(define (problem multirobot_84_90%_c3) (:domain multirobot) (:objects v0 r264 v1 v2 v3 r184 v4 r269 v5 r296 v6 r223 v7 v8 r197 v9 r181 v10 r168 v11 v12 r257 v13 r144 v14 r287 v15 r142 v16 v17 r208 v18 r308 v19 v20 v21 v22 v23 v24 r266 v25 v26 v27 v28 r302 v29 v30 r194 v31 v32 r273 v33 r201 v34 r283 v35 r237 v36 r200 v37 r303 v38 r154 v39 v40 r304 v41 v42 v43 v44 r260 v45 r195 v46 r254 v47 r209 v48 v49 v50 r203 v51 r252 v52 r225 v53 v54 v55 v56 v57 v58 v59 r224 v60 v61 v62 r148 v63 v64 r293 v65 v66 v67 r297 v68 r282 v69 r259 v70 r178 v71 v72 r244 v73 v74 v75 r295 v76 r277 v77 v78 v79 r249 v80 r315 v81 r220 v82 v83 v84 r235 v85 r158 v86 r268 v87 v88 r135 v89 r199 v90 v91 r179 v92 r145 v93 r253 v94 v95 r217 v96 r285 v97 v98 r290 v99 v100 v101 v102 r247 v103 r171 v104 v105 r289 v106 r261 v107 v108 r166 v109 v110 r150 v111 v112 r170 v113 v114 r288 v115 v116 r213 v117 v118 v119 r313 v120 r292 v121 r187 v122 r310 v123 r271 v124 r298 v125 r222 v126 r185 v127 r227 v128 r205 v129 v130 r136 v131 r309 v132 r147 v133 v134 r248 v135 v136 r241 v137 v138 v139 v140 r183 v141 r152 v142 r276 v143 r272 v144 r156 v145 r255 v146 v147 r186 v148 r286 v149 r300 v150 r137 v151 r263 v152 r160 v153 v154 r196 v155 r149 v156 r238 v157 v158 r316 v159 r151 v160 v161 r284 v162 v163 r305 v164 r193 v165 r294 v166 v167 r134 v168 r191 v169 v170 r202 v171 v172 v173 r172 v174 r211 v175 r239 v176 v177 r256 v178 v179 v180 r162 v181 v182 r192 v183 v184 r133 v185 r278 v186 r236 v187 v188 r198 v189 v190 v191 r189 v192 r301 v193 r306 v194 v195 r207 v196 v197 v198 v199 r280 v200 r240 v201 r206 v202 v203 r138 v204 r311 v205 r182 v206 r312 v207 r307 v208 v209 r250 v210 r270 v211 r175 v212 v213 r190 v214 r226 v215 r267 v216 r233 v217 v218 v219 r232 v220 v221 r299 v222 r242 v223 v224 r274 v225 r146 v226 r219 v227 r231 v228 v229 r281 v230 v231 r177 v232 r164 v233 r262 v234 v235 r143 v236 r210 v237 v238 v239 v240 v241 r246 v242 r251 v243 r188 v244 r291 v245 v246 v247 r230 v248 r275 v249 r140 v250 r229 v251 r174 v252 r176 v253 v254 v255 v256 r214 v257 r265 v258 v259 r159 v260 r155 v261 r139 v262 v263 r212 v264 v265 r243 v266 v267 v268 r228 v269 v270 r141 v271 v272 v273 v274 v275 r169 v276 r314 v277 v278 r157 v279 v280 v281 r258 v282 r173 v283 v284 v285 v286 r215 v287 r216 v288 r245 v289 v290 v291 v292 v293 v294 v295 v296 v297 r165 v298 r153 v299 r163 v300 v301 r161 v302 r167 v303 v304 r218 v305 v306 v307 v308 v309 r204 v310 v311 r180 v312 v313 r279 v314 r234 v315 r221 v316 ) (:init (at r264 v0) (free v1) (free v2) (at r184 v3) (at r269 v4) (at r296 v5) (at r223 v6) (free v7) (at r197 v8) (at r181 v9) (at r168 v10) (free v11) (at r257 v12) (at r144 v13) (at r287 v14) (at r142 v15) (free v16) (at r208 v17) (at r308 v18) (free v19) (free v20) (free v21) (free v22) (free v23) (at r266 v24) (free v25) (free v26) (free v27) (at r302 v28) (free v29) (at r194 v30) (free v31) (at r273 v32) (at r201 v33) (at r283 v34) (at r237 v35) (at r200 v36) (at r303 v37) (at r154 v38) (free v39) (at r304 v40) (free v41) (free v42) (free v43) (at r260 v44) (at r195 v45) (at r254 v46) (at r209 v47) (free