(define (problem multirobot_86_90%_c0) (:domain multirobot) (:objects v0 v1 v2 v3 r172 v4 r289 v5 v6 r196 v7 v8 v9 r231 v10 r213 v11 r226 v12 v13 r164 v14 r240 v15 v16 v17 v18 r302 v19 v20 r175 v21 v22 v23 r169 v24 r189 v25 v26 v27 r293 v28 v29 v30 r202 v31 v32 v33 v34 r204 v35 r219 v36 v37 r263 v38 v39 v40 r163 v41 r216 v42 v43 r173 v44 v45 v46 r205 v47 v48 r232 v49 v50 v51 r250 v52 v53 r306 v54 v55 v56 r269 v57 r300 v58 v59 v60 r298 v61 r276 v62 r248 v63 v64 r191 v65 r308 v66 v67 v68 v69 v70 r154 v71 v72 v73 v74 r215 v75 v76 v77 v78 r218 v79 v80 v81 v82 v83 v84 v85 r272 v86 r270 v87 r155 v88 r192 v89 r179 v90 r183 v91 r188 v92 r235 v93 r311 v94 v95 r214 v96 r254 v97 r228 v98 r262 v99 r236 v100 v101 r255 v102 r201 v103 v104 r265 v105 v106 v107 v108 r281 v109 r180 v110 r206 v111 r301 v112 v113 v114 v115 v116 v117 v118 r284 v119 r195 v120 r193 v121 v122 r170 v123 r268 v124 r159 v125 v126 r187 v127 v128 r233 v129 v130 r253 v131 v132 v133 r203 v134 r167 v135 r278 v136 r280 v137 r223 v138 v139 v140 v141 r242 v142 r256 v143 r197 v144 r220 v145 v146 r229 v147 v148 r275 v149 v150 r160 v151 r283 v152 v153 r259 v154 r161 v155 r297 v156 r168 v157 v158 r209 v159 v160 r305 v161 r274 v162 r285 v163 v164 r292 v165 v166 r171 v167 v168 v169 r182 v170 v171 r279 v172 v173 v174 v175 r174 v176 r304 v177 r158 v178 v179 v180 r271 v181 v182 v183 v184 r260 v185 v186 r239 v187 r212 v188 v189 r251 v190 v191 v192 v193 v194 v195 r166 v196 v197 r151 v198 v199 v200 r277 v201 r221 v202 r225 v203 r257 v204 r211 v205 r241 v206 v207 r244 v208 v209 v210 r227 v211 r245 v212 v213 v214 v215 v216 r156 v217 r282 v218 v219 v220 v221 r184 v222 v223 r200 v224 r249 v225 v226 v227 r194 v228 r210 v229 v230 v231 r224 v232 r185 v233 r153 v234 v235 r152 v236 v237 r303 v238 r176 v239 r288 v240 v241 r181 v242 v243 v244 r208 v245 r230 v246 v247 v248 v249 r258 v250 r157 v251 v252 r307 v253 v254 v255 r286 v256 v257 r234 v258 v259 v260 v261 v262 r178 v263 v264 r267 v265 r150 v266 r252 v267 r261 v268 v269 v270 r165 v271 r237 v272 r199 v273 r243 v274 r217 v275 v276 v277 r309 v278 r295 v279 v280 r162 v281 r291 v282 v283 r273 v284 v285 v286 v287 r246 v288 r299 v289 v290 v291 r238 v292 r266 v293 v294 r264 v295 v296 r290 v297 v298 r198 v299 r287 v300 v301 r310 v302 r186 v303 r190 v304 r177 v305 r207 v306 r222 v307 r247 v308 r296 v309 r294 v310 v311 ) (:init (free v0) (free v1) (free v2) (at r172 v3) (at r289 v4) (free v5) (at r196 v6) (free v7) (free v8) (at r231 v9) (at r213 v10) (at r226 v11) (free v12) (at r164 v13) (at r240 v14) (free v15) (free v16) (free v17) (at r302 v18) (free v19) (at r175 v20) (free v21) (free v22) (at r169 v23) (at r189 v24) (free v25) (free v26) (at r293 v27) (free v28) (free v29) (at r202 v30) (free v31) (free v32) (free v33) (at r204 v34) (at r219 v35) (free v36) (at r263 v37) (free v38) (free v39) (at r163 v40) (at r216 v41) (free v42) (at r173 v43) (free v44) (free v45) (at r205 v46) (free v47) (at r232 v48) (free v49) (free v50) (at r250 v51) (free v52) (at r306 v53) (free v54) (free v55) (at r269 v56) (at r300 