(define (problem multirobot_70_90%_c0) (:domain multirobot) (:objects v0 v1 v2 v3 r149 v4 v5 r222 v6 v7 v8 v9 r243 v10 v11 v12 r155 v13 v14 v15 r201 v16 r274 v17 r276 v18 r236 v19 r186 v20 v21 r281 v22 r272 v23 v24 r175 v25 v26 r194 v27 r280 v28 v29 r157 v30 r247 v31 r224 v32 r171 v33 v34 r269 v35 v36 r277 v37 v38 v39 v40 v41 v42 v43 r205 v44 r245 v45 r263 v46 v47 r251 v48 v49 v50 v51 v52 v53 r257 v54 v55 r268 v56 v57 r154 v58 r240 v59 v60 r225 v61 v62 r168 v63 v64 v65 v66 r180 v67 r142 v68 r196 v69 r208 v70 r209 v71 v72 r188 v73 r246 v74 v75 r286 v76 r202 v77 r167 v78 v79 r275 v80 r198 v81 r250 v82 r273 v83 v84 r185 v85 r230 v86 r195 v87 v88 r170 v89 v90 v91 v92 v93 v94 v95 r220 v96 r218 v97 r266 v98 v99 r227 v100 v101 v102 r189 v103 v104 v105 r264 v106 r182 v107 v108 v109 r221 v110 v111 r238 v112 v113 r150 v114 r183 v115 v116 r234 v117 r163 v118 v119 r270 v120 r255 v121 r139 v122 r207 v123 v124 v125 r260 v126 r223 v127 v128 v129 r193 v130 v131 v132 r190 v133 v134 v135 r177 v136 v137 v138 v139 r174 v140 v141 r214 v142 r259 v143 v144 r212 v145 v146 v147 v148 v149 r151 v150 v151 v152 v153 v154 r192 v155 v156 v157 r219 v158 r217 v159 v160 v161 r228 v162 r176 v163 r200 v164 r237 v165 r146 v166 v167 v168 v169 r213 v170 r284 v171 r262 v172 r165 v173 v174 r254 v175 r206 v176 v177 r229 v178 v179 r145 v180 r285 v181 r265 v182 r249 v183 r148 v184 v185 v186 v187 r203 v188 v189 r143 v190 v191 v192 r141 v193 r239 v194 r162 v195 v196 v197 v198 v199 r164 v200 r278 v201 v202 v203 r231 v204 r204 v205 v206 r242 v207 v208 v209 v210 v211 r226 v212 r216 v213 v214 v215 v216 r144 v217 v218 r166 v219 v220 r252 v221 r267 v222 v223 v224 v225 r233 v226 r279 v227 v228 r153 v229 r235 v230 v231 r283 v232 r197 v233 r178 v234 r156 v235 v236 v237 r210 v238 v239 v240 v241 v242 r282 v243 r169 v244 v245 r211 v246 v247 v248 r244 v249 v250 v251 v252 v253 r288 v254 v255 r232 v256 r191 v257 r241 v258 r199 v259 r261 v260 v261 r147 v262 r248 v263 r253 v264 r140 v265 r258 v266 r159 v267 v268 v269 r181 v270 r172 v271 v272 v273 r160 v274 r152 v275 r256 v276 r187 v277 v278 r184 v279 r161 v280 r271 v281 r215 v282 r173 v283 v284 v285 r158 v286 r287 v287 r179 v288 ) (:init (free v0) (free v1) (free v2) (at r149 v3) (free v4) (at r222 v5) (free v6) (free v7) (free v8) (at r243 v9) (free v10) (free v11) (at r155 v12) (free v13) (free v14) (at r201 v15) (at r274 v16) (at r276 v17) (at r236 v18) (at r186 v19) (free v20) (at r281 v21) (at r272 v22) (free v23) (at r175 v24) (free v25) (at r194 v26) (at r280 v27) (free v28) (at r157 v29) (at r247 v30) (at r224 v31) (at r171 v32) (free v33) (at r269 v34) (free v35) (at r277 v36) (free v37) (free v38) (free v39) (free v40) (free v41) (free v42) (at r205 v43) (at r245 v44) (at r263 v45) (free v46) (at r251 v47) (free v48) (free v49) (free v50) (free v51) (free v52) (at r257 v53) (free v54) (at r268 v55) (free v56) (at r154 v57) (at r240 v58) (free v59) (at r225 v60) (free v61) (at r168 v62) (free v63) (free v64) (free v65) (at r180 v66) (at r142 v67) (at r196 v68) (at r208 v69) (at r209 v70) (free v71) (at r188 v72) (at r246 v73) (free v74) (at r286 v75) (at