(define (problem multirobot_52_90%_c5) (:domain multirobot) (:objects v0 v1 r165 v2 v3 r172 v4 v5 v6 v7 r186 v8 r112 v9 v10 v11 v12 r153 v13 r163 v14 r126 v15 v16 v17 r137 v18 r131 v19 r108 v20 v21 v22 v23 r146 v24 v25 r127 v26 v27 r185 v28 r109 v29 v30 v31 v32 v33 v34 v35 v36 r173 v37 v38 v39 r187 v40 v41 r136 v42 r169 v43 v44 v45 v46 r151 v47 r132 v48 v49 v50 r149 v51 v52 r152 v53 v54 v55 r170 v56 v57 r188 v58 v59 r193 v60 r116 v61 v62 v63 r167 v64 v65 v66 r111 v67 r130 v68 r120 v69 r174 v70 r192 v71 v72 v73 v74 v75 v76 r135 v77 v78 r115 v79 r190 v80 r103 v81 v82 v83 r168 v84 v85 r176 v86 r157 v87 r139 v88 r147 v89 r156 v90 r181 v91 r106 v92 r158 v93 r178 v94 v95 v96 r124 v97 r175 v98 v99 v100 r143 v101 v102 v103 r155 v104 r180 v105 r142 v106 r125 v107 v108 r114 v109 v110 v111 r171 v112 v113 r133 v114 r184 v115 r160 v116 v117 r141 v118 r150 v119 v120 r104 v121 v122 v123 r161 v124 v125 r191 v126 v127 r129 v128 v129 r107 v130 v131 v132 r105 v133 r182 v134 v135 v136 r123 v137 v138 v139 r144 v140 r113 v141 v142 r128 v143 v144 v145 v146 v147 v148 v149 r177 v150 v151 v152 v153 v154 r122 v155 v156 r179 v157 v158 r183 v159 r138 v160 v161 r102 v162 v163 v164 r121 v165 v166 v167 r117 v168 v169 r189 v170 r110 v171 v172 v173 v174 r148 v175 v176 r119 v177 v178 r134 v179 v180 v181 v182 r145 v183 r162 v184 v185 v186 r164 v187 r154 v188 v189 r166 v190 v191 r118 v192 r140 v193 r159 ) (:init (free v0) (at r165 v1) (free v2) (at r172 v3) (free v4) (free v5) (free v6) (at r186 v7) (at r112 v8) (free v9) (free v10) (free v11) (at r153 v12) (at r163 v13) (at r126 v14) (free v15) (free v16) (at r137 v17) (at r131 v18) (at r108 v19) (free v20) (free v21) (free v22) (at r146 v23) (free v24) (at r127 v25) (free v26) (at r185 v27) (at r109 v28) (free v29) (free v30) (free v31) (free v32) (free v33) (free v34) (free v35) (at r173 v36) (free v37) (free v38) (at r187 v39) (free v40) (at r136 v41) (at r169 v42) (free v43) (free v44) (free v45) (at r151 v46) (at r132 v47) (free v48) (free v49) (at r149 v50) (free v51) (at r152 v52) (free v53) (free v54) (at r170 v55) (free v56) (at r188 v57) (free v58) (at r193 v59) (at r116 v60) (free v61) (free v62) (at r167 v63) (free v64) (free v65) (at r111 v66) (at r130 v67) (at r120 v68) (at r174 v69) (at r192 v70) (free v71) (free v72) (free v73) (free v74) (free v75) (at r135 v76) (free v77) (at r115 v78) (at r190 v79) (at r103 v80) (free v81) (free v82) (at r168 v83) (free v84) (at r176 v85) (at r157 v86) (at r139 v87) (at r147 v88) (at r156 v89) (at r181 v90) (at r106 v91) (at r158 v92) (at r178 v93) (free v94) (free v95) (at r124 v96) (at r175 v97) (free v98) (free v99) (at r143 v100) (free v101) (free v102) (at r155 v103) (at r180 v104) (at r142 v105) (at r125 v106) (free v107) (at r114 v108) (free v109) (free v110) (at r171 v111) (free v112) (at r133 v113) (at r184 v114) (at r160 v115) (free v116) (at r141 v117) (at r150 v118) (free v119) (at r104 v120) (free v121) (free v122) (at r161 v123) (free v124) (at r191 v125) (free v126) (at r129 v127) (free v128) (at r107 v129) (free v130) (free v131) (at r105 v132) (at r182 v133) (free v134) (free v135) (at r123 v136) (free v137) (free v138) (at r144 v139) (at r113 v140) (free v141) (at r128 v142) (free v143) (free v144) (free v145) (free v146) (free v147) (free v148) (at r177 v149) (free v150) (free v151) (free v152) (free v153) (at r122 v154) (free v155) (at r179 v156) (free v157) (at r183 v158) (at r138 v159) (free v160) (at r102 v161) (free v162) (free v163) (at r121 v164) (free v165) (free v166) (at r117 v167) (free