(define (problem multirobot_91_90%_c9) (:domain multirobot) (:objects v0 v1 r231 v2 v3 v4 r181 v5 v6 v7 r198 v8 v9 v10 v11 v12 r270 v13 v14 r290 v15 r295 v16 v17 r287 v18 r192 v19 r185 v20 r259 v21 v22 r184 v23 v24 r225 v25 v26 r272 v27 v28 v29 r294 v30 v31 v32 r236 v33 r247 v34 v35 r233 v36 v37 v38 v39 r186 v40 v41 v42 v43 r301 v44 r246 v45 r216 v46 v47 v48 v49 r304 v50 r230 v51 r286 v52 r292 v53 r220 v54 r267 v55 r293 v56 r237 v57 r204 v58 r200 v59 r305 v60 v61 r277 v62 v63 r249 v64 r252 v65 v66 v67 v68 v69 r269 v70 v71 v72 v73 r229 v74 v75 r228 v76 r297 v77 v78 v79 r303 v80 v81 v82 v83 r217 v84 r223 v85 r243 v86 v87 v88 v89 v90 v91 r218 v92 v93 v94 v95 r248 v96 r268 v97 v98 v99 v100 v101 v102 v103 v104 r205 v105 r281 v106 r306 v107 v108 v109 r311 v110 r235 v111 v112 r253 v113 r239 v114 r258 v115 v116 v117 v118 v119 r296 v120 v121 r298 v122 v123 v124 r313 v125 r299 v126 r254 v127 r232 v128 v129 r275 v130 v131 r234 v132 r212 v133 v134 r282 v135 v136 r300 v137 r289 v138 v139 r214 v140 r187 v141 v142 v143 v144 r189 v145 r202 v146 v147 v148 r226 v149 v150 v151 v152 r314 v153 r241 v154 v155 v156 r238 v157 v158 v159 v160 v161 v162 v163 v164 v165 v166 v167 r245 v168 r260 v169 r195 v170 r219 v171 r215 v172 r178 v173 v174 v175 v176 r242 v177 r302 v178 v179 v180 r291 v181 v182 v183 v184 v185 r266 v186 r211 v187 v188 r190 v189 v190 v191 r180 v192 r177 v193 r263 v194 v195 v196 r213 v197 r250 v198 r310 v199 v200 v201 v202 r255 v203 v204 v205 r284 v206 r312 v207 r264 v208 v209 v210 v211 v212 r288 v213 r209 v214 v215 v216 r257 v217 r221 v218 v219 r271 v220 r307 v221 v222 v223 r256 v224 v225 r251 v226 r183 v227 v228 v229 v230 v231 r315 v232 r199 v233 v234 v235 r203 v236 v237 v238 r179 v239 v240 r207 v241 v242 v243 v244 v245 v246 v247 v248 v249 r308 v250 v251 v252 v253 r309 v254 v255 v256 r208 v257 v258 v259 v260 r262 v261 v262 v263 v264 v265 v266 v267 r222 v268 v269 v270 r182 v271 r285 v272 r283 v273 v274 v275 v276 r194 v277 v278 r201 v279 v280 r240 v281 r279 v282 v283 r224 v284 v285 r206 v286 r188 v287 v288 r280 v289 r196 v290 v291 r193 v292 v293 v294 r261 v295 v296 r276 v297 v298 r191 v299 v300 v301 r316 v302 r210 v303 v304 v305 r227 v306 r278 v307 r274 v308 v309 v310 v311 r265 v312 v313 v314 r197 v315 r244 v316 r273 ) (:init (free v0) (at r231 v1) (free v2) (free v3) (at r181 v4) (free v5) (free v6) (at r198 v7) (free v8) (free v9) (free v10) (free v11) (at r270 v12) (free v13) (at r290 v14) (at r295 v15) (free v16) (at r287 v17) (at r192 v18) (at r185 v19) (at r259 v20) (free v21) (at r184 v22) (free v23) (at r225 v24) (free v25) (at r272 v26) (free v27) (free v28) (at r294 v29) (free v30) (free v31) (at r236 v32) (at r247 v33) (free v34) (at r233 v35) (free v36) (free v37) (free v38) (at r186 v39) (free v40) (free v41) (free v42) (at r301 v43) (at r246 v44) (at r216 v45) (free v46) (free v47) (free v48) (at r304 v49) (at r230 v50) (at r286 v51) (at r292 v52) (at r220 v53) (at r267 v54) (at r293 v55) (at r237 v56) (at r204 v57) (at r200 v58) (at r305 v59) (free v60) (at r277 v61) (free v62) (at r249 v63) (at r252 v64) (free v65) (free v66) (free v67) (free v68) (at r269 v69) (free v70) (free v71) (free v72) (at r229 v73) (free v74) (at r228 v75) (at r297 v76) (free v77) (free v78) (at r303 v79) (free v80) (free v81) (free v82) (at r217 v83) (at r223 v84) (at r243 v85) (free v86) (free v87) (free v88) (free v89) (free v90) (at r218 v91) (free v92) (free v93) (free v94) (at r248 v95) (at r268 v96) (free v97) (free v98) (free v99) (free v100) (free v101) (free v102) (free v103) (at r205 v104) (at r281 v105) (at r306 v106) (free v107) (free