r202 v76) (at r167 v77) (free v78) (at r275 v79) (at r198 v80) (at r250 v81) (at r273 v82) (free v83) (at r185 v84) (at r230 v85) (at r195 v86) (free v87) (at r170 v88) (free v89) (free v90) (free v91) (free v92) (free v93) (free v94) (at r220 v95) (at r218 v96) (at r266 v97) (free v98) (at r227 v99) (free v100) (free v101) (at r189 v102) (free v103) (free v104) (at r264 v105) (at r182 v106) (free v107) (free v108) (at r221 v109) (free v110) (at r238 v111) (free v112) (at r150 v113) (at r183 v114) (free v115) (at r234 v116) (at r163 v117) (free v118) (at r270 v119) (at r255 v120) (at r139 v121) (at r207 v122) (free v123) (free v124) (at r260 v125) (at r223 v126) (free v127) (free v128) (at r193 v129) (free v130) (free v131) (at r190 v132) (free v133) (free v134) (at r177 v135) (free v136) (free v137) (free v138) (at r174 v139) (free v140) (at r214 v141) (at r259 v142) (free v143) (at r212 v144) (free v145) (free v146) (free v147) (free v148) (at r151 v149) (free v150) (free v151) (free v152) (free v153) (at r192 v154) (free v155) (free v156) (at r219 v157) (at r217 v158) (free v159) (free v160) (at r228 v161) (at r176 v162) (at r200 v163) (at r237 v164) (at r146 v165) (free v166) (free v167) (free v168) (at r213 v169) (at r284 v170) (at r262 v171) (at r165 v172) (free v173) (at r254 v174) (at r206 v175) (free v176) (at r229 v177) (free v178) (at r145 v179) (at r285 v180) (at r265 v181) (at r249 v182) (at r148 v183) (free v184) (free v185) (free v186) (at r203 v187) (free v188) (at r143 v189) (free v190) (free v191) (at r141 v192) (at r239 v193) (at r162 v194) (free v195) (free v196) (free v197) (free v198) (at r164 v199) (at r278 v200) (free v201) (free v202) (at r231 v203) (at r204 v204) (free v205) (at r242 v206) (free v207) (free v208) (free v209) (free v210) (at r226 v211) (at r216 v212) (free v213) (free v214) (free v215) (at r144 v216) (free v217) (at r166 v218) (free v219) (at r252 v220) (at r267 v221) (free v222) (free v223) (free v224) (at r233 v225) (at r279 v226) (free v227) (at r153 v228) (at r235 v229) (free v230) (at r283 v231) (at r197 v232) (at r178 v233) (at r156 v234) (free v235) (free v236) (at r210 v237) (free v238) (free v239) (free v240) (free v241) (at r282 v242) (at r169 v243) (free v244) (at r211 v245) (free v246) (free v247) (at r244 v248) (free v249) (free v250) (free v251) (free v252) (at r288 v253) (free v254) (at r232 v255) (at r191 v256) (at r241 v257) (at r199 v258) (at r261 v259) (free v260) (at r147 v261) (at r248 v262) (at r253 v263) (at r140 v264) (at r258 v265) (at r159 v266) (free v267) (free v268) (at r181 v269) (at r172 v270) (free v271) (free v272) (at r160 v273) (at r152 v274) (at r256 v275) (at r187 v276) (free v277) (at r184 v278) (at r161 v279) (at r271 v280) (at r215 v281) (at r173 v282) (free v283) (free v284) (at r158 v285) (at r287 v286) (at r179 v287) (free v288) (adjacent v0 v1) 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(adjacent v24 v31) (adjacent v24 v94) (adjacent v24 v281) (adjacent v25 v26) (adjacent v26 v27) (adjacent v26 v131) (adjacent v27 v28) (adjacent v27 v47) (adjacent v28 