v48) (free v49) (at r203 v50) (at r252 v51) (at r225 v52) (free v53) (free v54) (free v55) (free v56) (free v57) (free v58) (at r224 v59) (free v60) (free v61) (at r148 v62) (free v63) (at r293 v64) (free v65) (free v66) (at r297 v67) (at r282 v68) (at r259 v69) (at r178 v70) (free v71) (at r244 v72) (free v73) (free v74) (at r295 v75) (at r277 v76) (free v77) (free v78) (at r249 v79) (at r315 v80) (at r220 v81) (free v82) (free v83) (at r235 v84) (at r158 v85) (at r268 v86) (free v87) (at r135 v88) (at r199 v89) (free v90) (at r179 v91) (at r145 v92) (at r253 v93) (free v94) (at r217 v95) (at r285 v96) (free v97) (at r290 v98) (free v99) (free v100) (free v101) (at r247 v102) (at r171 v103) (free v104) (at r289 v105) (at r261 v106) (free v107) (at r166 v108) (free v109) (at r150 v110) (free v111) (at r170 v112) (free v113) (at r288 v114) (free v115) (at r213 v116) (free v117) (free v118) (at r313 v119) (at r292 v120) (at r187 v121) (at r310 v122) (at r271 v123) (at r298 v124) (at r222 v125) (at r185 v126) (at r227 v127) (at r205 v128) (free v129) (at r136 v130) (at r309 v131) (at r147 v132) (free v133) (at r248 v134) (free v135) (at r241 v136) (free v137) (free v138) (free v139) (at r183 v140) (at r152 v141) (at r276 v142) (at r272 v143) (at r156 v144) (at r255 v145) (free v146) (at r186 v147) (at r286 v148) (at r300 v149) (at r137 v150) (at r263 v151) (at r160 v152) (free v153) (at r196 v154) (at r149 v155) (at r238 v156) (free v157) (at r316 v158) (at r151 v159) (free v160) (at r284 v161) (free v162) (at r305 v163) (at r193 v164) (at r294 v165) (free v166) (at r134 v167) (at r191 v168) (free v169) (at r202 v170) (free v171) (free v172) (at r172 v173) (at r211 v174) (at r239 v175) (free v176) (at r256 v177) (free v178) (free v179) (at r162 v180) (free v181) (at r192 v182) (free v183) (at r133 v184) (at r278 v185) (at r236 v186) (free v187) (at r198 v188) (free v189) (free v190) (at r189 v191) (at r301 v192) (at r306 v193) (free v194) (at r207 v195) (free v196) (free v197) (free v198) (at r280 v199) (at r240 v200) (at r206 v201) (free v202) (at r138 v203) (at r311 v204) (at r182 v205) (at r312 v206) (at r307 v207) (free v208) (at r250 v209) (at r270 v210) (at r175 v211) (free v212) (at r190 v213) (at r226 v214) (at r267 v215) (at r233 v216) (free v217) (free v218) (at r232 v219) (free v220) (at r299 v221) (at r242 v222) (free v223) (at r274 v224) (at r146 v225) (at r219 v226) (at r231 v227) (free v228) (at r281 v229) (free v230) (at r177 v231) (at r164 v232) (at r262 v233) (free v234) (at r143 v235) (at r210 v236) (free v237) (free v238) (free v239) (free v240) (at r246 v241) (at r251 v242) (at r188 v243) (at r291 v244) (free v245) (free v246) (at r230 v247) (at r275 v248) (at r140 v249) (at r229 v250) (at r174 v251) (at r176 v252) (free v253) (free v254) (free v255) (at r214 v256) (at r265 v257) (free v258) (at r159 v259) (at r155 v260) (at r139 v261) (free v262) (at r212 v263) (free v264) (at r243 v265) (free v266) (free v267) (at r228 v268) (free v269) (at r141 v270) (free v271) (free v272) (free v273) (free v274) (at r169 v275) (at