(define (problem multirobot_77_90%_c6) (:domain multirobot) (:objects v0 v1 r262 v2 v3 v4 r145 v5 r257 v6 r230 v7 r246 v8 v9 r173 v10 r170 v11 r144 v12 r264 v13 r218 v14 r220 v15 v16 v17 v18 v19 v20 v21 v22 v23 r226 v24 r265 v25 v26 r185 v27 r193 v28 r171 v29 r178 v30 v31 v32 v33 v34 v35 v36 v37 v38 r284 v39 v40 v41 v42 r219 v43 v44 r182 v45 v46 r174 v47 r167 v48 r236 v49 r258 v50 r150 v51 v52 v53 r140 v54 v55 r175 v56 v57 v58 v59 r143 v60 r277 v61 v62 r241 v63 v64 r270 v65 r190 v66 r194 v67 r275 v68 r242 v69 v70 v71 r177 v72 v73 v74 r280 v75 r271 v76 r239 v77 v78 r214 v79 r217 v80 r249 v81 v82 v83 v84 r172 v85 r286 v86 r208 v87 v88 v89 v90 v91 v92 v93 r200 v94 r181 v95 r294 v96 v97 r237 v98 r215 v99 r169 v100 v101 r205 v102 v103 r221 v104 v105 v106 r287 v107 v108 r164 v109 v110 r199 v111 r263 v112 r216 v113 r273 v114 v115 v116 r269 v117 r198 v118 r160 v119 v120 r251 v121 r259 v122 r202 v123 v124 r243 v125 v126 r224 v127 v128 r278 v129 v130 v131 r161 v132 v133 r229 v134 v135 r232 v136 r289 v137 v138 v139 r235 v140 r201 v141 v142 r283 v143 v144 r245 v145 v146 v147 v148 r222 v149 v150 v151 v152 r227 v153 v154 r197 v155 r209 v156 v157 v158 r250 v159 v160 v161 r154 v162 r268 v163 r276 v164 r155 v165 r166 v166 v167 r240 v168 r210 v169 v170 r176 v171 v172 r238 v173 v174 r158 v175 r149 v176 v177 r267 v178 r186 v179 v180 v181 r223 v182 v183 r189 v184 v185 r292 v186 v187 r281 v188 v189 v190 r157 v191 r274 v192 r184 v193 r261 v194 r141 v195 v196 r183 v197 v198 v199 r255 v200 v201 r213 v202 v203 r233 v204 r165 v205 v206 v207 r266 v208 r211 v209 v210 r192 v211 v212 v213 v214 r291 v215 r290 v216 v217 r256 v218 v219 r163 v220 v221 v222 v223 r146 v224 r285 v225 v226 r180 v227 r228 v228 r159 v229 v230 v231 v232 v233 v234 r203 v235 v236 v237 v238 v239 r152 v240 v241 r148 v242 r225 v243 r272 v244 v245 v246 v247 v248 r179 v249 r247 v250 v251 v252 v253 v254 r206 v255 r260 v256 v257 r244 v258 v259 v260 r252 v261 r279 v262 r234 v263 v264 r195 v265 r142 v266 r293 v267 v268 v269 r282 v270 v271 r156 v272 v273 r288 v274 r151 v275 r207 v276 v277 v278 v279 r153 v280 r254 v281 v282 r188 v283 r204 v284 r196 v285 r168 v286 r162 v287 v288 r147 v289 r248 v290 r253 v291 r187 v292 r191 v293 r231 v294 r212 ) (:init (free v0) (at r262 v1) (free v2) (free v3) (at r145 v4) (at r257 v5) (at r230 v6) (at r246 v7) (free v8) (at r173 v9) (at r170 v10) (at r144 v11) (at r264 v12) (at r218 v13) (at r220 v14) (free v15) (free v16) (free v17) (free v18) (free v19) (free v20) (free v21) (free v22) (at r226 v23) (at r265 v24) (free v25) (at r185 v26) (at r193 v27) (at r171 v28) (at r178 v29) (free v30) (free v31) (free v32) (free v33) (free v34) (free v35) (free v36) (free v37) (at r284 v38) (free v39) (free v40) (free v41) (at r219 v42) (free v43) (at r182 v44) (free v45) (at r174 v46) (at r167 v47) (at r236 v48) (at r258 v49) (at r150 v50) (free v51) (free v52) (at r140 v53) (free v54) (at r175 v55) (free v56) (free v57) (free v58) (at r143 v59) (at r277 v60) (free v61) (at r241 v62) (free v63) (at r270 v64) (at r190 v65) (at r194 v66) (at r275 v67) (at r242 v68) (free v69) (free v70) (at r177 v71) (free v72) (free v73) (at r280 v74) (at r271 v75) (at r239 v76) (free v77) (at r214 v78) (at r217 v79) (at r249 v80) (free v81) (free v82) (free v83) (at r172 v84) (at r286 v85) (at r208 v86) (free v87) (free v88) (free v89) (free