v29) (adjacent v28 v38) (adjacent v28 v249) (adjacent v29 v30) (adjacent v29 v36) (adjacent v30 v61) (adjacent v31 v32) (adjacent v32 v33) (adjacent v32 v98) (adjacent v32 v124) (adjacent v33 v54) (adjacent v33 v152) (adjacent v33 v195) (adjacent v34 v35) (adjacent v34 v54) (adjacent v35 v36) (adjacent v35 v79) (adjacent v36 v86) (adjacent v37 v41) (adjacent v37 v44) (adjacent v37 v67) (adjacent v37 v78) (adjacent v37 v139) (adjacent v38 v39) (adjacent v39 v40) (adjacent v40 v41) (adjacent v42 v43) (adjacent v42 v197) (adjacent v43 v125) (adjacent v44 v45) (adjacent v44 v168) (adjacent v45 v46) (adjacent v45 v138) (adjacent v46 v47) (adjacent v48 v49) (adjacent v49 v50) (adjacent v49 v167) (adjacent v50 v51) (adjacent v50 v109) (adjacent v51 v267) (adjacent v52 v53) (adjacent v54 v117) (adjacent v54 v213) (adjacent v55 v56) (adjacent v56 v57) (adjacent v57 v58) (adjacent v57 v85) (adjacent v57 v140) (adjacent v58 v59) (adjacent v58 v93) (adjacent v59 v60) (adjacent v59 v72) (adjacent v59 v217) (adjacent v60 v61) (adjacent v62 v63) (adjacent v63 v64) (adjacent v64 v65) (adjacent v64 v198) (adjacent v65 v66) (adjacent v65 v97) (adjacent v65 v139) (adjacent v66 v67) (adjacent v67 v114) (adjacent v68 v69) (adjacent v69 v70) (adjacent v69 v284) (adjacent v70 v71) (adjacent v71 v72) (adjacent v73 v74) (adjacent v73 v159) (adjacent v73 v166) (adjacent v73 v222) (adjacent v74 v75) (adjacent v74 v147) (adjacent v75 v76) (adjacent v75 v95) (adjacent v75 v99) (adjacent v76 v77) (adjacent v77 v78) (adjacent v77 v283) (adjacent v78 v158) (adjacent v79 v80) (adjacent v80 v81) (adjacent v81 v82) (adjacent v82 v83) (adjacent v83 v84) (adjacent v84 v85) (adjacent v84 v104) (adjacent v86 v87) (adjacent v86 v187) (adjacent v87 v88) (adjacent v87 v98) (adjacent v87 v161) (adjacent v88 v89) (adjacent v89 v90) (adjacent v90 v91) (adjacent v91 v92) (adjacent v92 v186) (adjacent v93 v94) (adjacent v93 v168) (adjacent v95 v96) (adjacent v95 v167) (adjacent v95 v191) (adjacent v95 v203) (adjacent v96 v97) (adjacent v99 v100) (adjacent v100 v101) (adjacent v101 v102) (adjacent v101 v153) (adjacent v101 v265) (adjacent v102 v103) (adjacent v104 v105) (adjacent v104 v216) (adjacent v105 v106) (adjacent v106 v107) (adjacent v107 v108) (adjacent v107 v273) (adjacent v108 v232) (adjacent v109 v110) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v113 v192) (adjacent v114 v115) (adjacent v115 v116) (adjacent v115 v260) (adjacent v116 v117) (adjacent v118 v119) (adjacent v119 v120) (adjacent v120 v121) (adjacent v121 v122) (adjacent v121 v225) (adjacent v122 v123) (adjacent v123 v124) (adjacent v124 v132) (adjacent v125 v126) (adjacent v125 v246) (adjacent v126 v127) (adjacent v127 v128) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v131 v274) (adjacent v131 v280) (adjacent v132 v133) (adjacent v132 v169) (adjacent v133 v134) (adjacent v134 v135) (adjacent v134 v182) (adjacent v135 v136) (adjacent v136 v137) (adjacent v137 v138) (adjacent v137 v148) (adjacent v137 v174) (adjacent v137 v208) (adjacent v141 v142) (adjacent v141 v162) (adjacent v141 