(define (problem multirobot_76_90%_c5) (:domain multirobot) (:objects v0 v1 v2 r161 v3 v4 r162 v5 r136 v6 r250 v7 r224 v8 v9 r164 v10 r195 v11 v12 v13 r237 v14 r206 v15 r238 v16 r227 v17 r187 v18 r212 v19 v20 r221 v21 r183 v22 r245 v23 v24 r274 v25 v26 r191 v27 r244 v28 r267 v29 r249 v30 v31 r275 v32 v33 r184 v34 v35 v36 v37 v38 r192 v39 r160 v40 v41 r228 v42 r167 v43 r233 v44 v45 v46 r247 v47 r168 v48 r130 v49 r276 v50 v51 r188 v52 v53 r256 v54 r246 v55 v56 v57 r243 v58 v59 v60 v61 v62 r131 v63 r132 v64 v65 v66 v67 r239 v68 r280 v69 r194 v70 r146 v71 r151 v72 r176 v73 v74 v75 v76 r141 v77 r197 v78 v79 r215 v80 r266 v81 v82 r149 v83 v84 r264 v85 v86 v87 r211 v88 r185 v89 r240 v90 r190 v91 r135 v92 r265 v93 r181 v94 r216 v95 v96 v97 v98 r129 v99 r178 v100 r217 v101 r223 v102 r273 v103 v104 r226 v105 v106 v107 v108 v109 r213 v110 v111 r225 v112 r260 v113 v114 v115 v116 r281 v117 v118 v119 r272 v120 r230 v121 r157 v122 r254 v123 r201 v124 v125 r145 v126 v127 r142 v128 r231 v129 v130 r155 v131 r139 v132 v133 r193 v134 r261 v135 r182 v136 r175 v137 v138 v139 v140 r140 v141 v142 v143 v144 v145 v146 v147 v148 r252 v149 r196 v150 r150 v151 v152 r153 v153 r177 v154 r203 v155 r154 v156 v157 v158 v159 r202 v160 v161 r173 v162 v163 v164 v165 r218 v166 r138 v167 v168 r220 v169 v170 r229 v171 r268 v172 r180 v173 v174 v175 v176 r234 v177 r148 v178 r270 v179 r279 v180 v181 v182 r251 v183 r258 v184 v185 r271 v186 r143 v187 r209 v188 v189 r219 v190 v191 r263 v192 v193 r159 v194 r134 v195 v196 v197 v198 v199 r253 v200 r152 v201 r189 v202 v203 v204 r222 v205 v206 v207 v208 v209 r200 v210 v211 v212 r204 v213 v214 v215 r144 v216 v217 v218 v219 v220 v221 v222 v223 r165 v224 r278 v225 v226 r255 v227 v228 v229 r242 v230 r198 v231 r137 v232 r172 v233 r262 v234 v235 v236 v237 r179 v238 r170 v239 r236 v240 r248 v241 r199 v242 r147 v243 r156 v244 r235 v245 v246 r207 v247 r241 v248 r257 v249 r210 v250 v251 r269 v252 v253 r186 v254 v255 r166 v256 v257 r133 v258 r205 v259 v260 r163 v261 r259 v262 v263 v264 r214 v265 r277 v266 v267 v268 r208 v269 r169 v270 v271 v272 r171 v273 v274 r174 v275 v276 r158 v277 v278 r232 v279 v280 v281 ) (:init (free v0) (free v1) (at r161 v2) (free v3) (at r162 v4) (at r136 v5) (at r250 v6) (at r224 v7) (free v8) (at r164 v9) (at r195 v10) (free v11) (free v12) (at r237 v13) (at r206 v14) (at r238 v15) (at r227 v16) (at r187 v17) (at r212 v18) (free v19) (at r221 v20) (at r183 v21) (at r245 v22) (free v23) (at r274 v24) (free v25) (at r191 v26) (at r244 v27) (at r267 v28) (at r249 v29) (free v30) (at r275 v31) (free v32) (at r184 v33) (free v34) (free v35) (free v36) (free v37) (at r192 v38) (at r160 v39) (free v40) (at r228 v41) (at r167 v42) (at r233 v43) (free v44) (free v45) (at r247 v46) (at r168 v47) (at r130 v48) (at r276 v49) (free v50) (at r188 v51) (free v52) (at r256 v53) (at r246 v54) (free v55) (free v56) (at r243 v57) (free v58) (free v59) (free v60) (free v61) (at r131 v62) (at r132 v63) (free v64) (free v65) (free v66) (at r239 v67) (at r280 v68) (at r194 v69) (at r146 v70) (at r151 v71) (at r176 v72) (free v73) (free v74) (free v75) (at r141 v76) (at r197 v77) (free v78) (at r215 v79) (at r266 v80) (free v81) (at r149 v82) (free