(define (problem multirobot_52_90%_c4) (:domain multirobot) (:objects v0 r173 v1 v2 r124 v3 v4 r171 v5 r140 v6 r170 v7 v8 r118 v9 r180 v10 r157 v11 r128 v12 r107 v13 r155 v14 r131 v15 v16 v17 r175 v18 v19 r158 v20 r110 v21 r122 v22 v23 r109 v24 v25 r117 v26 v27 r193 v28 v29 r189 v30 r167 v31 v32 r143 v33 v34 r146 v35 v36 v37 v38 r141 v39 r152 v40 v41 r204 v42 r206 v43 v44 r115 v45 r100 v46 v47 r111 v48 r211 v49 r98 v50 v51 r195 v52 r218 v53 v54 r182 v55 v56 v57 v58 v59 v60 r200 v61 v62 r194 v63 r137 v64 v65 v66 r166 v67 r126 v68 v69 v70 v71 v72 v73 v74 r198 v75 r212 v76 r103 v77 r134 v78 r188 v79 r213 v80 v81 r151 v82 r97 v83 r219 v84 r144 v85 v86 r169 v87 r187 v88 r145 v89 r102 v90 r150 v91 v92 v93 r191 v94 r161 v95 r105 v96 v97 r179 v98 r123 v99 v100 r210 v101 r120 v102 r153 v103 v104 r176 v105 v106 v107 v108 r201 v109 r156 v110 r165 v111 r199 v112 v113 v114 r104 v115 r205 v116 r114 v117 v118 v119 r160 v120 r184 v121 r113 v122 r129 v123 r214 v124 v125 v126 v127 v128 v129 v130 r135 v131 r168 v132 r125 v133 v134 v135 v136 v137 r154 v138 v139 v140 r138 v141 v142 r119 v143 v144 r192 v145 v146 r99 v147 r149 v148 v149 r148 v150 r208 v151 v152 v153 r220 v154 v155 v156 v157 r197 v158 v159 v160 r217 v161 r183 v162 v163 v164 r215 v165 v166 r139 v167 v168 v169 r177 v170 v171 r121 v172 r108 v173 v174 v175 r202 v176 v177 v178 r136 v179 v180 r181 v181 r186 v182 r209 v183 v184 r147 v185 v186 r162 v187 v188 r196 v189 v190 v191 r174 v192 r207 v193 v194 r133 v195 r132 v196 r130 v197 r163 v198 v199 r127 v200 r159 v201 v202 v203 v204 r116 v205 v206 r216 v207 r203 v208 r112 v209 r164 v210 r101 v211 v212 r178 v213 r142 v214 v215 v216 v217 r172 v218 r106 v219 r190 v220 r185 ) (:init (at r173 v0) (free v1) (at r124 v2) (free v3) (at r171 v4) (at r140 v5) (at r170 v6) (free v7) (at r118 v8) (at r180 v9) (at r157 v10) (at r128 v11) (at r107 v12) (at r155 v13) (at r131 v14) (free v15) (free v16) (at r175 v17) (free v18) (at r158 v19) (at r110 v20) (at r122 v21) (free v22) (at r109 v23) (free v24) (at r117 v25) (free v26) (at r193 v27) (free v28) (at r189 v29) (at r167 v30) (free v31) (at r143 v32) (free v33) (at r146 v34) (free v35) (free v36) (free v37) (at r141 v38) (at r152 v39) (free v40) (at r204 v41) (at r206 v42) (free v43) (at r115 v44) (at r100 v45) (free v46) (at r111 v47) (at r211 v48) (at r98 v49) (free v50) (at r195 v51) (at r218 v52) (free v53) (at r182 v54) (free v55) (free v56) (free v57) (free v58) (free v59) (at r200 v60) (free v61) (at r194 v62) (at r137 v63) (free v64) (free v65) (at r166 v66) (at r126 v67) (free v68) (free v69) (free v70) (free v71) (free v72) (free v73) (at r198 v74) (at r212 v75) (at r103 v76) (at r134 v77) (at r188 v78) (at r213 v79) (free v80) (at r151 v81) (at r97 v82) (at r219 v83) (at r144 v84) (free v85) (at r169 v86) (at r187 v87) (at r145 v88) (at r102 v89) (at r150 v90) (free v91) (free v92) (at r191 v93) (at r161 v94) (at r105 v95) (free v96) (at r179 v97) (at r123 v98) (free v99) (at r210 v100) (at r120 v101) (at r153 v102) (free v103) (at r176 v104) (free v105) (free v106) (free v107) (at r201 v108) (at r156 v109) (at r165 