r314 v276) (free v277) (at r157 v278) (free v279) (free v280) (at r258 v281) (at r173 v282) (free v283) (free v284) (free v285) (at r215 v286) (at r216 v287) (at r245 v288) (free v289) (free v290) (free v291) (free v292) (free v293) (free v294) (free v295) (free v296) (at r165 v297) (at r153 v298) (at r163 v299) (free v300) (at r161 v301) (at r167 v302) (free v303) (at r218 v304) (free v305) (free v306) (free v307) (free v308) (at r204 v309) (free v310) (at r180 v311) (free v312) (at r279 v313) (at r234 v314) (at r221 v315) (free v316) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v26) (adjacent v0 v49) (adjacent v0 v86) (adjacent v0 v257) (adjacent v1 v2) (adjacent v2 v3) (adjacent v2 v25) (adjacent v2 v93) (adjacent v2 v162) (adjacent v3 v4) (adjacent v3 v6) (adjacent v3 v14) (adjacent v3 v47) (adjacent v3 v53) (adjacent v4 v5) (adjacent v4 v7) (adjacent v4 v64) (adjacent v5 v6) (adjacent v5 v13) (adjacent v6 v29) (adjacent v7 v8) (adjacent v8 v9) (adjacent v8 v63) (adjacent v9 v10) (adjacent v9 v17) (adjacent v9 v57) (adjacent v9 v109) (adjacent v10 v11) (adjacent v10 v27) (adjacent v11 v12) (adjacent v11 v41) (adjacent v11 v67) (adjacent v11 v203) (adjacent v11 v290) (adjacent v12 v13) (adjacent v13 v18) (adjacent v13 v28) (adjacent v13 v177) (adjacent v14 v15) (adjacent v14 v21) (adjacent v14 v114) (adjacent v15 v16) (adjacent v15 v73) (adjacent v15 v166) (adjacent v16 v17) (adjacent v16 v52) (adjacent v16 v89) (adjacent v17 v22) (adjacent v17 v34) (adjacent v17 v35) (adjacent v18 v19) (adjacent v18 v40) (adjacent v18 v262) (adjacent v19 v20) (adjacent v19 v85) (adjacent v19 v134) (adjacent v19 v145) (adjacent v19 v239) (adjacent v19 v262) (adjacent v19 v312) (adjacent v20 v21) (adjacent v20 v94) (adjacent v21 v53) (adjacent v21 v165) (adjacent v22 v23) (adjacent v22 v58) (adjacent v22 v103) (adjacent v23 v24) (adjacent v23 v261) (adjacent v24 v25) (adjacent v24 v98) (adjacent v25 v28) (adjacent v25 v222) (adjacent v25 v298) (adjacent v26 v27) (adjacent v26 v138) (adjacent v27 v158) (adjacent v28 v101) (adjacent v29 v30) (adjacent v30 v31) (adjacent v30 v90) (adjacent v31 v32) (adjacent v31 v79) (adjacent v32 v33) (adjacent v32 v66) (adjacent v33 v34) (adjacent v33 v48) (adjacent v33 v99) (adjacent v33 v102) (adjacent v35 v36) (adjacent v35 v54) (adjacent v35 v144) (adjacent v35 v192) (adjacent v36 v37) (adjacent v36 v163) (adjacent v36 v222) (adjacent v37 v38) (adjacent v38 v39) (adjacent v38 v46) (adjacent v39 v40) (adjacent v39 v230) (adjacent v41 v42) (adjacent v41 v215) (adjacent v42 v43) (adjacent v42 v64) (adjacent v43 v44) (adjacent v44 v45) (adjacent v45 v46) (adjacent v46 v162) (adjacent v47 v48) (adjacent v47 v115) (adjacent v48 v121) (adjacent v49 v50) (adjacent v50 v51) (adjacent v50 v307) (adjacent v51 v52) (adjacent v51 v302) (adjacent v54 v55) (adjacent v54 v183) (adjacent v55 v56) (adjacent v56 v57) (adjacent v57 v65) (adjacent v57 v284) (adjacent v58 v59) (adjacent v59 v60) (adjacent v60 v61) (adjacent v61 v62) (adjacent v61 v74) (adjacent v61 v143) (adjacent v62 v63) (adjacent v62 v305) (adjacent v63 