v83) (at r264 v84) (free v85) (free v86) (at r211 v87) (at r185 v88) (at r240 v89) (at r190 v90) (at r135 v91) (at r265 v92) (at r181 v93) (at r216 v94) (free v95) (free v96) (free v97) (at r129 v98) (at r178 v99) (at r217 v100) (at r223 v101) (at r273 v102) (free v103) (at r226 v104) (free v105) (free v106) (free v107) (free v108) (at r213 v109) (free v110) (at r225 v111) (at r260 v112) (free v113) (free v114) (free v115) (at r281 v116) (free v117) (free v118) (at r272 v119) (at r230 v120) (at r157 v121) (at r254 v122) (at r201 v123) (free v124) (at r145 v125) (free v126) (at r142 v127) (at r231 v128) (free v129) (at r155 v130) (at r139 v131) (free v132) (at r193 v133) (at r261 v134) (at r182 v135) (at r175 v136) (free v137) (free v138) (free v139) (at r140 v140) (free v141) (free v142) (free v143) (free v144) (free v145) (free v146) (free v147) (at r252 v148) (at r196 v149) (at r150 v150) (free v151) (at r153 v152) (at r177 v153) (at r203 v154) (at r154 v155) (free v156) (free v157) (free v158) (at r202 v159) (free v160) (at r173 v161) (free v162) (free v163) (free v164) (at r218 v165) (at r138 v166) (free v167) (at r220 v168) (free v169) (at r229 v170) (at r268 v171) (at r180 v172) (free v173) (free v174) (free v175) (at r234 v176) (at r148 v177) (at r270 v178) (at r279 v179) (free v180) (free v181) (at r251 v182) (at r258 v183) (free v184) (at r271 v185) (at r143 v186) (at r209 v187) (free v188) (at r219 v189) (free v190) (at r263 v191) (free v192) (at r159 v193) (at r134 v194) (free v195) (free v196) (free v197) (free v198) (at r253 v199) (at r152 v200) (at r189 v201) (free v202) (free v203) (at r222 v204) (free v205) (free v206) (free v207) (free v208) (at r200 v209) (free v210) (free v211) (at r204 v212) (free v213) (free v214) (at r144 v215) (free v216) (free v217) (free v218) (free v219) (free v220) (free v221) (free v222) (at r165 v223) (at r278 v224) (free v225) (at r255 v226) (free v227) (free v228) (at r242 v229) (at r198 v230) (at r137 v231) (at r172 v232) (at r262 v233) (free v234) (free v235) (free v236) (at r179 v237) (at r170 v238) (at r236 v239) (at r248 v240) (at r199 v241) (at r147 v242) (at r156 v243) (at r235 v244) (free v245) (at r207 v246) (at r241 v247) (at r257 v248) (at r210 v249) (free v250) (at r269 v251) (free v252) (at r186 v253) (free v254) (at r166 v255) (free v256) (at r133 v257) (at r205 v258) (free v259) (at r163 v260) (at r259 v261) (free v262) (free v263) (at r214 v264) (at r277 v265) (free v266) (free v267) (at r208 v268) (at r169 v269) (free v270) (free v271) (at r171 v272) (free v273) (at r174 v274) (free v275) (at r158 v276) (free v277) (at r232 v278) (free v279) (free v280) (free v281) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v6) (adjacent v0 v25) (adjacent v1 v2) (adjacent v1 v9) (adjacent v1 v15) (adjacent v1 v92) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v8) (adjacent v3 v4) (adjacent v4 v5) (adjacent v4 v53) (adjacent v4 v232) (adjacent v5 v10) (adjacent v5 v15) (adjacent v6 v7) (adjacent v6 v14) (adjacent v6 v18) (adjacent v6 v31) (adjacent v6 v75) (adjacent v7 v8) (adjacent v7 v9) (adjacent v9 v16) (adjacent v9 v30) (adjacent v10 v11) (adjacent v11 v12) (adjacent v11 v24) (adjacent