v110) (at r199 v111) (free v112) (free v113) (at r104 v114) (at r205 v115) (at r114 v116) (free v117) (free v118) (at r160 v119) (at r184 v120) (at r113 v121) (at r129 v122) (at r214 v123) (free v124) (free v125) (free v126) (free v127) (free v128) (free v129) (at r135 v130) (at r168 v131) (at r125 v132) (free v133) (free v134) (free v135) (free v136) (at r154 v137) (free v138) (free v139) (at r138 v140) (free v141) (at r119 v142) (free v143) (at r192 v144) (free v145) (at r99 v146) (at r149 v147) (free v148) (at r148 v149) (at r208 v150) (free v151) (free v152) (at r220 v153) (free v154) (free v155) (free v156) (at r197 v157) (free v158) (free v159) (at r217 v160) (at r183 v161) (free v162) (free v163) (at r215 v164) (free v165) (at r139 v166) (free v167) (free v168) (at r177 v169) (free v170) (at r121 v171) (at r108 v172) (free v173) (free v174) (at r202 v175) (free v176) (free v177) (at r136 v178) (free v179) (at r181 v180) (at r186 v181) (at r209 v182) (free v183) (at r147 v184) (free v185) (at r162 v186) (free v187) (at r196 v188) (free v189) (free v190) (at r174 v191) (at r207 v192) (free v193) (at r133 v194) (at r132 v195) (at r130 v196) (at r163 v197) (free v198) (at r127 v199) (at r159 v200) (free v201) (free v202) (free v203) (at r116 v204) (free v205) (at r216 v206) (at r203 v207) (at r112 v208) (at r164 v209) (at r101 v210) (free v211) (at r178 v212) (at r142 v213) (free v214) (free v215) (free v216) (at r172 v217) (at r106 v218) (at r190 v219) (at r185 v220) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v6) (adjacent v1 v2) (adjacent v1 v14) (adjacent v1 v16) (adjacent v1 v74) (adjacent v1 v97) (adjacent v1 v145) (adjacent v1 v178) (adjacent v2 v3) (adjacent v2 v9) (adjacent v3 v4) (adjacent v3 v28) (adjacent v4 v5) (adjacent v4 v17) (adjacent v4 v47) (adjacent v4 v64) (adjacent v5 v6) (adjacent v6 v7) (adjacent v6 v36) (adjacent v7 v8) (adjacent v7 v44) (adjacent v8 v9) (adjacent v8 v10) (adjacent v9 v46) (adjacent v10 v11) (adjacent v10 v25) (adjacent v11 v12) (adjacent v11 v15) (adjacent v11 v43) (adjacent v12 v13) (adjacent v12 v179) (adjacent v13 v14) (adjacent v13 v23) (adjacent v14 v145) (adjacent v15 v16) (adjacent v15 v22) (adjacent v15 v37) (adjacent v16 v161) (adjacent v17 v18) (adjacent v18 v19) (adjacent v19 v20) (adjacent v19 v31) (adjacent v19 v86) (adjacent v19 v110) (adjacent v20 v21) (adjacent v21 v22) (adjacent v21 v82) (adjacent v21 v113) (adjacent v23 v24) (adjacent v24 v25) (adjacent v24 v26) (adjacent v24 v29) (adjacent v25 v125) (adjacent v26 v27) (adjacent v27 v28) (adjacent v27 v87) (adjacent v28 v35) (adjacent v29 v30) (adjacent v29 v105) (adjacent v30 v31) (adjacent v30 v206) (adjacent v31 v32) (adjacent v32 v33) (adjacent v32 v185) (adjacent v33 v34) (adjacent v33 v189) (adjacent v34 v35) (adjacent v35 v38) (adjacent v35 v133) (adjacent v36 v37) (adjacent v37 v53) (adjacent v37 v54) (adjacent v38 v39) (adjacent v39 v40) (adjacent v39 v69) (adjacent v40 v41) (adjacent v41 v42) (adjacent v42 v43) (adjacent v42 v63) (adjacent v44 v45) (adjacent v45 v46) (adjacent v45 v153) (adjacent v46 v68) (adjacent v46 