v108) (at r311 v109) (at r235 v110) (free v111) (at r253 v112) (at r239 v113) (at r258 v114) (free v115) (free v116) (free v117) (free v118) (at r296 v119) (free v120) (at r298 v121) (free v122) (free v123) (at r313 v124) (at r299 v125) (at r254 v126) (at r232 v127) (free v128) (at r275 v129) (free v130) (at r234 v131) (at r212 v132) (free v133) (at r282 v134) (free v135) (at r300 v136) (at r289 v137) (free v138) (at r214 v139) (at r187 v140) (free v141) (free v142) (free v143) (at r189 v144) (at r202 v145) (free v146) (free v147) (at r226 v148) (free v149) (free v150) (free v151) (at r314 v152) (at r241 v153) (free v154) (free v155) (at r238 v156) (free v157) (free v158) (free v159) (free v160) (free v161) (free v162) (free v163) (free v164) (free v165) (free v166) (at r245 v167) (at r260 v168) (at r195 v169) (at r219 v170) (at r215 v171) (at r178 v172) (free v173) (free v174) (free v175) (at r242 v176) (at r302 v177) (free v178) (free v179) (at r291 v180) (free v181) (free v182) (free v183) (free v184) (at r266 v185) (at r211 v186) (free v187) (at r190 v188) (free v189) (free v190) (at r180 v191) (at r177 v192) (at r263 v193) (free v194) (free v195) (at r213 v196) (at r250 v197) (at r310 v198) (free v199) (free v200) (free v201) (at r255 v202) (free v203) (free v204) (at r284 v205) (at r312 v206) (at r264 v207) (free v208) (free v209) (free v210) (free v211) (at r288 v212) (at r209 v213) (free v214) (free v215) (at r257 v216) (at r221 v217) (free v218) (at r271 v219) (at r307 v220) (free v221) (free v222) (at r256 v223) (free v224) (at r251 v225) (at r183 v226) (free v227) (free v228) (free v229) (free v230) (at r315 v231) (at r199 v232) (free v233) (free v234) (at r203 v235) (free v236) (free v237) (at r179 v238) (free v239) (at r207 v240) (free v241) (free v242) (free v243) (free v244) (free v245) (free v246) (free v247) (free v248) (at r308 v249) (free v250) (free v251) (free v252) (at r309 v253) (free v254) (free v255) (at r208 v256) (free v257) (free v258) (free v259) (at r262 v260) (free v261) (free v262) (free v263) (free v264) (free v265) (free v266) (at r222 v267) (free v268) (free v269) (at r182 v270) (at r285 v271) (at r283 v272) (free v273) (free v274) (free v275) (at r194 v276) (free v277) (at r201 v278) (free v279) (at r240 v280) (at r279 v281) (free v282) (at r224 v283) (free v284) (at r206 v285) (at r188 v286) (free v287) (at r280 v288) (at r196 v289) (free v290) (at r193 v291) (free v292) (free v293) (at r261 v294) (free v295) (at r276 v296) (free v297) (at r191 v298) (free v299) (free v300) (at r316 v301) (at r210 v302) (free v303) (free v304) (at r227 v305) (at r278 v306) (at r274 v307) (free v308) (free v309) (free v310) (at r265 v311) (free v312) (free v313) (at r197 v314) (at r244 v315) (at r273 v316) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v16) (adjacent v0 v145) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v15) (adjacent v1 v25) (adjacent v1 v198) (adjacent v2 v3) (adjacent v2 v14) (adjacent v2 v66) (adjacent v2 v104) (adjacent v2 v105) (adjacent v3 v4) (adjacent v3 v11) (adjacent v3 v49) (adjacent v3 v67) (adjacent v3 v120) (adjacent v3 v244) (adjacent v4 v13) (adjacent v4 v40) (adjacent v4 v83) (adjacent v5 v6) (adjacent v5 v12) (adjacent v5 v14) (adjacent v5 v19) (adjacent v5 v50) (adjacent v6 v7) (adjacent v6 v31) (adjacent v6 v173) (adjacent v7 v8) (adjacent v7 v13) (adjacent v7 v49) (adjacent v7 v212) (adjacent v8 v9) (adjacent v8 v12) (adjacent v8 v24) (adjacent v9 v10) (adjacent v9 v98) (adjacent v10 v11) (adjacent v10 v128) (adjacent v11 v18) (adjacent v12 v42) (adjacent v13 