v90) (free v91) (free v92) (at r200 v93) (at r181 v94) (at r294 v95) (free v96) (at r237 v97) (at r215 v98) (at r169 v99) (free v100) (at r205 v101) (free v102) (at r221 v103) (free v104) (free v105) (at r287 v106) (free v107) (at r164 v108) (free v109) (at r199 v110) (at r263 v111) (at r216 v112) (at r273 v113) (free v114) (free v115) (at r269 v116) (at r198 v117) (at r160 v118) (free v119) (at r251 v120) (at r259 v121) (at r202 v122) (free v123) (at r243 v124) (free v125) (at r224 v126) (free v127) (at r278 v128) (free v129) (free v130) (at r161 v131) (free v132) (at r229 v133) (free v134) (at r232 v135) (at r289 v136) (free v137) (free v138) (at r235 v139) (at r201 v140) (free v141) (at r283 v142) (free v143) (at r245 v144) (free v145) (free v146) (free v147) (at r222 v148) (free v149) (free v150) (free v151) (at r227 v152) (free v153) (at r197 v154) (at r209 v155) (free v156) (free v157) (at r250 v158) (free v159) (free v160) (at r154 v161) (at r268 v162) (at r276 v163) (at r155 v164) (at r166 v165) (free v166) (at r240 v167) (at r210 v168) (free v169) (at r176 v170) (free v171) (at r238 v172) (free v173) (at r158 v174) (at r149 v175) (free v176) (at r267 v177) (at r186 v178) (free v179) (free v180) (at r223 v181) (free v182) (at r189 v183) (free v184) (at r292 v185) (free v186) (at r281 v187) (free v188) (free v189) (at r157 v190) (at r274 v191) (at r184 v192) (at r261 v193) (at r141 v194) (free v195) (at r183 v196) (free v197) (free v198) (at r255 v199) (free v200) (at r213 v201) (free v202) (at r233 v203) (at r165 v204) (free v205) (free v206) (at r266 v207) (at r211 v208) (free v209) (at r192 v210) (free v211) (free v212) (free v213) (at r291 v214) (at r290 v215) (free v216) (at r256 v217) (free v218) (at r163 v219) (free v220) (free v221) (free v222) (at r146 v223) (at r285 v224) (free v225) (at r180 v226) (at r228 v227) (at r159 v228) (free v229) (free v230) (free v231) (free v232) (free v233) (at r203 v234) (free v235) (free v236) (free v237) (free v238) (at r152 v239) (free v240) (at r148 v241) (at r225 v242) (at r272 v243) (free v244) (free v245) (free v246) (free v247) (at r179 v248) (at r247 v249) (free v250) (free v251) (free v252) (free v253) (at r206 v254) (at r260 v255) (free v256) (at r244 v257) (free v258) (free v259) (at r252 v260) (at r279 v261) (at r234 v262) (free v263) (at r195 v264) (at r142 v265) (at r293 v266) (free v267) (free v268) (at r282 v269) (free v270) (at r156 v271) (free v272) (at r288 v273) (at r151 v274) (at r207 v275) (free v276) (free v277) (free v278) (at r153 v279) (at r254 v280) (free v281) (at r188 v282) (at r204 v283) (at r196 v284) (at r168 v285) (at r162 v286) (free v287) (at r147 v288) (at r248 v289) (at r253 v290) (at r187 v291) (at r191 v292) (at r231 v293) (at r212 v294) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v26) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v6) (adjacent v1 v11) (adjacent v1 v19) (adjacent v2 v3) (adjacent v2 v18) (adjacent v2 v94) (adjacent v2 v114) (adjacent v3 v4) (adjacent v3 v5) (adjacent v3 v32) (adjacent v4 v211) (adjacent v5 v10) (adjacent v6 v7) (adjacent v6 v20) (adjacent v7 v8) (adjacent v7 v55) (adjacent v7 v64) (adjacent v8 v9) (adjacent v8 v32) (adjacent v9 v10) (adjacent v9 v78) (adjacent v10 v11) (adjacent v10 v19) (adjacent v11 v12) (adjacent v12 v13) (adjacent v12 