v110) (adjacent v64 v159) (adjacent v65 v66) (adjacent v66 v122) (adjacent v67 v68) (adjacent v67 v172) (adjacent v67 v224) (adjacent v68 v69) (adjacent v68 v198) (adjacent v69 v70) (adjacent v69 v146) (adjacent v69 v204) (adjacent v69 v225) (adjacent v70 v71) (adjacent v70 v152) (adjacent v71 v72) (adjacent v72 v73) (adjacent v73 v144) (adjacent v74 v75) (adjacent v74 v80) (adjacent v75 v76) (adjacent v75 v223) (adjacent v76 v77) (adjacent v77 v78) (adjacent v77 v134) (adjacent v77 v231) (adjacent v78 v79) (adjacent v78 v208) (adjacent v80 v81) (adjacent v80 v311) (adjacent v81 v82) (adjacent v82 v83) (adjacent v82 v176) (adjacent v83 v84) (adjacent v84 v85) (adjacent v84 v189) (adjacent v84 v278) (adjacent v85 v128) (adjacent v85 v171) (adjacent v85 v197) (adjacent v86 v87) (adjacent v87 v88) (adjacent v88 v89) (adjacent v88 v240) (adjacent v89 v242) (adjacent v90 v91) (adjacent v91 v92) (adjacent v92 v93) (adjacent v92 v133) (adjacent v92 v145) (adjacent v93 v100) (adjacent v94 v95) (adjacent v94 v122) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v98) (adjacent v99 v100) (adjacent v100 v304) (adjacent v101 v102) (adjacent v102 v207) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v106) (adjacent v105 v241) (adjacent v106 v107) (adjacent v107 v108) (adjacent v108 v109) (adjacent v109 v123) (adjacent v110 v111) (adjacent v110 v214) (adjacent v110 v292) (adjacent v111 v112) (adjacent v111 v126) (adjacent v112 v113) (adjacent v113 v114) (adjacent v114 v158) (adjacent v114 v273) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v125) (adjacent v117 v118) (adjacent v118 v119) (adjacent v118 v182) (adjacent v118 v191) (adjacent v119 v120) (adjacent v120 v121) (adjacent v120 v127) (adjacent v123 v124) (adjacent v123 v151) (adjacent v124 v125) (adjacent v125 v135) (adjacent v126 v127) (adjacent v126 v306) (adjacent v127 v197) (adjacent v128 v129) (adjacent v129 v130) (adjacent v129 v139) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v133) (adjacent v132 v196) (adjacent v133 v185) (adjacent v135 v136) (adjacent v136 v137) (adjacent v137 v138) (adjacent v137 v161) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v157) (adjacent v141 v258) (adjacent v142 v143) (adjacent v143 v190) (adjacent v146 v147) (adjacent v147 v148) (adjacent v147 v270) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v152 v153) (adjacent v152 v250) (adjacent v153 v154) (adjacent v154 v155) (adjacent v154 v249) (adjacent v155 v156) (adjacent v156 v157) (adjacent v157 v198) (adjacent v158 v263) (adjacent v159 v160) (adjacent v160 v161) (adjacent v161 v199) (adjacent v163 v164) (adjacent v164 v165) (adjacent v164 v291) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v186) (adjacent v172 v173) (adjacent v172 v240) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v177 v178) (adjacent v178 v179) (adjacent v178 v194) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v181 v285) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v193) (adjacent v186 v187) (adjacent v186 v245) (adjacent v187 v188) (adjacent v187 v213) (adjacent v188 v189) (adjacent