v173) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v152 v183) (adjacent v153 v154) (adjacent v153 v263) (adjacent v154 v155) (adjacent v155 v156) (adjacent v155 v176) (adjacent v156 v157) (adjacent v156 v202) (adjacent v157 v158) (adjacent v159 v160) (adjacent v160 v161) (adjacent v162 v163) (adjacent v163 v164) (adjacent v163 v194) (adjacent v164 v165) (adjacent v165 v166) (adjacent v169 v170) (adjacent v170 v171) (adjacent v170 v209) (adjacent v170 v278) (adjacent v171 v172) (adjacent v172 v173) (adjacent v174 v175) (adjacent v174 v177) (adjacent v174 v207) (adjacent v175 v176) (adjacent v175 v239) (adjacent v176 v233) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v179 v226) (adjacent v180 v181) (adjacent v180 v285) (adjacent v181 v182) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v185 v214) (adjacent v187 v188) (adjacent v188 v189) (adjacent v188 v238) (adjacent v189 v190) (adjacent v190 v191) (adjacent v192 v193) (adjacent v193 v194) (adjacent v195 v196) (adjacent v196 v197) (adjacent v198 v199) (adjacent v198 v223) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v202) (adjacent v201 v212) (adjacent v203 v204) (adjacent v203 v210) (adjacent v204 v205) (adjacent v204 v282) (adjacent v205 v206) (adjacent v206 v207) (adjacent v206 v250) (adjacent v208 v209) (adjacent v208 v264) (adjacent v210 v211) (adjacent v211 v212) (adjacent v214 v215) (adjacent v215 v216) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v220 v221) (adjacent v221 v222) (adjacent v223 v224) (adjacent v224 v225) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v228 v245) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v232) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v237 v255) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v243 v259) (adjacent v244 v245) (adjacent v245 v266) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v250 v251) (adjacent v251 v252) (adjacent v251 v264) (adjacent v252 v253) (adjacent v252 v256) (adjacent v253 v254) (adjacent v254 v255) (adjacent v254 v279) (adjacent v256 v257) (adjacent v257 v258) (adjacent v258 v259) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v265 v266) (adjacent v267 v268) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v274 v275) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v279 v280) (adjacent v281 v282) (adjacent v283 v284) (adjacent v285 v286) (adjacent v286 v287) (adjacent v287 v288) ) (:goal (and (at r147 v0) (free v1) (at r288 v2) (free v3) (at r153 v4) (at r149 v5) (at r146 v6) (free v7) (at r230 v8) (at r286 v9) (at r150 v10) (at r252 v11) (free v12) (at r178 v13) (at r234 v14) (free v15) (at r174 v16) (at r209 v17) (free v18) (free v19) (at r154 v20) (at r236 v21) (at r200 v22) (at r172 v23) (at r160 v24) (free v25) (free v26) (free v27) (free v28) (free v29) (at r201 v30) (free v31) (free v32) (at r266 v33) (at r157 v34) (at r194 v35) (free v36) (at r143 v37) (at r245 v38) (free v39) (free v40) (at r254 v41) (free v42) (free v43) (at r257 v44) (free v45) (free v46) (free v47) (at r193 v48) (at r166 v49) (free v50) (free v51) (free v52) (at r246 v53) (at r195 v54) (free v55) (at r151 