v145) (adjacent v12 v186) (adjacent v13 v14) (adjacent v13 v77) (adjacent v14 v15) (adjacent v15 v16) (adjacent v16 v17) (adjacent v16 v41) (adjacent v16 v45) (adjacent v16 v251) (adjacent v17 v18) (adjacent v17 v27) (adjacent v17 v42) (adjacent v17 v128) (adjacent v17 v187) (adjacent v18 v51) (adjacent v18 v65) (adjacent v18 v81) (adjacent v19 v31) (adjacent v19 v39) (adjacent v19 v120) (adjacent v20 v21) (adjacent v21 v22) (adjacent v21 v37) (adjacent v21 v101) (adjacent v22 v23) (adjacent v23 v24) (adjacent v23 v160) (adjacent v24 v25) (adjacent v24 v105) (adjacent v24 v224) (adjacent v24 v276) (adjacent v25 v26) (adjacent v25 v157) (adjacent v26 v40) (adjacent v26 v61) (adjacent v27 v28) (adjacent v27 v33) (adjacent v28 v29) (adjacent v28 v119) (adjacent v29 v30) (adjacent v29 v134) (adjacent v30 v31) (adjacent v30 v36) (adjacent v30 v224) (adjacent v31 v72) (adjacent v31 v90) (adjacent v32 v50) (adjacent v32 v102) (adjacent v33 v34) (adjacent v33 v46) (adjacent v34 v35) (adjacent v34 v89) (adjacent v34 v111) (adjacent v34 v233) (adjacent v35 v36) (adjacent v36 v99) (adjacent v37 v38) (adjacent v38 v39) (adjacent v38 v98) (adjacent v39 v71) (adjacent v39 v151) (adjacent v39 v188) (adjacent v40 v41) (adjacent v40 v62) (adjacent v42 v43) (adjacent v42 v54) (adjacent v43 v44) (adjacent v43 v74) (adjacent v43 v140) (adjacent v44 v45) (adjacent v45 v129) (adjacent v46 v47) (adjacent v46 v185) (adjacent v47 v48) (adjacent v47 v119) (adjacent v47 v271) (adjacent v48 v49) (adjacent v49 v50) (adjacent v49 v74) (adjacent v50 v139) (adjacent v51 v52) (adjacent v51 v133) (adjacent v51 v159) (adjacent v52 v53) (adjacent v53 v54) (adjacent v54 v75) (adjacent v54 v159) (adjacent v55 v56) (adjacent v55 v73) (adjacent v55 v223) (adjacent v55 v241) (adjacent v56 v57) (adjacent v57 v58) (adjacent v57 v135) (adjacent v58 v59) (adjacent v58 v104) (adjacent v58 v110) (adjacent v59 v60) (adjacent v60 v61) (adjacent v61 v89) (adjacent v62 v63) (adjacent v62 v287) (adjacent v63 v64) (adjacent v63 v175) (adjacent v65 v66) (adjacent v65 v134) (adjacent v65 v256) (adjacent v66 v67) (adjacent v66 v82) (adjacent v66 v291) (adjacent v67 v68) (adjacent v67 v82) (adjacent v67 v259) (adjacent v68 v69) (adjacent v68 v88) (adjacent v69 v70) (adjacent v69 v141) (adjacent v69 v156) (adjacent v70 v71) (adjacent v71 v230) (adjacent v72 v73) (adjacent v73 v83) (adjacent v75 v76) (adjacent v75 v115) (adjacent v76 v77) (adjacent v77 v95) (adjacent v77 v181) (adjacent v78 v79) (adjacent v78 v205) (adjacent v79 v80) (adjacent v80 v81) (adjacent v81 v206) (adjacent v82 v200) (adjacent v83 v84) (adjacent v83 v220) (adjacent v84 v85) (adjacent v85 v86) (adjacent v85 v184) (adjacent v86 v87) (adjacent v87 v88) (adjacent v90 v91) (adjacent v90 v140) (adjacent v91 v92) (adjacent v92 v93) (adjacent v93 v94) (adjacent v94 v118) (adjacent v94 v171) (adjacent v95 v96) (adjacent v95 v165) (adjacent v95 v232) (adjacent v96 v97) (adjacent v97 v98) (adjacent v99 v100) (adjacent v99 v125) (adjacent v99 v292) (adjacent v100 v101) (adjacent v101 v124) (adjacent v102 v103) (adjacent v102 v158) (adjacent v102 v265) (adjacent v103 v104) (adjacent v104 v216) (adjacent v105 v106) (adjacent v105 v146) (adjacent v106 v107) (adjacent v106 v194) (adjacent v107 v108) (adjacent v108 v109) (adjacent v109 v110) (adjacent v109 v234) (adjacent v111 