v17) (adjacent v13 v63) (adjacent v13 v115) (adjacent v14 v30) (adjacent v15 v16) (adjacent v15 v34) (adjacent v16 v35) (adjacent v16 v56) (adjacent v16 v94) (adjacent v16 v176) (adjacent v17 v18) (adjacent v18 v114) (adjacent v19 v20) (adjacent v20 v21) (adjacent v20 v39) (adjacent v20 v258) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v33) (adjacent v22 v147) (adjacent v23 v24) (adjacent v23 v34) (adjacent v24 v41) (adjacent v25 v26) (adjacent v25 v68) (adjacent v26 v27) (adjacent v27 v28) (adjacent v27 v48) (adjacent v27 v190) (adjacent v28 v29) (adjacent v29 v30) (adjacent v30 v40) (adjacent v30 v87) (adjacent v30 v155) (adjacent v31 v32) (adjacent v31 v308) (adjacent v32 v33) (adjacent v33 v64) (adjacent v33 v100) (adjacent v33 v149) (adjacent v33 v234) (adjacent v34 v121) (adjacent v34 v178) (adjacent v35 v36) (adjacent v36 v37) (adjacent v37 v38) (adjacent v38 v39) (adjacent v39 v223) (adjacent v40 v41) (adjacent v40 v82) (adjacent v40 v258) (adjacent v41 v62) (adjacent v42 v43) (adjacent v42 v57) (adjacent v43 v44) (adjacent v43 v75) (adjacent v43 v269) (adjacent v43 v270) (adjacent v44 v45) (adjacent v44 v293) (adjacent v45 v46) (adjacent v45 v299) (adjacent v46 v47) (adjacent v46 v93) (adjacent v46 v191) (adjacent v47 v48) (adjacent v47 v76) (adjacent v48 v179) (adjacent v48 v250) (adjacent v50 v51) (adjacent v50 v259) (adjacent v51 v52) (adjacent v51 v156) (adjacent v52 v53) (adjacent v52 v63) (adjacent v52 v77) (adjacent v53 v54) (adjacent v54 v55) (adjacent v55 v56) (adjacent v55 v209) (adjacent v55 v316) (adjacent v56 v199) (adjacent v56 v222) (adjacent v57 v58) (adjacent v57 v199) (adjacent v57 v300) (adjacent v58 v59) (adjacent v58 v116) (adjacent v59 v60) (adjacent v59 v74) (adjacent v59 v117) (adjacent v59 v212) (adjacent v60 v61) (adjacent v60 v240) (adjacent v61 v62) (adjacent v61 v235) (adjacent v62 v243) (adjacent v63 v69) (adjacent v64 v65) (adjacent v64 v230) (adjacent v65 v66) (adjacent v65 v174) (adjacent v67 v68) (adjacent v67 v221) (adjacent v67 v274) (adjacent v68 v208) (adjacent v69 v70) (adjacent v70 v71) (adjacent v70 v286) (adjacent v71 v72) (adjacent v71 v302) (adjacent v72 v73) (adjacent v72 v183) (adjacent v73 v74) (adjacent v73 v287) (adjacent v74 v138) (adjacent v75 v76) (adjacent v76 v88) (adjacent v77 v78) (adjacent v77 v110) (adjacent v78 v79) (adjacent v78 v111) (adjacent v79 v80) (adjacent v79 v97) (adjacent v79 v115) (adjacent v80 v81) (adjacent v80 v101) (adjacent v80 v214) (adjacent v81 v82) (adjacent v82 v242) (adjacent v83 v84) (adjacent v84 v85) (adjacent v84 v127) (adjacent v85 v86) (adjacent v86 v87) (adjacent v86 v200) (adjacent v87 v211) (adjacent v88 v89) (adjacent v88 v118) (adjacent v89 v90) (adjacent v89 v275) (adjacent v90 v91) (adjacent v91 v92) (adjacent v91 v307) (adjacent v92 v93) (adjacent v92 v213) (adjacent v93 v182) (adjacent v93 v316) (adjacent v94 v95) (adjacent v94 v120) (adjacent v94 v167) (adjacent v95 v96) (adjacent v95 v146) (adjacent v95 v208) (adjacent v96 v97) (adjacent v96 v175) (adjacent v98 v99) (adjacent v98 v187) (adjacent v99 v100) (adjacent v101 v102) (adjacent v102 v103) (adjacent v103 v104) (adjacent v103 v280) (adjacent v103 v281) (adjacent v104 v220) (adjacent v105 v106) (adjacent v105 v234) (adjacent v105 v239) (adjacent v106 v107) (adjacent v107 v108) (adjacent v107 v134) (adjacent v108 v109) (adjacent v109 v110) (adjacent v109 v174) (adjacent v111 v112) (adjacent v112 v113) (adjacent v112 v315) (adjacent v113 v114) (adjacent v113 v144) (adjacent v113 v150) (adjacent v116 v117) (adjacent v116 v119) (adjacent v116 v166) (adjacent