v168) (at r189 v169) (at r110 v170) (free v171) (free v172) (free v173) (at r148 v174) (free v175) (at r119 v176) (free v177) (at r134 v178) (free v179) (free v180) (free v181) (at r145 v182) (at r162 v183) (free v184) (free v185) (at r164 v186) (at r154 v187) (free v188) (at r166 v189) (free v190) (at r118 v191) (at r140 v192) (at r159 v193) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v86) (adjacent v1 v2) (adjacent v1 v60) (adjacent v1 v80) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v19) (adjacent v2 v165) (adjacent v3 v4) (adjacent v3 v87) (adjacent v3 v139) (adjacent v4 v9) (adjacent v4 v50) (adjacent v4 v72) (adjacent v5 v6) (adjacent v5 v27) (adjacent v6 v7) (adjacent v6 v16) (adjacent v6 v39) (adjacent v7 v8) (adjacent v7 v10) (adjacent v7 v134) (adjacent v7 v147) (adjacent v8 v9) (adjacent v8 v21) (adjacent v8 v67) (adjacent v9 v38) (adjacent v9 v103) (adjacent v10 v11) (adjacent v10 v22) (adjacent v10 v40) (adjacent v10 v117) (adjacent v10 v158) (adjacent v11 v12) (adjacent v12 v13) (adjacent v13 v14) (adjacent v13 v132) (adjacent v14 v15) (adjacent v14 v18) (adjacent v14 v70) (adjacent v15 v16) (adjacent v15 v17) (adjacent v15 v56) (adjacent v16 v43) (adjacent v17 v18) (adjacent v17 v122) (adjacent v18 v32) (adjacent v18 v39) (adjacent v19 v20) (adjacent v19 v28) (adjacent v19 v93) (adjacent v19 v143) (adjacent v20 v21) (adjacent v21 v127) (adjacent v22 v23) (adjacent v22 v99) (adjacent v23 v24) (adjacent v23 v142) (adjacent v24 v25) (adjacent v24 v37) (adjacent v25 v26) (adjacent v25 v47) (adjacent v25 v51) (adjacent v25 v75) (adjacent v26 v27) (adjacent v26 v42) (adjacent v26 v73) (adjacent v27 v71) (adjacent v28 v29) (adjacent v29 v30) (adjacent v29 v33) (adjacent v30 v31) (adjacent v30 v36) (adjacent v30 v46) (adjacent v30 v135) (adjacent v31 v32) (adjacent v33 v34) (adjacent v34 v35) (adjacent v34 v57) (adjacent v35 v36) (adjacent v35 v52) (adjacent v35 v170) (adjacent v37 v38) (adjacent v37 v66) (adjacent v37 v159) (adjacent v38 v51) (adjacent v38 v139) (adjacent v40 v41) (adjacent v40 v85) (adjacent v40 v159) (adjacent v40 v188) (adjacent v41 v42) (adjacent v42 v148) (adjacent v43 v44) (adjacent v43 v87) (adjacent v43 v99) (adjacent v44 v45) (adjacent v45 v46) (adjacent v47 v48) (adjacent v47 v110) (adjacent v48 v49) (adjacent v48 v92) (adjacent v49 v50) (adjacent v49 v116) (adjacent v52 v53) (adjacent v53 v54) (adjacent v54 v55) (adjacent v54 v170) (adjacent v55 v56) (adjacent v56 v61) (adjacent v56 v72) (adjacent v56 v88) (adjacent v57 v58) (adjacent v57 v94) (adjacent v58 v59) (adjacent v58 v81) (adjacent v59 v60) (adjacent v60 v69) (adjacent v61 v62) (adjacent v62 v63) (adjacent v63 v64) (adjacent v64 v65) (adjacent v65 v66) (adjacent v66 v109) (adjacent v67 v68) (adjacent v67 v121) (adjacent v68 v69) (adjacent v68 v74) (adjacent v70 v71) (adjacent v71 v98) (adjacent v72 v101) (adjacent v73 v74) (adjacent v73 v100) (adjacent v75 v76) (adjacent v76 v77) (adjacent v76 v172) (adjacent v77 v78) (adjacent v77 v100) (adjacent v77 v128) (adjacent v78 v79) (adjacent v79 v80) (adjacent v79 v86) (adjacent v80 v140) (adjacent v81 v82) (adjacent v81 v93) (adjacent v81 v124) (adjacent v82 v83) (adjacent v83 v84) (adjacent v84 v85) (adjacent v86 v160) (adjacent v88 v89) (adjacent v89 v90) (adjacent v90 v91) (adjacent v90 v189) (adjacent v91 v92) (adjacent v91 v104) (adjacent v92 v138) (adjacent v93 v183) (adjacent v94 v95) (adjacent v95 v96) (adjacent v96 v97) (adjacent v96 v125) (adjacent v96 v131) (adjacent v96 v171) (adjacent v97 v98) (adjacent v101 v102) (adjacent