v93) (adjacent v47 v48) (adjacent v47 v98) (adjacent v48 v49) (adjacent v48 v84) (adjacent v49 v50) (adjacent v50 v51) (adjacent v51 v52) (adjacent v51 v59) (adjacent v52 v53) (adjacent v54 v55) (adjacent v54 v60) (adjacent v54 v152) (adjacent v55 v56) (adjacent v55 v81) (adjacent v55 v174) (adjacent v56 v57) (adjacent v57 v58) (adjacent v58 v59) (adjacent v59 v85) (adjacent v59 v170) (adjacent v60 v61) (adjacent v60 v75) (adjacent v60 v180) (adjacent v61 v62) (adjacent v62 v63) (adjacent v64 v65) (adjacent v65 v66) (adjacent v65 v111) (adjacent v66 v67) (adjacent v67 v68) (adjacent v67 v99) (adjacent v69 v70) (adjacent v69 v106) (adjacent v70 v71) (adjacent v70 v138) (adjacent v71 v72) (adjacent v71 v132) (adjacent v72 v73) (adjacent v72 v164) (adjacent v73 v74) (adjacent v75 v76) (adjacent v75 v184) (adjacent v76 v77) (adjacent v77 v78) (adjacent v78 v79) (adjacent v78 v98) (adjacent v79 v80) (adjacent v80 v81) (adjacent v80 v120) (adjacent v80 v188) (adjacent v82 v83) (adjacent v83 v84) (adjacent v85 v86) (adjacent v85 v135) (adjacent v86 v183) (adjacent v86 v195) (adjacent v87 v88) (adjacent v88 v89) (adjacent v89 v90) (adjacent v89 v116) (adjacent v90 v91) (adjacent v90 v173) (adjacent v91 v92) (adjacent v91 v156) (adjacent v92 v93) (adjacent v92 v94) (adjacent v92 v117) (adjacent v94 v95) (adjacent v95 v96) (adjacent v95 v207) (adjacent v96 v97) (adjacent v97 v171) (adjacent v99 v100) (adjacent v100 v101) (adjacent v100 v126) (adjacent v100 v220) (adjacent v101 v102) (adjacent v101 v218) (adjacent v102 v103) (adjacent v102 v182) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v179) (adjacent v106 v107) (adjacent v106 v162) (adjacent v107 v108) (adjacent v108 v109) (adjacent v108 v203) (adjacent v109 v110) (adjacent v109 v114) (adjacent v109 v121) (adjacent v111 v112) (adjacent v112 v113) (adjacent v112 v144) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v137) (adjacent v116 v205) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v120) (adjacent v120 v136) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v125) (adjacent v124 v155) (adjacent v125 v165) (adjacent v126 v127) (adjacent v127 v128) (adjacent v127 v146) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v131 v132) (adjacent v133 v134) (adjacent v134 v135) (adjacent v136 v137) (adjacent v137 v219) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v143) (adjacent v143 v144) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v153 v154) (adjacent v154 v155) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v159 v160) (adjacent v159 v214) (adjacent v160 v161) (adjacent v162 v163) (adjacent v163 v164) (adjacent v163 v196) (adjacent v165 v166) (adjacent v165 v215) (adjacent v166 v167) (adjacent v166 v202) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v171 v172) (adjacent v172 v173) (adjacent v174 v175) (adjacent v175 v176) (adjacent v175 v208) (adjacent v176 v177) (adjacent v177 v178) (adjacent v180 v181) (adjacent v181 v182) (adjacent v183 v184) (adjacent v185 v186) (adjacent v186 v187) (adjacent v187 v188) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v202) (adjacent