v117 v160) (adjacent v118 v119) (adjacent v118 v221) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v135) (adjacent v123 v172) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v126 v137) (adjacent v126 v303) (adjacent v127 v269) (adjacent v128 v129) (adjacent v129 v130) (adjacent v129 v186) (adjacent v130 v131) (adjacent v130 v136) (adjacent v131 v132) (adjacent v132 v133) (adjacent v132 v137) (adjacent v132 v308) (adjacent v133 v134) (adjacent v135 v136) (adjacent v135 v159) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v175) (adjacent v142 v143) (adjacent v143 v144) (adjacent v145 v146) (adjacent v146 v315) (adjacent v147 v148) (adjacent v147 v203) (adjacent v147 v294) (adjacent v148 v149) (adjacent v150 v151) (adjacent v151 v152) (adjacent v151 v202) (adjacent v152 v153) (adjacent v152 v173) (adjacent v153 v154) (adjacent v153 v211) (adjacent v154 v155) (adjacent v156 v157) (adjacent v156 v210) (adjacent v156 v294) (adjacent v157 v158) (adjacent v158 v159) (adjacent v160 v161) (adjacent v160 v241) (adjacent v161 v162) (adjacent v161 v207) (adjacent v162 v163) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v167 v168) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v172) (adjacent v172 v268) (adjacent v173 v229) (adjacent v175 v251) (adjacent v176 v177) (adjacent v176 v192) (adjacent v176 v222) (adjacent v176 v259) (adjacent v176 v288) (adjacent v177 v178) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v189) (adjacent v187 v188) (adjacent v188 v189) (adjacent v190 v191) (adjacent v191 v257) (adjacent v192 v193) (adjacent v193 v194) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v199 v215) (adjacent v200 v201) (adjacent v200 v266) (adjacent v201 v202) (adjacent v203 v204) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v207) (adjacent v207 v289) (adjacent v209 v210) (adjacent v211 v233) (adjacent v213 v214) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v218 v219) (adjacent v219 v220) (adjacent v221 v260) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v230 v231) (adjacent v231 v232) (adjacent v232 v233) (adjacent v235 v236) (adjacent v236 v237) (adjacent v237 v238) (adjacent v238 v239) (adjacent v240 v241) (adjacent v242 v243) (adjacent v244 v245) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v249 v265) (adjacent v251 v252) (adjacent v252 v253) (adjacent v253 v254) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v263 v264) (adjacent v264 v265) (adjacent v266 v267) (adjacent v267 v268) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v275 v276) (adjacent v275 v295) (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 v287 v288) (adjacent v289 v290) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v295 v296) (adjacent v296 v297) (adjacent v297 v298) (adjacent v297 v309) (adjacent v298 v299) (adjacent v300 v301) (adjacent v301 v302) (adjacent v302 v314) (adjacent v303 v304) (adjacent v304 v305) (adjacent v305 v306) (adjacent v306 v307) (adjacent v309 v310) (adjacent v310 v311) (adjacent v311 v312) (adjacent v312 v313) (adjacent v313 v314) ) (:goal (and (at r290 v0) (free v1) (free v2) (free v3) (at r179 v4) (free v5) (free v6) (at r221 v7) (free v8) (free v9) (at r266 v10) (free v11) (at r218 v12) (free v13) (free v14) (free v15) (free v16) (free v17) (at r196 v18) (at r177 v19) (at r278 v20) (at r287 v21) (free v22) (at r313 v23) (at r244 v24) (free v25) (at r304 v26) (at r295 v27) (free v28) (at r225 v29) (at r227 v30) (at r312 v31) (free v32) (at r192 v33) (at r281 v34) (at r270 v35) (at r219 v36) (free v37) (free v38) (free v39) (at r195 v40) (free v41) (free v42) (at