v57) (adjacent v56 v59) (adjacent v57 v58) (adjacent v57 v90) (adjacent v57 v143) (adjacent v59 v60) (adjacent v59 v193) (adjacent v60 v61) (adjacent v60 v89) (adjacent v61 v62) (adjacent v62 v63) (adjacent v62 v137) (adjacent v63 v64) (adjacent v63 v65) (adjacent v63 v76) (adjacent v63 v130) (adjacent v65 v66) (adjacent v66 v67) (adjacent v67 v68) (adjacent v68 v78) (adjacent v70 v71) (adjacent v70 v103) (adjacent v71 v72) (adjacent v71 v119) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v97) (adjacent v73 v113) (adjacent v74 v75) (adjacent v75 v76) (adjacent v75 v106) (adjacent v77 v78) (adjacent v80 v81) (adjacent v80 v140) (adjacent v82 v83) (adjacent v83 v84) (adjacent v83 v189) (adjacent v84 v85) (adjacent v84 v112) (adjacent v85 v86) (adjacent v85 v176) (adjacent v86 v87) (adjacent v87 v95) (adjacent v90 v91) (adjacent v91 v92) (adjacent v91 v189) (adjacent v92 v93) (adjacent v93 v94) (adjacent v93 v186) (adjacent v95 v96) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v100) (adjacent v100 v101) (adjacent v101 v102) (adjacent v102 v103) (adjacent v104 v177) (adjacent v106 v107) (adjacent v107 v108) (adjacent v108 v109) (adjacent v109 v110) (adjacent v109 v182) (adjacent v110 v111) (adjacent v110 v129) (adjacent v111 v136) (adjacent v112 v116) (adjacent v113 v114) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v191) (adjacent v117 v118) (adjacent v118 v125) (adjacent v119 v120) (adjacent v120 v121) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v126 v127) (adjacent v127 v128) (adjacent v127 v160) (adjacent v128 v129) (adjacent v129 v139) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v136) (adjacent v137 v138) (adjacent v138 v139) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v188) (adjacent v142 v192) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v146) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v190) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) (adjacent v186 v187) (adjacent v187 v188) (adjacent v191 v192) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) ) (:goal (and (at r121 v0) (at r150 v1) (free v2) (at r102 v3) (free v4) (free v5) (free v6) (free v7) (at r199 v8) (at r167 v9) (at r187 v10) (at r177 v11) (free v12) (at r155 v13) (at r132 v14) (free v15) (free v16) (at r178 v17) (free v18) (free v19) (at r127 v20) (free v21) (free v22) (free v23) (at r189 v24) (free v25) (at r176 v26) (at r162 v27) (at r111 v28) (at r100 v29) (free v30) (free v31) (at r152 v32) (free v33) (at r174 v34) (free v35) (at r122 v36) (free v37) (at r184 v38) (free v39) (at r133 v40) (free v41) (at r135 v42) (free v43) (free v44) (at r131 v45) (at r198 v46) (at r126 v47) (at r136 v48) (free v49) (free v50) (free v51) (free v52) (free v53) (at r92 v54) (at r134 v55) (at r128 v56) (at r193 v57) (at r149 v58) (at r95 v59) (at r170 v60) (at r93 v61) (free v62) (at r186 v63) (at r192 v64) (free v65) (at r137 v66) (at r109 v67) (free v68) (at r94 v69) (free v70) (free v71) (at r158 v72) (free v73) (at r140 v74) (at r108 v75) (at r180 v76) (at r185 v77) (free v78) (free v79) (at r99 v80) (at r191 v81) (at r196 v82) (at r105 v83) (at r153 v84) (free v85) (at r98 v86) (free v87) (at r195 v88) (free v89) (at r129 v90) (at r161 v91) (at r147 v92) (at r188 v93) (free v94) (at r173 v95) (at r96 v96) (free v97) (at r169 v98) (at r183 v99) (at r166 v100) (free v101) (free v102) (free v103) (at r168 v104) (at r125 v105) (free v106) (free v107) (at r130 v108) (free v109) (free v110) (free v111) (at r154 v112) (at r103 v113) (at r142 v114) (free v115) (at r171 v116) (free v117) (at r159 v118) (free v119) (at r117 v120) (free v121) (free v122) (at r172 v123) (at r182 v124) (at r104 v125) (free v126) (free v127) (at r124 v128) (free v129) (at r175 v130) (at r151 v131) (free v132) (free v133) (free v134) (at r119 v135) (at r148 v136) (free v137) (free v138) (at r197 v139) (at r110 v140) (at r116 v141) (at r165 v142) (free v143) (at r114 v144) (at r163 v145) (free v146) (at r107 v147) (free v148) (free v149) (free v150) (at r138 v151) (at r113 v152) (at r145 v153) (at r106 v154) (free v155) (at r164 v156) (at r115 v157) (at r97 v158) (free v159) (free v160) (free v161) (at r123 v162) (free v163) (free v164) (at r120 v165) (free v166) (at r143 v167) (free v168) (at r179 v169) (free v170) (at r144 v171) (at r157 v172) (free v173) (free v174) (free v175) (at r160 v176) (free v177) (free v178) (free v179) (free v180) (free v181) (free v182) (free v183) (at r190 v184) (free v185) (at r181 v186) (free v187) (at r194 v188) (at r156 v189) (free v190) (at r118 v191) (at r112 v192) (free v193) (at r101 v194) (free v195) (at r139 v196) (at r146 v197) (at r141 v198) (free v199) ) ) )