(define (problem multirobot_79_90%_c4) (:domain multirobot) (:objects v0 r188 v1 v2 r229 v3 r206 v4 r273 v5 v6 v7 v8 v9 v10 r189 v11 r170 v12 v13 r211 v14 v15 r282 v16 r240 v17 v18 v19 v20 r171 v21 r299 v22 r265 v23 v24 r156 v25 v26 v27 v28 r256 v29 v30 v31 v32 r261 v33 v34 r180 v35 v36 v37 r209 v38 v39 r151 v40 r159 v41 v42 v43 v44 r197 v45 r254 v46 v47 r271 v48 r224 v49 r220 v50 v51 v52 v53 v54 r250 v55 v56 r168 v57 r274 v58 v59 v60 r301 v61 r169 v62 v63 r294 v64 r166 v65 r184 v66 r199 v67 r212 v68 v69 r210 v70 r284 v71 v72 v73 v74 v75 v76 v77 r226 v78 r162 v79 v80 v81 v82 v83 r264 v84 v85 r192 v86 r300 v87 r177 v88 r191 v89 v90 r213 v91 r304 v92 r255 v93 v94 r227 v95 r153 v96 r150 v97 r202 v98 r297 v99 r286 v100 v101 v102 r182 v103 v104 v105 v106 v107 r201 v108 r195 v109 v110 r270 v111 v112 r164 v113 r292 v114 v115 r244 v116 v117 r161 v118 r236 v119 v120 r228 v121 v122 r253 v123 v124 v125 r287 v126 v127 v128 v129 v130 v131 r167 v132 r173 v133 r198 v134 v135 r275 v136 v137 v138 r152 v139 r281 v140 v141 r230 v142 v143 r278 v144 v145 v146 r208 v147 r200 v148 v149 r175 v150 r303 v151 v152 r234 v153 v154 r225 v155 v156 r176 v157 v158 r154 v159 v160 v161 r259 v162 r223 v163 v164 v165 v166 v167 v168 r288 v169 v170 v171 v172 r205 v173 v174 v175 v176 r239 v177 r246 v178 v179 r302 v180 v181 r280 v182 v183 v184 r155 v185 v186 v187 v188 r207 v189 v190 r194 v191 v192 r268 v193 v194 r214 v195 r190 v196 r174 v197 r178 v198 r285 v199 r283 v200 v201 r242 v202 v203 r243 v204 r293 v205 v206 v207 r241 v208 v209 r222 v210 v211 v212 r296 v213 v214 r266 v215 r249 v216 r215 v217 v218 r290 v219 r196 v220 v221 r231 v222 r158 v223 r172 v224 r181 v225 v226 v227 r272 v228 r291 v229 r257 v230 v231 r186 v232 v233 v234 v235 r238 v236 r218 v237 v238 r251 v239 r269 v240 r252 v241 v242 r258 v243 v244 r248 v245 r221 v246 r276 v247 v248 v249 v250 r277 v251 v252 v253 r219 v254 r232 v255 r163 v256 r298 v257 r183 v258 v259 r279 v260 r263 v261 r262 v262 v263 r237 v264 r187 v265 v266 v267 r157 v268 r235 v269 r295 v270 v271 v272 r247 v273 v274 v275 v276 v277 r165 v278 r260 v279 v280 r267 v281 v282 r160 v283 v284 v285 v286 r217 v287 r289 v288 v289 v290 v291 v292 r245 v293 r233 v294 r216 v295 v296 v297 r203 v298 v299 r193 v300 r179 v301 v302 r185 v303 v304 r204 ) (:init (at r188 v0) (free v1) (at r229 v2) (at r206 v3) (at r273 v4) (free v5) (free v6) (free v7) (free v8) (free v9) (at r189 v10) (at r170 v11) (free v12) (at r211 v13) (free v14) (at r282 v15) (at r240 v16) (free v17) (free v18) (free v19) (at r171 v20) (at r299 v21) (at r265 v22) (free v23) (at r156 v24) (free v25) (free v26) (free v27) (at r256 v28) (free v29) (free v30) (free v31) (at r261 v32) (free v33) (at r180 v34) (free v35) (free v36) (at r209 v37) (free v38) (at r151 v39) (at r159 v40) (free v41) (free v42) (free v43) (at r197 v44) (at r254 v45) (free v46) (at r271 v47) (at r224 v48) (at r220 v49) (free v50) (free v51) (free v52) (free v53) (at r250 v54) (free v55) (at r168 v56) (at r274 v57) (free v58) (free v59) (at r301 v60) (at r169 v61) (free v62) (at r294 v63) (at r166 v64) (at r184 v65) (at r199 v66) (at r212 v67) (free v68) (at r210 v69) (at r284 v70) (free v71) (free v72) (free v73) (free v74) (free v75) (free v76) (at r226 v77) (at r162 v78) (free v79) (free v80) (free v81) (free v82) (at r264 v83) (free v84) (at r192 v85) (at r300 v86) (at r177 