(define (problem multirobot_81_90%_c0) (:domain multirobot) (:objects v0 v1 v2 v3 r259 v4 v5 v6 r224 v7 r240 v8 v9 r192 v10 r160 v11 r276 v12 v13 v14 r162 v15 v16 v17 v18 v19 v20 v21 r219 v22 v23 v24 r264 v25 r256 v26 v27 r182 v28 r184 v29 r204 v30 v31 v32 r174 v33 v34 r206 v35 r167 v36 v37 r154 v38 v39 v40 v41 v42 v43 v44 v45 v46 v47 v48 v49 r165 v50 v51 r253 v52 v53 r231 v54 r169 v55 r266 v56 v57 r173 v58 v59 v60 r217 v61 v62 r191 v63 r188 v64 v65 v66 r159 v67 v68 r193 v69 v70 r149 v71 v72 v73 r210 v74 r251 v75 r175 v76 v77 r170 v78 v79 v80 r212 v81 r152 v82 r176 v83 r230 v84 v85 r209 v86 r234 v87 r235 v88 r161 v89 r221 v90 r248 v91 r227 v92 v93 v94 v95 v96 v97 v98 r285 v99 r261 v100 r245 v101 r281 v102 v103 v104 r226 v105 v106 r151 v107 v108 v109 r146 v110 r157 v111 v112 r284 v113 v114 v115 r197 v116 r275 v117 v118 v119 r236 v120 r242 v121 v122 r249 v123 r180 v124 r198 v125 r223 v126 r239 v127 r272 v128 v129 v130 r267 v131 r208 v132 r199 v133 v134 v135 v136 r194 v137 r179 v138 r269 v139 r153 v140 v141 v142 r260 v143 r228 v144 v145 v146 v147 r280 v148 r214 v149 r181 v150 v151 r252 v152 r158 v153 v154 r177 v155 r203 v156 v157 r255 v158 v159 v160 v161 r232 v162 v163 v164 v165 r273 v166 r218 v167 r271 v168 v169 v170 v171 r189 v172 v173 r202 v174 r190 v175 v176 v177 r172 v178 v179 v180 v181 r244 v182 v183 r185 v184 r144 v185 r246 v186 v187 v188 v189 r145 v190 v191 r187 v192 r270 v193 v194 r225 v195 r247 v196 r233 v197 r257 v198 r164 v199 v200 r283 v201 r238 v202 r222 v203 r163 v204 r268 v205 r263 v206 r213 v207 v208 r196 v209 v210 r171 v211 v212 r220 v213 r265 v214 r254 v215 v216 r201 v217 v218 r229 v219 v220 r155 v221 r186 v222 v223 v224 v225 v226 v227 v228 r150 v229 r156 v230 v231 r168 v232 v233 v234 v235 r205 v236 v237 v238 r215 v239 v240 v241 r237 v242 v243 v244 r216 v245 v246 r195 v247 v248 v249 v250 r274 v251 v252 r243 v253 v254 v255 v256 v257 v258 r258 v259 v260 r262 v261 v262 r147 v263 r241 v264 r183 v265 r166 v266 r148 v267 r200 v268 v269 v270 r211 v271 v272 v273 r207 v274 r250 v275 r279 v276 v277 v278 r277 v279 r282 v280 v281 v282 v283 r178 v284 r278 v285 ) (:init (free v0) (free v1) (free v2) (at r259 v3) (free v4) (free v5) (at r224 v6) (at r240 v7) (free v8) (at r192 v9) (at r160 v10) (at r276 v11) (free v12) (free v13) (at r162 v14) (free v15) (free v16) (free v17) (free v18) (free v19) (free v20) (at r219 v21) (free v22) (free v23) (at r264 v24) (at r256 v25) (free v26) (at r182 v27) (at r184 v28) (at r204 v29) (free v30) (free v31) (at r174 v32) (free v33) (at r206 v34) (at r167 v35) (free v36) (at r154 v37) (free v38) (free v39) (free v40) (free v41) (free v42) (free v43) (free v44) (free v45) (free v46) (free v47) (free v48) (at r165 v49) (free v50) (at r253 v51) (free v52) (at r231 v53) (at r169 v54) (at r266 v55) (free v56) (at r173 v57) (free v58) (free v59) (at r217 v60) (free v61) (at r191 v62) (at r188 v63) (free v64) (free v65) (at r159 v66) (free v67) (at r193 v68) (free v69) (at r149 v70) (free v71) (free v72) (at r210 v73) (at r251 v74) (at r175 v75) (free v76) (at r170 v77) (free v78) (free v79) (at r212 v80) (at r152 v81) (at r176 v82) (at r230 v83) (free v84) (at r209 v85) (at r234 v86) (at r235 v87) (at r161 v88) (at r221 v89) (at r248 v90) (at r227 v91) (free v92) (free v93) (free v94) (free v95) (free v96) (free v97) (at r285 v98) (at r261 v99) (at r245 v100) (at r281 v101) (free v102) (free v103) (at r226 v104) (free v105) (at r151 v106) (free v107) (free v108) (at r146 v109) (at r157 v110) (free v111) (at r284 v112) (free v113) (free v114) (at r197 v115) (at r275 v116) (free v117) (free v118) (at r236 v119) (at r242 v120) (free v121) (at r249 v122) (at r180 v123) (at r198 v124) (at r223 v125) (at r239 v126) (at r272 v127) (free v128) (free v129) (at r267 v130) (at r208 v131) (at r199 v132) (free v133) (free v134) (free v135) (at r194 v136) (at r179 v137) (at r269 v138) (at r153 v139) (free v140) (free v141) (at r260 v142) (at r228 v143) (free v144) (free v145) (free v146) (at r280 v147) (at 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v164 v226) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v169 v170) (adjacent v169 v256) (adjacent v170 v171) (adjacent v170 v283) (adjacent v171 v172) (adjacent v171 v176) (adjacent v171 v248) (adjacent v172 v271) (adjacent v173 v174) (adjacent v173 v189) (adjacent v174 v175) (adjacent v176 v177) (adjacent v176 v270) (adjacent v177 v178) (adjacent v177 v232) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v183 