v57) (free v58) (free v59) (at r298 v60) (at r276 v61) (at r248 v62) (free v63) (at r191 v64) (at r308 v65) (free v66) (free v67) (free v68) (free v69) (at r154 v70) (free v71) (free v72) (free v73) (at r215 v74) (free v75) (free v76) (free v77) (at r218 v78) (free v79) (free v80) (free v81) (free v82) (free v83) (free v84) (at r272 v85) (at r270 v86) (at r155 v87) (at r192 v88) (at r179 v89) (at r183 v90) (at r188 v91) (at r235 v92) (at r311 v93) (free v94) (at r214 v95) (at r254 v96) (at r228 v97) (at r262 v98) (at r236 v99) (free v100) (at r255 v101) (at r201 v102) (free v103) (at r265 v104) (free v105) (free v106) (free v107) (at r281 v108) (at r180 v109) (at r206 v110) (at r301 v111) (free v112) (free v113) (free v114) (free v115) (free v116) (free v117) (at r284 v118) (at r195 v119) (at r193 v120) (free v121) (at r170 v122) (at r268 v123) (at r159 v124) (free v125) (at r187 v126) (free v127) (at r233 v128) (free v129) (at r253 v130) (free v131) (free v132) (at r203 v133) (at r167 v134) (at r278 v135) (at r280 v136) (at r223 v137) (free v138) (free v139) (free v140) (at r242 v141) (at r256 v142) (at r197 v143) (at r220 v144) (free v145) (at r229 v146) (free v147) (at r275 v148) (free v149) (at r160 v150) (at r283 v151) (free v152) (at r259 v153) (at r161 v154) (at r297 v155) (at r168 v156) (free v157) (at r209 v158) (free v159) (at r305 v160) (at r274 v161) (at r285 v162) (free v163) (at r292 v164) (free v165) (at r171 v166) (free v167) (free v168) (at r182 v169) (free v170) (at r279 v171) (free v172) (free v173) (free v174) (at r174 v175) (at r304 v176) (at r158 v177) (free v178) (free v179) (at r271 v180) (free v181) (free v182) (free v183) (at r260 v184) (free v185) (at r239 v186) (at r212 v187) (free v188) (at r251 v189) (free v190) (free v191) (free v192) (free v193) (free v194) (at r166 v195) (free v196) (at r151 v197) (free v198) (free v199) (at r277 v200) (at r221 v201) (at r225 v202) (at r257 v203) (at r211 v204) (at r241 v205) (free v206) (at r244 v207) (free v208) (free v209) (at r227 v210) (at r245 v211) (free v212) (free v213) (free v214) (free v215) (at r156 v216) (at r282 v217) (free v218) (free v219) (free v220) (at r184 v221) (free v222) (at r200 v223) (at r249 v224) (free v225) (free v226) (at r194 v227) (at r210 v228) (free v229) (free v230) (at r224 v231) (at r185 v232) (at r153 v233) (free v234) (at r152 v235) (free v236) (at r303 v237) (at r176 v238) (at r288 v239) (free v240) (at r181 v241) (free v242) (free v243) (at r208 v244) (at r230 v245) (free v246) (free v247) (free v248) (at r258 v249) (at r157 v250) (free v251) (at r307 v252) (free v253) (free v254) (at r286 v255) (free v256) (at r234 v257) (free v258) (free v259) (free v260) (free v261) (at r178 v262) (free v263) (at r267 v264) (at r150 v265) (at r252 v266) (at r261 v267) (free v268) (free v269) (at r165 v270) (at r237 v271) (at r199 v272) (at r243 v273) (at r217 v274) (free v275) (free v276) (at r309 v277) (at r295 v278) (free v279) (at r162 v280) (at r291 v281) (free v282) (at r273 v283) (free v284) (free