v102 v103) (adjacent v104 v105) (adjacent v105 v106) (adjacent v106 v107) (adjacent v107 v108) (adjacent v107 v182) (adjacent v107 v193) (adjacent v108 v109) (adjacent v109 v164) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v114) (adjacent v114 v115) (adjacent v115 v116) (adjacent v115 v175) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v120) (adjacent v120 v121) (adjacent v122 v123) (adjacent v123 v124) (adjacent v125 v126) (adjacent v126 v127) (adjacent v127 v152) (adjacent v127 v171) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v132 v133) (adjacent v133 v134) (adjacent v135 v136) (adjacent v136 v137) (adjacent v137 v138) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v176) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v148 v149) (adjacent v148 v153) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v152 v169) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v158) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v187 v188) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) ) (:goal (and (at r116 v0) (free v1) (at r129 v2) (free v3) (at r174 v4) (free v5) (at r158 v6) (at r185 v7) (at r105 v8) (free v9) (at r171 v10) (free v11) (free v12) (free v13) (at r109 v14) (at r156 v15) (free v16) (at r121 v17) (free v18) (free v19) (free v20) (free v21) (at r107 v22) (at r106 v23) (at r148 v24) (free v25) (free v26) (free v27) (free v28) (at r154 v29) (free v30) (free v31) (at r191 v32) (at r184 v33) (at r161 v34) (at r164 v35) (at r190 v36) (at r132 v37) (free v38) (free v39) (free v40) (at r166 v41) (free v42) (at r168 v43) (free v44) (at r186 v45) (free v46) (at r135 v47) (at r193 v48) (at r155 v49) (free v50) (free v51) (free v52) (free v53) (at r128 v54) (at r115 v55) (free v56) (free v57) (at r126 v58) (free v59) (free v60) (free v61) (free v62) (free v63) (free v64) (free v65) (free v66) (at r180 v67) (at r137 v68) (free v69) (at r110 v70) (at r112 v71) (at r146 v72) (at r170 v73) (at r183 v74) (at r169 v75) (free v76) (free v77) (free v78) (at r167 v79) (at r136 v80) (at r145 v81) (free v82) (free v83) (free v84) (free v85) (free v86) (free v87) (at r172 v88) (free v89) (free v90) (at r153 v91) (at r159 v92) (free v93) (free v94) (at r157 v95) (at r133 v96) (at r149 v97) (at r189 v98) (at r165 v99) (at r118 v100) (at r173 v101) (free v102) (free v103) (at r151 v104) (at r147 v105) (free v106) (free v107) (free v108) (free v109) (at r119 v110) (free v111) (free v112) (at r144 v113) (free v114) (at r160 v115) (free v116) (free v117) (at r177 v118) (free v119) (at r117 v120) (free v121) (free v122) (free v123) (at r104 v124) (free v125) (at r134 v126) (at r122 v127) (at r175 v128) (free v129) (free v130) (at r108 v131) (free v132) (at r152 v133) (free v134) (free v135) (free v136) (at r131 v137) (at r162 v138) (at r139 v139) (free v140) (free v141) (at r111 v142) (free v143) (at r163 v144) (at r150 v145) (free v146) (free v147) (free v148) (at r127 v149) (free v150) (free v151) (at r114 v152) (free v153) (free v154) (at r178 v155) (at r181 v156) (free v157) (at r124 v158) (at r120 v159) (at r102 v160) (free v161) (free v162) (at r143 v163) (free v164) (free v165) (at r141 v166) (free v167) (free v168) (at r140 v169) (free v170) (free v171) (free v172) (at r138 v173) (at r103 v174) (free v175) (at r130 v176) (free v177) (at r113 v178) (free v179) (at r187 v180) (free v181) (at r182 v182) (at r179 v183) (free v184) (free v185) (free v186) (at r188 v187) (at r123 v188) (at r192 v189) (at r176 v190) (free v191) (at r142 v192) (at r125 v193) ) ) )