v87) (at r191 v88) (free v89) (at r213 v90) (at r304 v91) (at r255 v92) (free v93) (at r227 v94) (at r153 v95) (at r150 v96) (at r202 v97) (at r297 v98) (at r286 v99) (free v100) (free v101) (at r182 v102) (free v103) (free v104) (free v105) (free v106) (at r201 v107) (at r195 v108) (free v109) (at r270 v110) (free v111) (at r164 v112) (at r292 v113) (free v114) (at r244 v115) (free v116) (at r161 v117) (at r236 v118) (free v119) (at r228 v120) (free v121) (at r253 v122) (free v123) (free v124) (at r287 v125) (free v126) (free v127) (free v128) (free v129) (free v130) (at r167 v131) (at r173 v132) (at r198 v133) (free v134) (at r275 v135) (free v136) (free v137) (at r152 v138) (at r281 v139) (free v140) (at r230 v141) (free v142) (at r278 v143) (free v144) (free v145) (at r208 v146) (at r200 v147) (free v148) (at r175 v149) (at r303 v150) (free v151) (at r234 v152) (free v153) (at r225 v154) (free v155) (at r176 v156) (free v157) (at r154 v158) (free v159) (free v160) (at r259 v161) (at r223 v162) (free v163) (free v164) (free v165) (free v166) (free v167) (at r288 v168) (free v169) (free v170) (free v171) (at r205 v172) (free v173) (free v174) (free v175) (at r239 v176) (at r246 v177) (free v178) (at r302 v179) (free v180) (at r280 v181) (free v182) (free v183) (at r155 v184) (free v185) (free v186) (free v187) (at r207 v188) (free v189) (at r194 v190) (free v191) (at r268 v192) (free v193) (at r214 v194) (at r190 v195) (at r174 v196) (at r178 v197) (at r285 v198) (at r283 v199) (free v200) (at r242 v201) (free v202) (at r243 v203) (at r293 v204) (free v205) (free v206) (at r241 v207) (free v208) (at r222 v209) (free v210) (free v211) (at r296 v212) (free v213) (at r266 v214) (at r249 v215) (at r215 v216) (free v217) (at r290 v218) (at r196 v219) (free v220) (at r231 v221) (at r158 v222) (at r172 v223) (at r181 v224) (free v225) (free v226) (at r272 v227) (at r291 v228) (at r257 v229) (free v230) (at r186 v231) (free v232) (free v233) (free v234) (at r238 v235) (at r218 v236) (free v237) (at r251 v238) (at r269 v239) (at r252 v240) (free v241) (at r258 v242) (free v243) (at r248 v244) (at r221 v245) (at r276 v246) (free v247) (free v248) (free v249) (at r277 v250) (free v251) (free v252) (at r219 v253) (at r232 v254) (at r163 v255) (at r298 v256) (at r183 v257) (free v258) (at r279 v259) (at r263 v260) (at r262 v261) (free v262) (at r237 v263) (at r187 v264) (free v265) (free v266) (at r157 v267) (at r235 v268) (at r295 v269) (free v270) (free v271) (at r247 v272) (free v273) (free v274) (free v275) (free v276) (at r165 v277) (at r260 v278) (free v279) (at r267 v280) (free v281) (at r160 v282) (free v283) (free v284) (free v285) (at r217 v286) (at r289 v287) (free v288) (free v289) (free v290) (free v291) (at r245 v292) (at r233 v293) (at r216 v294) (free v295) (free v296) (at r203 v297) (free v298) (at r193 v299) (at r179 v300) (free v301) (at r185 v302) (free v303) (at r204 v304) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v14) (adjacent v0 v17) (adjacent v1 v2) (adjacent v1 v162) (adjacent v1 v259) (adjacent v2 v3) (adjacent v2 v5) (adjacent v2 v9) (adjacent v2 v36) (adjacent v2 v56) (adjacent v2 v86) (adjacent v2 v297) (adjacent v3 v4) (adjacent v3 v31) (adjacent v3 v39) (adjacent v3 v158) (adjacent v3 v270) (adjacent v4 v8) (adjacent v4 v22) (adjacent v4 v106) (adjacent v5 