v112) (adjacent v112 v113) (adjacent v112 v199) (adjacent v113 v114) (adjacent v113 v153) (adjacent v114 v215) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v154) (adjacent v117 v118) (adjacent v120 v121) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v166) (adjacent v125 v126) (adjacent v126 v127) (adjacent v126 v180) (adjacent v127 v128) (adjacent v128 v158) (adjacent v129 v130) (adjacent v129 v185) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v132 v150) (adjacent v132 v210) (adjacent v135 v136) (adjacent v136 v137) (adjacent v136 v213) (adjacent v137 v138) (adjacent v138 v139) (adjacent v138 v212) (adjacent v141 v142) (adjacent v142 v143) (adjacent v142 v212) (adjacent v143 v144) (adjacent v144 v145) (adjacent v145 v157) (adjacent v146 v147) (adjacent v146 v170) (adjacent v146 v221) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v151 v152) (adjacent v151 v240) (adjacent v152 v153) (adjacent v154 v155) (adjacent v155 v156) (adjacent v160 v161) (adjacent v160 v211) (adjacent v161 v162) (adjacent v162 v163) (adjacent v162 v264) (adjacent v163 v164) (adjacent v164 v165) (adjacent v164 v174) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v175 v176) (adjacent v176 v177) (adjacent v176 v288) (adjacent v177 v178) (adjacent v178 v179) (adjacent v178 v244) (adjacent v179 v180) (adjacent v181 v182) (adjacent v181 v270) (adjacent v182 v183) (adjacent v183 v184) (adjacent v183 v225) (adjacent v184 v245) (adjacent v186 v187) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v190 v195) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v233) (adjacent v200 v201) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v205 v281) (adjacent v206 v207) (adjacent v206 v250) (adjacent v207 v208) (adjacent v208 v209) (adjacent v209 v210) (adjacent v213 v214) (adjacent v214 v215) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v231) (adjacent v223 v294) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v229 v275) (adjacent v231 v232) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v238 v239) (adjacent v239 v240) (adjacent v239 v258) (adjacent v241 v242) (adjacent v242 v243) (adjacent v243 v244) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v247 v257) (adjacent v248 v249) (adjacent v249 v250) (adjacent v251 v252) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v257 v258) (adjacent v259 v260) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v262 v280) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v269 v270) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v281 v282) (adjacent v282 v283) (adjacent v283 v284) (adjacent v284 v285) (adjacent v285 v286) (adjacent v286 v287) (adjacent v288 v289) (adjacent v289 v290) (adjacent v290 v291) (adjacent v292 v293) (adjacent v293 v294) ) (:goal (and (at r165 v0) (free v1) (at r247 v2) (free v3) (at r159 v4) (at r146 v5) (free v6) (at r175 v7) (free v8) (at r186 v9) (free v10) (at r213 v11) (free v12) (free v13) (at r214 v14) (free v15) (at r289 v16) (free v17) (at r241 v18) (free v19) (free v20) (free v21) (at r256 v22) (free v23) (at r178 v24) (at r210 v25) (at r273 v26) (free v27) (at r205 v28) (at r252 v29) (at r173 v30) (at r257 v31) (free v32) (at r236 v33) (at r240 v34) (free v35) (at r201 v36) (free v37) (free v38) (free v39) (free v40) (free v41) (at r185 v42) (free v43) (at r254 v44) (free