v11 v100) (adjacent v12 v13) (adjacent v13 v14) (adjacent v13 v47) (adjacent v13 v56) (adjacent v14 v17) (adjacent v14 v35) (adjacent v14 v67) (adjacent v14 v112) (adjacent v14 v149) (adjacent v15 v43) (adjacent v15 v72) (adjacent v15 v87) (adjacent v15 v124) (adjacent v15 v176) (adjacent v16 v17) (adjacent v16 v231) (adjacent v17 v57) (adjacent v17 v264) (adjacent v18 v19) (adjacent v19 v20) (adjacent v19 v92) (adjacent v19 v244) (adjacent v20 v21) (adjacent v20 v42) (adjacent v20 v45) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v79) (adjacent v22 v208) (adjacent v22 v214) (adjacent v23 v24) (adjacent v23 v34) (adjacent v23 v138) (adjacent v24 v60) (adjacent v25 v26) (adjacent v26 v27) (adjacent v26 v137) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v95) (adjacent v28 v183) (adjacent v28 v216) (adjacent v29 v30) (adjacent v30 v33) (adjacent v30 v36) (adjacent v30 v113) (adjacent v30 v189) (adjacent v31 v32) (adjacent v32 v33) (adjacent v32 v73) (adjacent v32 v91) (adjacent v33 v109) (adjacent v34 v35) (adjacent v36 v37) (adjacent v36 v86) (adjacent v37 v38) (adjacent v37 v46) (adjacent v38 v39) (adjacent v38 v57) (adjacent v38 v190) (adjacent v39 v40) (adjacent v39 v239) (adjacent v40 v41) (adjacent v40 v46) (adjacent v40 v91) (adjacent v41 v42) (adjacent v42 v72) (adjacent v42 v90) (adjacent v43 v44) (adjacent v43 v74) (adjacent v44 v45) (adjacent v45 v54) (adjacent v45 v123) (adjacent v46 v96) (adjacent v46 v161) (adjacent v47 v48) (adjacent v47 v80) (adjacent v47 v101) (adjacent v48 v49) (adjacent v48 v246) (adjacent v49 v50) (adjacent v49 v58) (adjacent v49 v95) (adjacent v50 v51) (adjacent v50 v120) (adjacent v51 v52) (adjacent v51 v93) (adjacent v52 v53) (adjacent v52 v66) (adjacent v52 v184) (adjacent v54 v55) (adjacent v54 v61) (adjacent v55 v56) (adjacent v55 v242) (adjacent v56 v110) (adjacent v57 v71) (adjacent v58 v59) (adjacent v59 v60) (adjacent v61 v62) (adjacent v61 v94) (adjacent v62 v63) (adjacent v63 v64) (adjacent v63 v159) (adjacent v64 v65) (adjacent v64 v142) (adjacent v65 v66) (adjacent v67 v68) (adjacent v68 v69) (adjacent v68 v245) (adjacent v69 v70) (adjacent v69 v119) (adjacent v70 v71) (adjacent v70 v155) (adjacent v73 v74) (adjacent v73 v104) (adjacent v73 v166) (adjacent v75 v76) (adjacent v75 v281) (adjacent v76 v77) (adjacent v76 v143) (adjacent v77 v78) (adjacent v77 v220) (adjacent v78 v79) (adjacent v79 v172) (adjacent v80 v81) (adjacent v81 v82) (adjacent v81 v278) (adjacent v82 v83) (adjacent v83 v84) (adjacent v84 v85) (adjacent v85 v86) (adjacent v86 v175) (adjacent v87 v88) (adjacent v88 v89) (adjacent v89 v90) (adjacent v90 v279) (adjacent v93 v94) (adjacent v93 v129) (adjacent v93 v143) (adjacent v93 v160) (adjacent v94 v240) (adjacent v95 v105) (adjacent v96 v97) (adjacent v97 v98) (adjacent v97 v213) (adjacent v98 v99) (adjacent v98 v183) (adjacent v98 v243) (adjacent v98 v269) (adjacent v98 v278) (adjacent v99 v100) (adjacent v99 v227) (adjacent v100 v136) (adjacent v101 v102) (adjacent v101 v270) (adjacent v102 v103) (adjacent v102 v160) (adjacent v103 v104) (adjacent v105 v106) (adjacent v105 v156) (adjacent v106 v107) (adjacent v107 v108) (adjacent v108 v109) (adjacent v110 