v189 v244) (adjacent v190 v191) (adjacent v191 v216) (adjacent v192 v193) (adjacent v192 v221) (adjacent v194 v195) (adjacent v195 v196) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v202) (adjacent v202 v203) (adjacent v203 v254) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v207) (adjacent v208 v209) (adjacent v208 v238) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v213 v241) (adjacent v214 v215) (adjacent v216 v217) (adjacent v217 v218) (adjacent v217 v306) (adjacent v218 v219) (adjacent v219 v220) (adjacent v219 v237) (adjacent v219 v269) (adjacent v220 v221) (adjacent v223 v224) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v231 v232) (adjacent v231 v316) (adjacent v232 v233) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v236 v255) (adjacent v238 v239) (adjacent v242 v243) (adjacent v242 v274) (adjacent v243 v244) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v250 v251) (adjacent v251 v252) (adjacent v251 v303) (adjacent v252 v253) (adjacent v253 v254) (adjacent v255 v256) (adjacent v256 v257) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v263 v264) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v274 v275) (adjacent v274 v305) (adjacent v275 v276) (adjacent v275 v293) (adjacent v276 v277) (adjacent v276 v279) (adjacent v277 v278) (adjacent v279 v280) (adjacent v280 v281) (adjacent v280 v297) (adjacent v281 v282) (adjacent v282 v283) (adjacent v283 v284) (adjacent v285 v286) (adjacent v286 v287) (adjacent v287 v288) (adjacent v288 v289) (adjacent v289 v290) (adjacent v291 v292) (adjacent v293 v294) (adjacent v294 v295) (adjacent v295 v296) (adjacent v296 v297) (adjacent v298 v299) (adjacent v299 v300) (adjacent v300 v301) (adjacent v301 v302) (adjacent v303 v304) (adjacent v307 v308) (adjacent v308 v309) (adjacent v309 v310) (adjacent v310 v311) (adjacent v312 v313) (adjacent v313 v314) (adjacent v314 v315) (adjacent v315 v316) ) (:goal (and (at r314 v0) (free v1) (at r175 v2) (free v3) (at r152 v4) (at r274 v5) (at r212 v6) (at r142 v7) (at r158 v8) (at r240 v9) (at r181 v10) (at r305 v11) (at r285 v12) (at r200 v13) (free v14) (at r227 v15) (at r255 v16) (free v17) (at r208 v18) (free v19) (free v20) (at r270 v21) (at r182 v22) (free v23) (at r184 v24) (free v25) (at r253 v26) (at r290 v27) (at r258 v28) (at r238 v29) (at r279 v30) (free v31) (free v32) (at r256 v33) (at r303 v34) (at r209 v35) (at r236 v36) (at r234 v37) (free v38) (at r174 v39) (at r169 v40) (at r283 v41) (at r134 v42) (free v43) (free v44) (free v45) (at r155 v46) (free v47) (at r309 v48) (at r141 v49) (at r198 v50) (free v51) (free v52) (at r228 v53) (at r233 v54) (at r229 v55) (free v56) (free v57) (at r190 v58) (at r245 v59) (at r153 v60) (at r204 v61) (free v62) (free v63) (free v64) (at r266 v65) (at r133 v66) (at r267 v67) (at r294 v68) (at r221 v69) (free v70) (at r278 v71) (at r176 v72) (at r248 v73) (free v74) (at r148 v75) (at r286 v76) (at r183 v77) (free v78) (free v79) (at r262 v80) (at r217 v81) (at r210 v82) (at r308 v83) (at r154 v84) (free v85) (free v86) (at r192 v87) (at r216 v88) (at r218 