v45) (at r151 v46) (free v47) (free v48) (free v49) (at r228 v50) (at r182 v51) (at r170 v52) (at r280 v53) (free v54) (at r208 v55) (free v56) (free v57) (free v58) (at r195 v59) (free v60) (at r218 v61) (at r230 v62) (at r167 v63) (at r242 v64) (at r281 v65) (at r235 v66) (free v67) (free v68) (at r264 v69) (free v70) (free v71) (free v72) (at r200 v73) (at r212 v74) (at r197 v75) (at r269 v76) (free v77) (at r193 v78) (at r244 v79) (at r237 v80) (free v81) (free v82) (free v83) (at r192 v84) (at r291 v85) (at r246 v86) (at r206 v87) (free v88) (free v89) (free v90) (at r293 v91) (free v92) (at r265 v93) (free v94) (at r144 v95) (free v96) (free v97) (free v98) (free v99) (free v100) (at r267 v101) (free v102) (at r190 v103) (at r154 v104) (at r263 v105) (at r204 v106) (at r209 v107) (at r274 v108) (free v109) (at r294 v110) (free v111) (free v112) (at r260 v113) (free v114) (free v115) (at r270 v116) (at r216 v117) (free v118) (at r255 v119) (free v120) (free v121) (at r243 v122) (at r156 v123) (free v124) (free v125) (free v126) (at r183 v127) (at r245 v128) (at r231 v129) (free v130) (at r225 v131) (at r207 v132) (at r166 v133) (free v134) (at r142 v135) (at r276 v136) (free v137) (free v138) (at r217 v139) (at r155 v140) (free v141) (at r180 v142) (at r239 v143) (at r268 v144) (free v145) (at r292 v146) (at r253 v147) (at r287 v148) (at r227 v149) (free v150) (at r147 v151) (free v152) (at r271 v153) (free v154) (free v155) (at r141 v156) (free v157) (at r184 v158) (free v159) (free v160) (free v161) (at r188 v162) (free v163) (free v164) (free v165) (free v166) (free v167) (at r162 v168) (free v169) (free v170) (free v171) (free v172) (at r290 v173) (free v174) (at r148 v175) (free v176) (free v177) (free v178) (free v179) (at r215 v180) (free v181) (free v182) (at r258 v183) (free v184) (free v185) (at r160 v186) (at r282 v187) (at r261 v188) (at r187 v189) (free v190) (at r158 v191) (free v192) (free v193) (at r288 v194) (free v195) (at r199 v196) (at r278 v197) (at r226 v198) (free v199) (at r171 v200) (at r196 v201) (at r232 v202) (at r259 v203) (at r157 v204) (at r161 v205) (free v206) (at r238 v207) (free v208) (at r163 v209) (at r168 v210) (at r172 v211) (free v212) (free v213) (at r222 v214) (at r211 v215) (free v216) (free v217) (free v218) (at r174 v219) (free v220) (at r152 v221) (at r279 v222) (free v223) (at r286 v224) (free v225) (at r233 v226) (free v227) (free v228) (at r181 v229) (at r203 v230) (free v231) (at r189 v232) (at r223 v233) (at r250 v234) (free v235) (at r153 v236) (free v237) (free v238) (at r221 v239) (free v240) (at r220 v241) (at r194 v242) (at r277 v243) (at r266 v244) (at r262 v245) (at r149 v246) (at r272 v247) (at r191 v248) (free v249) (at r140 v250) (free v251) (at r145 v252) (free v253) (at r284 v254) (at r283 v255) (free v256) (free v257) (at r234 v258) (free v259) (free v260) (at r150 v261) (at r143 v262) (at r177 v263) (at r169 v264) (free v265) (free v266) (free v267) (free v268) (free v269) (free v270) (at r229 v271) (at r224 v272) (free v273) (free v274) (at r251 v275) (at r176 v276) (free v277) (at r202 v278) (at r164 v279) (free v280) (at r275 v281) (free v282) (free v283) (at r285 v284) (at r198 v285) (free v286) (at r219 v287) (free v288) (free v289) (at r179 v290) (at r248 v291) (free v292) (at r249 v293) (free v294) ) ) )