v285) (free v286) (at r246 v287) (at r299 v288) (free v289) (free v290) (at r238 v291) (at r266 v292) (free v293) (at r264 v294) (free v295) (at r290 v296) (free v297) (at r198 v298) (at r287 v299) (free v300) (at r310 v301) (at r186 v302) (at r190 v303) (at r177 v304) (at r207 v305) (at r222 v306) (at r247 v307) (at r296 v308) (at r294 v309) (free v310) (free v311) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v30) (adjacent v1 v2) (adjacent v2 v3) (adjacent v3 v4) (adjacent v3 v7) (adjacent v3 v10) (adjacent v3 v11) (adjacent v3 v75) (adjacent v3 v209) (adjacent v4 v5) (adjacent v4 v10) (adjacent v4 v47) (adjacent v4 v67) (adjacent v4 v129) (adjacent v4 v140) (adjacent v5 v6) (adjacent v5 v9) (adjacent v5 v22) (adjacent v5 v50) (adjacent v5 v66) (adjacent v5 v147) (adjacent v6 v7) (adjacent v6 v84) (adjacent v6 v103) (adjacent v6 v267) (adjacent v7 v8) (adjacent v7 v54) (adjacent v7 v80) (adjacent v7 v96) (adjacent v8 v9) (adjacent v8 v17) (adjacent v9 v109) (adjacent v9 v208) (adjacent v10 v16) (adjacent v11 v12) (adjacent v12 v13) (adjacent v12 v28) (adjacent v12 v51) (adjacent v13 v14) (adjacent v13 v46) (adjacent v14 v15) (adjacent v14 v135) (adjacent v15 v16) (adjacent v15 v207) (adjacent v16 v23) (adjacent v16 v31) (adjacent v16 v97) (adjacent v16 v116) (adjacent v16 v177) (adjacent v17 v18) (adjacent v17 v29) (adjacent v17 v32) (adjacent v17 v119) (adjacent v18 v19) (adjacent v18 v31) (adjacent v18 v37) (adjacent v19 v20) (adjacent v19 v63) (adjacent v20 v21) (adjacent v21 v22) (adjacent v21 v27) (adjacent v22 v51) (adjacent v22 v120) (adjacent v23 v24) (adjacent v24 v25) (adjacent v24 v38) (adjacent v24 v62) (adjacent v25 v26) (adjacent v25 v30) (adjacent v25 v273) (adjacent v26 v27) (adjacent v26 v284) (adjacent v28 v29) (adjacent v28 v62) (adjacent v31 v47) (adjacent v32 v33) (adjacent v33 v34) (adjacent v33 v48) (adjacent v34 v35) (adjacent v34 v43) (adjacent v34 v204) (adjacent v35 v36) (adjacent v35 v136) (adjacent v36 v37) (adjacent v37 v254) (adjacent v38 v39) (adjacent v39 v40) (adjacent v40 v41) (adjacent v40 v89) (adjacent v40 v102) (adjacent v40 v139) (adjacent v41 v42) (adjacent v41 v44) (adjacent v41 v263) (adjacent v42 v43) (adjacent v42 v55) (adjacent v44 v45) (adjacent v44 v81) (adjacent v44 v87) (adjacent v44 v108) (adjacent v45 v46) (adjacent v45 v52) (adjacent v45 v146) (adjacent v48 v49) (adjacent v48 v65) (adjacent v49 v50) (adjacent v50 v55) (adjacent v50 v61) (adjacent v51 v88) (adjacent v52 v53) (adjacent v52 v83) (adjacent v53 v54) (adjacent v53 v56) (adjacent v54 v115) (adjacent v54 v246) (adjacent v55 v311) (adjacent v56 v57) (adjacent v56 v68) (adjacent v56 v168) (adjacent v57 v58) (adjacent v57 v291) (adjacent v58 v59) (adjacent v58 v124) (adjacent v59 v60) (adjacent v60 v61) (adjacent v60 v74) (adjacent v60 v268) (adjacent v61 v131) (adjacent v61 v205) (adjacent v63 v64) (adjacent v63 v158) (adjacent v64 v65) (adjacent v64 v253) (adjacent v66 v67) (adjacent v66 v132) (adjacent v66 v296) (adjacent v68 v69) (adjacent v69 v70) (adjacent v69 