v6) (adjacent v5 v199) (adjacent v6 v7) (adjacent v7 v8) (adjacent v7 v13) (adjacent v7 v16) (adjacent v7 v35) (adjacent v7 v148) (adjacent v8 v202) (adjacent v9 v10) (adjacent v10 v11) (adjacent v10 v20) (adjacent v10 v21) (adjacent v10 v41) (adjacent v10 v57) (adjacent v11 v12) (adjacent v12 v13) 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v227) (adjacent v37 v75) (adjacent v37 v76) (adjacent v39 v40) (adjacent v39 v173) (adjacent v41 v47) (adjacent v42 v43) (adjacent v42 v103) (adjacent v43 v44) (adjacent v43 v98) (adjacent v44 v45) (adjacent v44 v143) (adjacent v45 v46) (adjacent v45 v77) (adjacent v45 v93) (adjacent v45 v246) (adjacent v46 v47) (adjacent v47 v48) (adjacent v47 v296) (adjacent v48 v76) (adjacent v48 v179) (adjacent v49 v50) (adjacent v49 v193) (adjacent v50 v51) (adjacent v50 v105) (adjacent v51 v52) (adjacent v51 v136) (adjacent v52 v53) (adjacent v53 v54) (adjacent v53 v206) (adjacent v54 v55) (adjacent v55 v82) (adjacent v55 v97) (adjacent v56 v63) (adjacent v56 v113) (adjacent v57 v58) (adjacent v57 v200) (adjacent v57 v234) (adjacent v58 v59) (adjacent v59 v68) (adjacent v59 v85) (adjacent v60 v61) (adjacent v61 v62) (adjacent v63 v64) (adjacent v64 v65) (adjacent v64 v157) (adjacent v64 v170) (adjacent v65 v66) (adjacent v66 v67) (adjacent v66 v94) (adjacent v67 v68) (adjacent v68 v139) (adjacent v69 v70) (adjacent v70 v71) (adjacent v70 v172) (adjacent v71 v72) (adjacent v71 v92) (adjacent v71 v149) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v269) (adjacent v74 v75) (adjacent v75 v127) (adjacent v76 v118) (adjacent v77 v78) (adjacent v77 v83) (adjacent v78 v79) (adjacent v78 v130) (adjacent v79 v80) (adjacent v80 v81) (adjacent v81 v82) (adjacent v81 v215) (adjacent v83 v84) (adjacent v84 v85) (adjacent v86 v87) (adjacent v86 v216) (adjacent v86 v230) (adjacent v87 v88) (adjacent v87 v140) (adjacent v88 v89) (adjacent v88 v231) (adjacent v89 v90) (adjacent v89 v119) (adjacent v90 v91) (adjacent v92 v93) (adjacent v93 v144) (adjacent v94 v95) (adjacent v95 v96) (adjacent v96 v97) (adjacent v96 v120) (adjacent v96 v135) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v128) (adjacent v100 v101) (adjacent v100 v218) (adjacent v101 v102) (adjacent v103 v104) (adjacent v104 v105) (adjacent v106 v107) (adjacent v107 v108) (adjacent v108 v109) (adjacent v109 v110) (adjacent v109 v265) (adjacent v110 v111) (adjacent v111 v112) (adjacent v111 v121) (adjacent v111 v200) (adjacent v113 v114) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v117) (adjacent v117 v163) (adjacent v118 v119) (adjacent v121 v122) (adjacent v122 v123) (adjacent v122 v253) (adjacent v123 v124) (adjacent v124 v125) (adjacent v124 v167) (adjacent v124 v241) (adjacent v125 v126) (adjacent v126 v127) (adjacent v128 v129) (adjacent v129 v130) (adjacent v131 v132) (adjacent v132 v133) (adjacent v133 v134) (adjacent v134 v135) (adjacent v136 v137) (adjacent v136 v242) (adjacent v136 v300) (adjacent v137 v138) (adjacent v138 v139) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v143) (adjacent v144 v145) (adjacent v145 v146) (adjacent v145 v168) (adjacent v146 v147) (adjacent v146 v187) (adjacent v147 v148) (adjacent v147 v290) (adjacent v148 v151) (adjacent v149 v150) (adjacent v151 v152) (adjacent v152 v153) (adjacent v152 v212) (adjacent v152 v236) (adjacent v153 v154) (adjacent v154 