v203 v204) (adjacent v204 v205) (adjacent v206 v207) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v213 v214) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v219 v220) ) (:goal (and (at r146 v0) (at r152 v1) (at r170 v2) (at r126 v3) (at r218 v4) (at r179 v5) (free v6) (at r175 v7) (at r130 v8) (free v9) (at r213 v10) (at r177 v11) (free v12) (at r106 v13) (at r105 v14) (free v15) (at r203 v16) (free v17) (at r113 v18) (at r199 v19) (at r188 v20) (free v21) (free v22) (free v23) (at r119 v24) (free v25) (at r97 v26) (at r125 v27) (at r102 v28) (at r196 v29) (free v30) (at r124 v31) (at r123 v32) (free v33) (free v34) (free v35) (at r195 v36) (at r116 v37) (free v38) (free v39) (at r110 v40) (free v41) (free v42) (free v43) (free v44) (at r171 v45) (free v46) (free v47) (at r128 v48) (at r115 v49) (free v50) (at r193 v51) (at r206 v52) (at r150 v53) (at r164 v54) (at r135 v55) (free v56) (at r154 v57) (at r118 v58) (free v59) (free v60) (free v61) (at r142 v62) (free v63) (free v64) (free v65) (at r182 v66) (free v67) (free v68) (free v69) (free v70) (free v71) (free v72) (at r144 v73) (at r197 v74) (free v75) (free v76) (free v77) (at r121 v78) (free v79) (free v80) (at r191 v81) (free v82) (free v83) (free v84) (free v85) (at r178 v86) (at r194 v87) (at r133 v88) (at r192 v89) (free v90) (at r166 v91) (free v92) (free v93) (at r185 v94) (free v95) (at r101 v96) (at r155 v97) (free v98) (at r136 v99) (at r160 v100) (at r140 v101) (at r109 v102) (at r215 v103) (at r207 v104) (at r103 v105) (at r145 v106) (at r137 v107) (free v108) (at r129 v109) (at r147 v110) (free v111) (free v112) (free v113) (free v114) (at r151 v115) (free v116) (free v117) (free v118) (free v119) (at r208 v120) (at r198 v121) (free v122) (at r120 v123) (at r209 v124) (free v125) (at r167 v126) (free v127) (at r139 v128) (at r114 v129) (at r157 v130) (at r168 v131) (free v132) (at r141 v133) (at r202 v134) (at r161 v135) (free v136) (at r149 v137) (free v138) (at r131 v139) (at r163 v140) (at r176 v141) (free v142) (at r122 v143) (at r134 v144) (at r186 v145) (free v146) (free v147) (at r117 v148) (at r148 v149) (free v150) (at r169 v151) (free v152) (at r181 v153) (free v154) (free v155) (at r217 v156) (free v157) (free v158) (free v159) (at r219 v160) (at r187 v161) (free v162) (at r162 v163) (free v164) (free v165) (at r159 v166) (free v167) (free v168) (at r172 v169) (free v170) (at r112 v171) (free v172) (free v173) (free v174) (free v175) (at r143 v176) (at r127 v177) (at r153 v178) (free v179) (at r214 v180) (at r204 v181) (at r132 v182) (free v183) (at r104 v184) (at r98 v185) (free v186) (free v187) (at r212 v188) (at r108 v189) (at r183 v190) (at r205 v191) (at r180 v192) (at r189 v193) (free v194) (free v195) (at r216 v196) (at r190 v197) (free v198) (free v199) (at r201 v200) (free v201) (at r111 v202) (at r211 v203) (at r165 v204) (at r210 v205) (at r156 v206) (at r174 v207) (at r138 v208) (free v209) (at r107 v210) (at r100 v211) (at r173 v212) (free v213) (free v214) (at r184 v215) (at r99 v216) (at r220 v217) (at r200 v218) (free v219) (at r158 v220) ) ) )