v191) (adjacent v70 v71) (adjacent v70 v223) (adjacent v71 v72) (adjacent v71 v176) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v88) (adjacent v73 v106) (adjacent v73 v123) (adjacent v75 v76) (adjacent v75 v175) (adjacent v76 v77) (adjacent v76 v264) (adjacent v77 v78) (adjacent v78 v79) (adjacent v79 v80) (adjacent v79 v169) (adjacent v80 v180) (adjacent v80 v298) (adjacent v81 v82) (adjacent v81 v96) (adjacent v82 v83) (adjacent v83 v105) (adjacent v83 v141) (adjacent v84 v85) (adjacent v84 v153) (adjacent v85 v86) (adjacent v86 v87) (adjacent v87 v95) (adjacent v88 v152) (adjacent v89 v90) (adjacent v90 v91) (adjacent v91 v92) (adjacent v91 v167) (adjacent v92 v93) (adjacent v92 v198) (adjacent v93 v94) (adjacent v93 v285) (adjacent v94 v95) (adjacent v94 v181) (adjacent v95 v118) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v100) (adjacent v100 v101) (adjacent v100 v195) (adjacent v101 v102) (adjacent v102 v175) (adjacent v102 v177) (adjacent v102 v184) (adjacent v102 v306) (adjacent v103 v104) (adjacent v104 v105) (adjacent v105 v232) (adjacent v106 v107) (adjacent v106 v255) (adjacent v107 v108) (adjacent v108 v278) (adjacent v109 v110) (adjacent v110 v111) (adjacent v111 v112) (adjacent v111 v119) (adjacent v112 v113) (adjacent v112 v130) (adjacent v112 v138) (adjacent v112 v254) (adjacent v113 v114) (adjacent v114 v115) (adjacent v114 v261) (adjacent v116 v117) (adjacent v117 v118) (adjacent v117 v161) (adjacent v117 v162) (adjacent v120 v121) (adjacent v120 v185) (adjacent v121 v122) (adjacent v122 v123) (adjacent v124 v125) (adjacent v124 v170) (adjacent v124 v215) (adjacent v125 v126) (adjacent v126 v127) (adjacent v127 v128) (adjacent v128 v129) (adjacent v128 v226) (adjacent v130 v131) (adjacent v132 v133) (adjacent v132 v176) (adjacent v133 v134) (adjacent v133 v157) (adjacent v134 v135) (adjacent v136 v137) (adjacent v136 v174) (adjacent v137 v138) (adjacent v138 v206) (adjacent v139 v140) (adjacent v139 v227) (adjacent v140 v279) (adjacent v141 v142) (adjacent v141 v184) (adjacent v142 v143) (adjacent v143 v144) (adjacent v144 v145) (adjacent v144 v221) (adjacent v145 v146) (adjacent v147 v148) (adjacent v148 v149) (adjacent v148 v217) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v152 v192) (adjacent v152 v241) (adjacent v153 v154) (adjacent v154 v155) (adjacent v154 v178) (adjacent v155 v156) (adjacent v155 v205) (adjacent v156 v157) (adjacent v158 v159) (adjacent v159 v160) (adjacent v159 v208) (adjacent v160 v161) (adjacent v161 v234) (adjacent v162 v163) (adjacent v163 v164) (adjacent v163 v233) (adjacent v163 v272) (adjacent v164 v165) (adjacent v165 v166) (adjacent v165 v183) (adjacent v166 v167) (adjacent v166 v196) (adjacent v166 v214) (adjacent v167 v203) (adjacent v168 v169) (adjacent v168 v222) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v173) (adjacent v172 v292) (adjacent v173 v174) (adjacent v178 v179) (adjacent v179 v180) (adjacent v181 v182) (adjacent v182 v183) (adjacent v185 v186) (adjacent v186 v187) (adjacent v186 v204) (adjacent