r308 v43) (free v44) (free v45) (free v46) (at r247 v47) (at r191 v48) (free v49) (at r243 v50) (free v51) (at r265 v52) (free v53) (at r234 v54) (at r298 v55) (free v56) (at r186 v57) (free v58) (free v59) (free v60) (free v61) (free v62) (at r311 v63) (free v64) (free v65) (at r264 v66) (at r181 v67) (at r297 v68) (free v69) (at r223 v70) (free v71) (at r189 v72) (at r292 v73) (free v74) (at r238 v75) (at r210 v76) (at r261 v77) (free v78) (at r252 v79) (at r307 v80) (at r206 v81) (free v82) (at r256 v83) (free v84) (at r212 v85) (at r236 v86) (at r284 v87) (free v88) (at r197 v89) (at r255 v90) (free v91) (free v92) (free v93) (free v94) (at r253 v95) (at r224 v96) (free v97) (at r237 v98) (at r220 v99) (at r268 v100) (at r187 v101) (free v102) (free v103) (at r202 v104) (free v105) (at r309 v106) (at r233 v107) (at r251 v108) (at r190 v109) (at r259 v110) (free v111) (at r204 v112) (free v113) (free v114) (free v115) (at r300 v116) (at r180 v117) (free v118) (at r269 v119) (at r184 v120) (free v121) (at r315 v122) (free v123) (free v124) (free v125) (free v126) (free v127) (free v128) (free v129) (at r263 v130) (free v131) (free v132) (free v133) (free v134) (free v135) (at r203 v136) (free v137) (at r178 v138) (free v139) (free v140) (at r275 v141) (free v142) (at r230 v143) (at r232 v144) (free v145) (free v146) (at r272 v147) (at r314 v148) (at r228 v149) (free v150) (free v151) (free v152) (free v153) (free v154) (at r316 v155) (free v156) (free v157) (at r257 v158) (at r240 v159) (free v160) (at r303 v161) (free v162) (free v163) (free v164) (free v165) (at r200 v166) (at r229 v167) (free v168) (at r291 v169) (free v170) (free v171) (free v172) (free v173) (free v174) (at r280 v175) (at r302 v176) (free v177) (free v178) (at r222 v179) (free v180) (free v181) (free v182) (free v183) (free v184) (free v185) (at r301 v186) (at r199 v187) (free v188) (at r289 v189) (free v190) (free v191) (free v192) (free v193) (free v194) (free v195) (free v196) (free v197) (at r285 v198) (at r226 v199) (free v200) (at r273 v201) (at r211 v202) (at r245 v203) (at r216 v204) (at r214 v205) (at r183 v206) (free v207) (free v208) (at r306 v209) (free v210) (free v211) (at r209 v212) (free v213) (at r288 v214) (free v215) (at r286 v216) (free v217) (free v218) (free v219) (at r277 v220) (free v221) (at r254 v222) (at r185 v223) (free v224) (free v225) (at r271 v226) (free v227) (at r194 v228) (free v229) (at r294 v230) (free v231) (free v232) (at r279 v233) (at r293 v234) (free v235) (at r282 v236) (free v237) (free v238) (at r235 v239) (at r231 v240) (free v241) (free v242) (free v243) (at r310 v244) (at r215 v245) (free v246) (free v247) (free v248) (at r250 v249) (at r207 v250) (at r299 v251) (free v252) (free v253) (free v254) (free v255) (at r205 v256) (at r267 v257) (free v258) (free v259) (at r246 v260) (at r182 v261) (free v262) (at r296 v263) (free v264) (free v265) (free v266) (at r208 v267) (free v268) (at r193 v269) (free v270) (at r201 v271) (free v272) (free v273) (free v274) (at r188 v275) (at r258 v276) (at r274 v277) (at r213 v278) (at r239 v279) (free v280) (free v281) (at r283 v282) (free v283) (free v284) (free v285) (free v286) (free v287) (at r262 v288) (free v289) (free v290) (free v291) (free v292) (at r242 v293) (free v294) (free v295) (at r198 v296) (free v297) (free v298) (free v299) (at r260 v300) (free v301) (at r217 v302) (at r276 v303) (free v304) (free v305) (at r249 v306) (at r248 v307) (free v308) (free v309) (free v310) (free v311) (free v312) (at r241 v313) (free v314) (at r305 v315) (free v316) ) ) )