v111) (adjacent v111 v112) (adjacent v111 v277) (adjacent v113 v114) (adjacent v113 v238) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v130) (adjacent v116 v207) (adjacent v116 v274) (adjacent v117 v118) (adjacent v118 v119) (adjacent v118 v149) (adjacent v120 v121) (adjacent v121 v122) (adjacent v121 v182) (adjacent v122 v123) (adjacent v123 v250) (adjacent v124 v125) (adjacent v125 v126) (adjacent v125 v148) (adjacent v126 v127) (adjacent v126 v217) (adjacent v127 v128) (adjacent v128 v129) (adjacent v129 v137) (adjacent v129 v239) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v132 v150) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v136) (adjacent v135 v217) (adjacent v137 v144) (adjacent v138 v139) (adjacent v138 v226) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v143 v245) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v146 v197) (adjacent v147 v148) (adjacent v150 v151) (adjacent v151 v152) (adjacent v151 v167) (adjacent v152 v153) (adjacent v153 v154) (adjacent v154 v155) (adjacent v154 v258) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v161 v162) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v167 v168) (adjacent v167 v196) (adjacent v168 v169) (adjacent v169 v170) (adjacent v169 v173) (adjacent v170 v171) (adjacent v171 v172) (adjacent v173 v174) (adjacent v174 v175) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v180 v233) (adjacent v181 v182) (adjacent v183 v207) (adjacent v184 v185) (adjacent v184 v218) (adjacent v185 v186) (adjacent v186 v187) (adjacent v187 v188) (adjacent v187 v203) (adjacent v188 v189) (adjacent v190 v191) (adjacent v191 v192) (adjacent v191 v240) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v194 v275) (adjacent v195 v196) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v200 v201) (adjacent v200 v204) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v206) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v241) (adjacent v208 v209) (adjacent v208 v232) (adjacent v209 v210) (adjacent v210 v211) (adjacent v210 v263) (adjacent v211 v212) (adjacent v212 v213) (adjacent v212 v271) (adjacent v214 v215) (adjacent v215 v216) (adjacent v217 v219) (adjacent v218 v219) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v227 v228) (adjacent v228 v229) (adjacent v228 v251) (adjacent v228 v270) (adjacent v229 v230) (adjacent v230 v231) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v240 v257) (adjacent v241 v242) (adjacent v243 v244) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v251 v252) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v275 v276) (adjacent v276 v277) (adjacent v279 v280) (adjacent v280 v281) ) (:goal (and (at r161 v0) (at r233 v1) (at r143 v2) (free v3) (at r171 v4) (free v5) (at r159 v6) (at r151 v7) (at r231 v8) (free v9) (at r199 v10) (at r203 v11) (free v12) (free v13) (free v14) (free v15) (at r264 v16) (at r263 v17) (at r242 v18) (at r193 v19) (at r174 v20) (free v21) (at r271 v22) (at r273 v23) (free v24) (free v25) (at r197 v26) (free v27) (free v28) (free v29) (at r194 v30) (at r274 v31) (at r166 v32) (free v33) (free v34) (free v35) (at r239 v36) (free v37) (at r191 v38) (at r172 v39) (free v40) (at r147 v41) (at r234 