v184) (adjacent v183 v195) (adjacent v184 v185) (adjacent v185 v186) (adjacent v187 v188) (adjacent v188 v189) (adjacent v190 v191) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v196 v197) (adjacent v197 v198) (adjacent v198 v199) (adjacent v199 v200) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v205 v206) (adjacent v207 v208) (adjacent v207 v282) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) 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v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v268 v269) (adjacent v270 v271) (adjacent v275 v276) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v280 v281) (adjacent v282 v283) (adjacent v284 v285) ) (:goal (and (at r203 v0) (at r159 v1) (at r157 v2) (at r173 v3) (free v4) (free v5) (at r164 v6) (at r153 v7) (at r176 v8) (at r214 v9) (free v10) (free v11) (free v12) (at r170 v13) (at r205 v14) (at r268 v15) (free v16) (at r266 v17) (free v18) (at r195 v19) (free v20) (free v21) (free v22) (free v23) (free v24) (at r240 v25) (free v26) (at r229 v27) (at r271 v28) (at r221 v29) (at r244 v30) (at r277 v31) (free v32) (at r207 v33) (free v34) (free v35) (free v36) (free v37) (at r156 v38) (free v39) (free v40) (free v41) (free v42) (free v43) (free v44) (free v45) (at r261 v46) (at r145 v47) (free v48) (at r224 v49) (free v50) (at r239 v51) (at r254 v52) (free v53) (free v54) (at r251 v55) (free v56) (free v57) (free v58) (at r222 v59) (at r169 v60) (free v61) (free v62) (free v63) (free v64) (free v65) (free v66) (free v67) (at r147 v68) (at r188 v69) (free v70) (free v71) (at r152 v72) (at r178 v73) (free v74) (at r202 v75) (free v76) (free v77) (at r216 v78) (free v79) (at r263 v80) (at r187 v81) (at r206 v82) (free v83) (at r174 v84) (at r270 v85) (at r191 v86) (at r236 v87) (at r163 v88) (free v89) (at r177 v90) (at r185 v91) (free v92) (at r227 v93) (at r253 v94) (at r265 v95) (free v96) (at r275 v97) (free v98) (at r209 v99) (free v100) (at r172 v101) (at r199 v102) (at r262 v103) (at r211 v104) (free v105) (free v106) (free v107) (at r144 v108) (free v109) (at r230 v110) (at r210 v111) (free v112) (free v113) (at r183 v114) (at r167 v115) (free v116) (free v117) (free v118) (free v119) (free v120) (at r242 v121) (free v122) (at r200 v123) (free v124) (free v125) (at r190 v126) (free v127) (free v128) (at r161 v129) (at r217 v130) (free v131) (free v132) (free v133) (free v134) (free v135) (at r274 v136) (at r281 v137) (at r148 v138) (at r171 v139) (free v140) (free v141) (at r208 v142) (at r243 v143) (at r196 v144) (at r267 v145) (free v146) (free v147) (at r155 v148) (free v149) (at r154 v150) (free v151) (at r246 v152) (at r212 v153) (at r186 v154) (free v155) (at r219 v156) (at r282 v157) (free v158) (free v159) (at r150 v160) (free v161) (at r162 v162) (at r226 v163) (free v164) (at r278 v165) (free v166) (free v167) (at r273 v168) (free v169) (free v170) (at r228 v171) (at r283 v172) (free v173) (free v174) (at r146 v175) (at r264 v176) (free v177) (at r258 v178) (free v179) (at r285 v180) (at r175 v181) (free v182) (free v183) (free v184) (at r284 v185) (at r179 v186) (free v187) (at r245 v188) (at r194 v189) (at r250 v190) (free v191) (at r257 v192) (free v193) (free v194) (at r158 v195) (free v196) (free v197) (free v198) (at r256 v199) (free v200) (free v201) (at r225 v202) (free v203) (free v204) (free v205) (at r237 v206) (free v207) (free v208) (at r232 v209) (free v210) (free v211) (free v212) (at r235 v213) (at r166 v214) (free v215) (at r272 v216) (free v217) (free v218) (at r180 v219) (at r223 v220) (at r201 v221) (at r238 v222) (at r249 v223) (at r255 v224) (free v225) (free v226) (at r204 v227) (at r192 v228) (free v229) (free v230) (at r182 v231) (free v232) (at r193 v233) (free v234) (at r231 v235) (at r260 v236) (free v237) (free v238) (free v239) (free v240) (free v241) (free v242) (at r215 v243) (at r160 v244) (free v245) (free v246) (free v247) (at r220 v248) (at r213 v249) (at r168 v250) (free v251) (free v252) (free v253) (at r259 v254) (at r197 v255) (free v256) (free v257) (at r181 v258) (at r189 v259) (at r276 v260) (at r198 v261) (at r151 v262) (at r247 v263) (at r218 v264) (free v265) (free v266) (at r149 v267) (free v268) (at r241 v269) (at r233 v270) (free v271) (at r234 v272) (at r280 v273) (at r248 v274) (at r252 v275) (at r165 v276) (free v277) (free v278) (free v279) (free v280) (at r279 v281) (at r269 v282) (at r184 v283) (free v284) (free v285) ) ) )