v187 v188) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v191) (adjacent v192 v193) (adjacent v192 v218) (adjacent v193 v194) (adjacent v193 v291) (adjacent v194 v195) (adjacent v196 v197) (adjacent v196 v199) (adjacent v197 v198) (adjacent v197 v298) (adjacent v199 v200) (adjacent v200 v201) (adjacent v201 v202) (adjacent v201 v222) (adjacent v202 v203) (adjacent v204 v283) (adjacent v206 v207) (adjacent v207 v290) (adjacent v208 v233) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v213 v214) (adjacent v215 v216) (adjacent v216 v217) (adjacent v218 v219) (adjacent v219 v220) (adjacent v220 v221) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v227 v228) (adjacent v227 v247) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v230 v286) (adjacent v231 v232) (adjacent v231 v240) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v297) (adjacent v241 v242) (adjacent v242 v243) (adjacent v242 v262) (adjacent v243 v244) (adjacent v244 v245) (adjacent v245 v246) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v250 v251) (adjacent v251 v252) (adjacent v252 v253) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v258) (adjacent v258 v259) (adjacent v259 v260) (adjacent v260 v261) (adjacent v262 v263) (adjacent v264 v265) (adjacent v265 v266) (adjacent v266 v267) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v299) (adjacent v273 v274) (adjacent v274 v275) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v305) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v284 v285) (adjacent v286 v287) (adjacent v287 v288) (adjacent v288 v289) (adjacent v289 v290) (adjacent v292 v293) (adjacent v293 v294) (adjacent v294 v295) (adjacent v295 v296) (adjacent v296 v297) (adjacent v299 v300) (adjacent v300 v301) (adjacent v301 v302) (adjacent v302 v303) (adjacent v303 v304) (adjacent v304 v305) (adjacent v306 v307) (adjacent v307 v308) (adjacent v308 v309) (adjacent v309 v310) (adjacent v310 v311) ) (:goal (and (at r294 v0) (at r201 v1) (free v2) (free v3) (free v4) (at r252 v5) (at r305 v6) (free v7) (at r229 v8) (at r275 v9) (free v10) (at r188 v11) (at r180 v12) (free v13) (at r242 v14) (at r183 v15) (free v16) (free v17) (free v18) (free v19) (at r264 v20) (free v21) (free v22) (at r290 v23) (at r248 v24) (free v25) (free v26) (free v27) (at r156 v28) (at r170 v29) (at r266 v30) (at r273 v31) (free v32) (at r260 v33) (at r221 v34) (at r282 v35) (free v36) (at r174 v37) (free v38) (at r293 v39) (free v40) (at r271 v41) (free v42) (at r220 v43) (at r166 v44) (at r208 v45) (at r238 v46) (free v47) (at r228 v48) (at r272 v49) (free v50) (at r202 v51) (free v52) (at r301 v53) (at r224 v54) (at r284 v55) (at r254 v56) (free v57) (free v58) (free v59) (at r233 v60) (free v61) (at r189 v62) (free v63) (at r195 v64) (at r307 v65) (free v66) (at r255 v67) (at r171 v68) (at r268 v69) (free v70) (free v71) (free v72) (free v73) (free v74) (free v75) (at r297 v76) (at r169 v77) (free v78) (at r154 v79) (at r231 v80) (free v81) (free v82) (free v83) (at r245 v84) (at r261 v85) (free