v89) (at r226 v90) (free v91) (at r259 v92) (at r276 v93) (free v94) (free v95) (at r315 v96) (free v97) (at r287 v98) (free v99) (free v100) (free v101) (at r250 v102) (at r151 v103) (at r191 v104) (at r288 v105) (at r264 v106) (free v107) (at r201 v108) (at r280 v109) (at r292 v110) (at r219 v111) (free v112) (at r179 v113) (at r164 v114) (free v115) (at r257 v116) (at r311 v117) (at r215 v118) (free v119) (at r316 v120) (free v121) (free v122) (at r225 v123) (free v124) (free v125) (at r203 v126) (at r297 v127) (at r265 v128) (free v129) (at r172 v130) (at r231 v131) (at r299 v132) (at r271 v133) (at r157 v134) (free v135) (at r313 v136) (at r289 v137) (free v138) (at r296 v139) (free v140) (at r241 v141) (at r244 v142) (at r185 v143) (free v144) (at r249 v145) (free v146) (free v147) (at r156 v148) (free v149) (free v150) (at r135 v151) (at r281 v152) (free v153) (at r213 v154) (free v155) (free v156) (free v157) (at r206 v158) (at r166 v159) (at r223 v160) (at r180 v161) (at r170 v162) (at r242 v163) (free v164) (free v165) (at r167 v166) (free v167) (free v168) (free v169) (at r268 v170) (free v171) (free v172) (free v173) (at r162 v174) (at r139 v175) (free v176) (free v177) (at r187 v178) (at r189 v179) (free v180) (at r159 v181) (at r277 v182) (at r168 v183) (free v184) (free v185) (at r224 v186) (free v187) (at r165 v188) (free v189) (at r307 v190) (at r214 v191) (free v192) (free v193) (free v194) (at r173 v195) (free v196) (at r282 v197) (free v198) (free v199) (at r202 v200) (free v201) (free v202) (at r237 v203) (at r298 v204) (at r136 v205) (free v206) (at r145 v207) (free v208) (free v209) (free v210) (at r312 v211) (free v212) (free v213) (free v214) (at r177 v215) (free v216) (at r163 v217) (at r195 v218) (free v219) (at r197 v220) (at r220 v221) (free v222) (at r149 v223) (at r161 v224) (at r239 v225) (at r235 v226) (free v227) (free v228) (free v229) (at r160 v230) (at r140 v231) (free v232) (free v233) (at r293 v234) (at r247 v235) (at r246 v236) (free v237) (free v238) (free v239) (free v240) (at r205 v241) (at r194 v242) (at r254 v243) (free v244) (at r304 v245) (at r275 v246) (at r300 v247) (at r196 v248) (at r310 v249) (at r211 v250) (at r263 v251) (at r291 v252) (free v253) (free v254) (free v255) (free v256) (free v257) (at r178 v258) (free v259) (at r232 v260) (free v261) (free v262) (free v263) (free v264) (free v265) (free v266) (at r222 v267) (at r306 v268) (free v269) (at r150 v270) (at r251 v271) (free v272) (free v273) (free v274) (at r301 v275) (at r147 v276) (free v277) (at r273 v278) (at r261 v279) (at r295 v280) (at r146 v281) (at r207 v282) (at r171 v283) (at r272 v284) (free v285) (free v286) (free v287) (free v288) (at r199 v289) (free v290) (at r137 v291) (free v292) (free v293) (free v294) (at r252 v295) (free v296) (at r186 v297) (at r143 v298) (at r144 v299) (free v300) (free v301) (at r230 v302) (at r188 v303) (at r260 v304) (free v305) (at r243 v306) (free v307) (free v308) (at r269 v309) (at r284 v310) (free v311) (at r138 v312) (free v313) (free v314) (at r302 v315) (at r193 v316) ) ) )