v155) (adjacent v154 v245) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v180) (adjacent v158 v159) (adjacent v159 v160) (adjacent v159 v192) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v217) (adjacent v163 v164) (adjacent v163 v235) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v167) (adjacent v166 v304) (adjacent v168 v169) (adjacent v169 v221) (adjacent v170 v171) (adjacent v171 v172) (adjacent v171 v207) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v175 v201) (adjacent v176 v177) (adjacent v177 v178) (adjacent v178 v179) (adjacent v180 v181) (adjacent v181 v182) (adjacent v182 v183) (adjacent v183 v184) (adjacent v183 v297) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v203) (adjacent v187 v188) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v191 v192) (adjacent v191 v298) (adjacent v192 v286) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v200 v266) (adjacent v200 v267) (adjacent v201 v202) (adjacent v202 v254) (adjacent v203 v204) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v244) (adjacent v207 v208) (adjacent v207 v226) (adjacent v208 v209) (adjacent v209 v210) (adjacent v209 v255) (adjacent v210 v211) (adjacent v211 v212) (adjacent v213 v214) (adjacent v213 v252) (adjacent v214 v215) (adjacent v216 v217) (adjacent v218 v219) (adjacent v219 v220) (adjacent v220 v221) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v224 v233) (adjacent v225 v226) (adjacent v227 v228) (adjacent v228 v229) (adjacent v228 v277) (adjacent v229 v230) (adjacent v231 v232) (adjacent v232 v233) (adjacent v234 v235) (adjacent v236 v237) (adjacent v237 v238) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v241) (adjacent v242 v243) (adjacent v243 v244) (adjacent v246 v247) (adjacent v247 v248) (adjacent v247 v280) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v251) (adjacent v251 v252) (adjacent v251 v279) (adjacent v253 v254) (adjacent v254 v260) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v258) (adjacent v258 v259) (adjacent v258 v289) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v262 v301) (adjacent v263 v264) (adjacent v264 v265) (adjacent v266 v276) (adjacent v266 v285) (adjacent v267 v268) (adjacent v268 v269) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v275 v276) (adjacent v277 v278) (adjacent v278 v279) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v283 v284) (adjacent v284 v285) (adjacent v286 v287) (adjacent v287 v288) (adjacent v288 v289) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) (adjacent v294 v295) (adjacent v295 v296) (adjacent v298 v299) (adjacent v299 v300) (adjacent v301 v302) (adjacent v302 v303) (adjacent v303 v304) ) (:goal (and (free v0) (free v1) (free v2) (free v3) (free v4) (free v5) (at r219 v6) (free v7) (at r231 v8) (at r205 v9) (at r198 v10) (free v11) (free v12) (at r249 v13) (at r203 v14) (at r160 v15) (free v16) (at r252 v17) (at r216 v18) (at r303 v19) (at r248 v20) (at r230 v21) (at r184 v22) (at r213 v23) (at r284 v24) (at r259 v25) (free v26) (free v27) (free v28) (free v29) (free v30) (free v31) (free v32) (at r156 v33) (free v34) (at r179 v35) (at r169 v36) (at r302 v37) (free v38) (at r232 v39) (free v40) (free v41) (free v42) (at r262 v43) (free v44) (at r299 v45) (free v46) (at r240 v47) (free v48) (at r214 v49) (at r264 v50) (at r246 v51) (free v52) (free v53) (at