v86) (free v87) (free v88) (free v89) (at r212 v90) (at r285 v91) (free v92) (at r222 v93) (free v94) (at r299 v95) (at r209 v96) (free v97) (at r213 v98) (free v99) (at r196 v100) (free v101) (at r164 v102) (free v103) (at r151 v104) (free v105) (free v106) (at r161 v107) (free v108) (free v109) (at r160 v110) (at r278 v111) (at r303 v112) (at r232 v113) (at r157 v114) (free v115) (free v116) (free v117) (free v118) (at r292 v119) (at r203 v120) (at r152 v121) (at r289 v122) (at r194 v123) (free v124) (at r181 v125) (free v126) (free v127) (free v128) (free v129) (at r216 v130) (free v131) (at r267 v132) (at r214 v133) (free v134) (free v135) (free v136) (free v137) (at r308 v138) (free v139) (at r250 v140) (free v141) (free v142) (at r262 v143) (at r281 v144) (at r291 v145) (at r277 v146) (free v147) (at r296 v148) (at r186 v149) (free v150) (at r311 v151) (at r177 v152) (at r280 v153) (free v154) (free v155) (free v156) (free v157) (free v158) (at r158 v159) (at r179 v160) (free v161) (free v162) (at r205 v163) (at r163 v164) (at r198 v165) (at r191 v166) (at r182 v167) (free v168) (at r256 v169) (at r265 v170) (at r215 v171) (free v172) (at r193 v173) (free v174) (at r253 v175) (at r237 v176) (free v177) (at r240 v178) (at r241 v179) (at r206 v180) (at r150 v181) (at r246 v182) (free v183) (free v184) (free v185) (at r162 v186) (at r302 v187) (free v188) (free v189) (free v190) (at r259 v191) (at r247 v192) (at r218 v193) (free v194) (at r167 v195) (at r199 v196) (free v197) (free v198) (at r197 v199) (free v200) (free v201) (at r165 v202) (at r235 v203) (at r210 v204) (at r251 v205) (at r279 v206) (free v207) (at r159 v208) (at r185 v209) (at r223 v210) (at r236 v211) (free v212) (free v213) (at r239 v214) (free v215) (at r300 v216) (free v217) (at r287 v218) (free v219) (free v220) (at r225 v221) (at r257 v222) (free v223) (free v224) (free v225) (at r295 v226) (at r204 v227) (at r176 v228) (at r207 v229) (free v230) (at r286 v231) (free v232) (free v233) (at r309 v234) (free v235) (free v236) (free v237) (at r190 v238) (free v239) (free v240) (at r234 v241) (free v242) (free v243) (free v244) (free v245) (free v246) (at r304 v247) (at r230 v248) (at r226 v249) (at r263 v250) (at r244 v251) (at r175 v252) (free v253) (at r155 v254) (at r269 v255) (at r187 v256) (at r200 v257) (free v258) (free v259) (at r192 v260) (free v261) (free v262) (at r270 v263) (free v264) (free v265) (at r283 v266) (free v267) (free v268) (free v269) (at r227 v270) (at r178 v271) (free v272) (free v273) (at r217 v274) (free v275) (at r168 v276) (free v277) (free v278) (at r243 v279) (free v280) (free v281) (free v282) (free v283) (free v284) (at r153 v285) (free v286) (at r274 v287) (free v288) (free v289) (at r276 v290) (free v291) (at r173 v292) (free v293) (free v294) (free v295) (at r310 v296) (free v297) (at r184 v298) (free v299) (free v300) (at r249 v301) (at r219 v302) (free v303) (at r172 v304) (free v305) (at r211 v306) (free v307) (at r306 v308) (at r288 v309) (at r298 v310) (at r258 v311) ) ) )