v42) (free v43) (at r272 v44) (free v45) (at r237 v46) (free v47) (free v48) (free v49) (at r280 v50) (at r196 v51) (free v52) (free v53) (at r184 v54) (free v55) (at r149 v56) (at r266 v57) (at r222 v58) (at r275 v59) (free v60) (at r205 v61) (free v62) (at r169 v63) (at r153 v64) (at r259 v65) (free v66) (free v67) (at r210 v68) (free v69) (at r251 v70) (free v71) (at r252 v72) (at r202 v73) (free v74) (free v75) (free v76) (free v77) (at r148 v78) (free v79) (at r270 v80) (free v81) (free v82) (free v83) (free v84) (at r165 v85) (free v86) (at r255 v87) (free v88) (at r170 v89) (at r152 v90) (free v91) (free v92) (at r246 v93) (free v94) (at r268 v95) (free v96) (at r175 v97) (free v98) (at r185 v99) (free v100) (at r130 v101) (at r132 v102) (free v103) (at r183 v104) (free v105) (at r157 v106) (free v107) (at r189 v108) (free v109) (at r235 v110) (at r182 v111) (free v112) (free v113) (at r156 v114) (at r211 v115) (free v116) (at r228 v117) (at r262 v118) (free v119) (at r261 v120) (free v121) (free v122) (free v123) (free v124) (at r131 v125) (at r135 v126) (at r192 v127) (at r216 v128) (at r206 v129) (free v130) (free v131) (at r229 v132) (at r209 v133) (free v134) (free v135) (free v136) (at r204 v137) (at r244 v138) (at r281 v139) (at r195 v140) (at r155 v141) (at r230 v142) (at r260 v143) (free v144) (at r276 v145) (at r207 v146) (at r179 v147) (free v148) (free v149) (at r223 v150) (at r243 v151) (free v152) (free v153) (at r224 v154) (at r253 v155) (free v156) (free v157) (at r187 v158) (free v159) (free v160) (at r249 v161) (free v162) (free v163) (free v164) (free v165) (free v166) (at r254 v167) (at r136 v168) (at r140 v169) (at r245 v170) (at r181 v171) (at r138 v172) (at r164 v173) (free v174) (at r188 v175) (free v176) (at r217 v177) (at r146 v178) (free v179) (at r267 v180) (at r277 v181) (at r160 v182) (at r134 v183) (at r137 v184) (at r144 v185) (free v186) (at r269 v187) (free v188) (at r150 v189) (at r201 v190) (at r241 v191) (free v192) (at r250 v193) (at r278 v194) (free v195) (free v196) (at r180 v197) (at r133 v198) (free v199) (free v200) (free v201) (free v202) (free v203) (at r221 v204) (at r256 v205) (free v206) (free v207) (free v208) (free v209) (at r177 v210) (at r279 v211) (at r176 v212) (at r248 v213) (free v214) (at r258 v215) (free v216) (at r213 v217) (at r158 v218) (at r227 v219) (at r167 v220) (at r265 v221) (at r173 v222) (free v223) (at r215 v224) (free v225) (free v226) (free v227) (free v228) (at r186 v229) (at r257 v230) (free v231) (free v232) (at r218 v233) (at r163 v234) (at r220 v235) (at r154 v236) (free v237) (free v238) (at r162 v239) (at r198 v240) (free v241) (free v242) (at r178 v243) (free v244) (at r129 v245) (at r219 v246) (free v247) (at r226 v248) (at r247 v249) (at r240 v250) (free v251) (at r142 v252) (at r145 v253) (free v254) (free v255) (free v256) (free v257) (at r139 v258) (at r200 v259) (free v260) (free v261) (free v262) (at r168 v263) (at r208 v264) (free v265) (at r238 v266) (at r214 v267) (free v268) (free v269) (at r141 v270) (at r190 v271) (free v272) (free v273) (at r212 v274) (at r236 v275) (at r225 v276) (free v277) (at r232 v278) (free v279) (free v280) (free v281) ) ) )