r193 v54) (at r237 v55) (at r151 v56) (free v57) (at r192 v58) (free v59) (at r298 v60) (free v61) (at r229 v62) (at r228 v63) (free v64) (free v65) (free v66) (free v67) (free v68) (free v69) (at r220 v70) (at r168 v71) (free v72) (free v73) (at r286 v74) (free v75) (free v76) (at r300 v77) (at r170 v78) (at r278 v79) (free v80) (at r158 v81) (at r166 v82) (at r180 v83) (at r224 v84) (at r225 v85) (at r233 v86) (at r217 v87) (free v88) (at r227 v89) (at r253 v90) (free v91) (free v92) (free v93) (at r301 v94) (at r187 v95) (free v96) (at r215 v97) (at r175 v98) (at r250 v99) (at r275 v100) (at r157 v101) (at r211 v102) (free v103) (free v104) (at r276 v105) (at r244 v106) (at r289 v107) (at r257 v108) (free v109) (free v110) (free v111) (at r188 v112) (at r273 v113) (at r182 v114) (free v115) (free v116) (free v117) (free v118) (free v119) (free v120) (at r177 v121) (at r261 v122) (free v123) (at r239 v124) (free v125) (at r185 v126) (free v127) (at r256 v128) (free v129) (free v130) (at r152 v131) (at r172 v132) (at r242 v133) (free v134) (at r195 v135) (free v136) (free v137) (at r290 v138) (at r255 v139) (at r181 v140) (free v141) (free v142) (free v143) (free v144) (free v145) (at r270 v146) (free v147) (at r268 v148) (at r190 v149) (free v150) (free v151) (free v152) (free v153) (at r279 v154) (free v155) (free v156) (free v157) (at r280 v158) (at r167 v159) (free v160) (at r189 v161) (free v162) (at r191 v163) (at r266 v164) (at r288 v165) (free v166) (free v167) (at r291 v168) (free v169) (at r200 v170) (at r277 v171) (at r297 v172) (at r174 v173) (free v174) (free v175) (at r222 v176) (free v177) (at r265 v178) (at r204 v179) (free v180) (free v181) (at r212 v182) (at r201 v183) (free v184) (free v185) (free v186) (at r210 v187) (free v188) (free v189) (at r267 v190) (free v191) (at r271 v192) (free v193) (free v194) (free v195) (free v196) (free v197) (free v198) (at r234 v199) (free v200) (free v201) (free v202) (at r272 v203) (at r254 v204) (free v205) (at r150 v206) (at r295 v207) (free v208) (at r159 v209) (at r163 v210) (free v211) (at r292 v212) (at r165 v213) (free v214) (at r154 v215) (at r173 v216) (at r238 v217) (at r196 v218) (at r258 v219) (free v220) (at r260 v221) (at r221 v222) (at r251 v223) (at r285 v224) (at r176 v225) (free v226) (at r164 v227) (free v228) (at r153 v229) (at r209 v230) (at r207 v231) (free v232) (free v233) (at r202 v234) (at r294 v235) (free v236) (free v237) (free v238) (at r274 v239) (at r178 v240) (free v241) (at r236 v242) (free v243) (free v244) (at r218 v245) (free v246) (free v247) (at r183 v248) (free v249) (at r162 v250) (at r296 v251) (free v252) (at r171 v253) (at r161 v254) (free v255) (free v256) (at r245 v257) (at r208 v258) (free v259) (at r235 v260) (at r226 v261) (free v262) (at r223 v263) (free v264) (free v265) (at r186 v266) (free v267) (free v268) (at r243 v269) (free v270) (free v271) (free v272) (at r206 v273) (free v274) (free v275) (free v276) (at r283 v277) (free v278) (free v279) (free v280) (free v281) (at r155 v282) (at r304 v283) (at r293 v284) (free v285) (at r287 v286) (at r197 v287) (at r194 v288) (free v289) (free v290) (free v291) (free v292) (free v293) (free v294) (free v295) (at r247 v296) (at r282 v297) (at r241 v298) (free v299) (at r263 v300) (at r199 v301) (free v302) (at r269 v303) (at r281 v304) ) ) )