v56) (free v57) (at r284 v58) (free v59) (free v60) (free v61) (at r271 v62) (at r168 v63) (at r144 v64) (at r283 v65) (at r220 v66) (free v67) (free v68) (at r159 v69) (free v70) (at r247 v71) (at r182 v72) (free v73) (at r233 v74) (at r141 v75) (at r180 v76) (free v77) (at r179 v78) (at r238 v79) (at r278 v80) (free v81) (free v82) (free v83) (at r196 v84) (free v85) (at r207 v86) (at r275 v87) (at r142 v88) (at r170 v89) (at r241 v90) (free v91) (free v92) (at r274 v93) (free v94) (at r192 v95) (free v96) (free v97) (at r221 v98) (free v99) (at r181 v100) (at r171 v101) (at r240 v102) (at r225 v103) (free v104) (at r177 v105) (free v106) (free v107) (at r227 v108) (at r197 v109) (at r250 v110) (free v111) (free v112) (free v113) (free v114) (at r217 v115) (at r229 v116) (at r202 v117) (at r176 v118) (at r218 v119) (at r244 v120) (at r237 v121) (at r260 v122) (free v123) (free v124) (free v125) (free v126) (at r239 v127) (at r273 v128) (free v129) (at r256 v130) (free v131) (at r262 v132) (free v133) (at r211 v134) (at r163 v135) (free v136) (at r277 v137) (free v138) (free v139) (free v140) (at r161 v141) (at r248 v142) (free v143) (free v144) (free v145) (free v146) (at r164 v147) (at r267 v148) (free v149) (free v150) (free v151) (free v152) (free v153) (free v154) (free v155) (free v156) (free v157) (free v158) (free v159) (at r188 v160) (at r165 v161) (free v162) (free v163) (free v164) (at r214 v165) (at r280 v166) (free v167) (free v168) (free v169) (at r203 v170) (at r199 v171) (free v172) (at r268 v173) (at r228 v174) (at r216 v175) (at r191 v176) (free v177) (free v178) (free v179) (at r212 v180) (at r287 v181) (at r187 v182) (at r235 v183) (free v184) (free v185) (at r215 v186) (free v187) (at r152 v188) (free v189) (free v190) (at r140 v191) (at r167 v192) (free v193) (at r242 v194) (at r148 v195) (free v196) (at r261 v197) (at r139 v198) (free v199) (at r155 v200) (free v201) (free v202) (at r222 v203) (free v204) (at r251 v205) (at r145 v206) (at r269 v207) (free v208) (at r265 v209) (at r270 v210) (free v211) (free v212) (free v213) (free v214) (free v215) (at r162 v216) (at r206 v217) (free v218) (free v219) (free v220) (at r224 v221) (free v222) (free v223) (at r198 v224) (at r183 v225) (at r259 v226) (free v227) (at r223 v228) (free v229) (at r255 v230) (at r213 v231) (free v232) (free v233) (free v234) (at r189 v235) (free v236) (at r175 v237) (free v238) (at r186 v239) (at r282 v240) (at r263 v241) (free v242) (free v243) (at r276 v244) (free v245) (at r281 v246) (at r264 v247) (at r156 v248) (free v249) (at r158 v250) (free v251) (free v252) (free v253) (free v254) (free v255) (free v256) (at r232 v257) (at r272 v258) (at r249 v259) (at r253 v260) (at r285 v261) (free v262) (free v263) (at r190 v264) (at r279 v265) (at r208 v266) (free v267) (free v268) (free v269) (at r243 v270) (at r258 v271) (at r219 v272) (at r210 v273) (free v274) (at r173 v275) (at r226 v276) (at r169 v277) (at r185 v278) (free v279) (free v280) (free v281) (at r204 v282) (at r205 v283) (free v284) (at r184 v285) (at r231 v286) (free v287) (free v288) ) ) )