(define (problem multirobot_92_90%_c5) (:domain multirobot) (:objects v0 v1 v2 v3 v4 v5 r261 v6 v7 r190 v8 v9 v10 v11 r315 v12 r184 v13 v14 r243 v15 r221 v16 v17 r219 v18 v19 v20 r212 v21 r228 v22 v23 r239 v24 r316 v25 v26 r248 v27 r232 v28 v29 r171 v30 r182 v31 r217 v32 v33 r222 v34 v35 v36 r283 v37 v38 r301 v39 v40 v41 v42 r310 v43 v44 r236 v45 v46 r249 v47 v48 v49 r295 v50 r303 v51 r235 v52 r277 v53 v54 v55 v56 r229 v57 r188 v58 v59 r280 v60 r199 v61 v62 v63 v64 r240 v65 r180 v66 v67 v68 v69 r317 v70 v71 r289 v72 v73 r204 v74 v75 r254 v76 r271 v77 v78 v79 v80 v81 r256 v82 r220 v83 v84 r234 v85 r245 v86 r246 v87 v88 v89 r279 v90 r309 v91 v92 v93 v94 v95 r260 v96 r278 v97 r314 v98 v99 v100 r322 v101 v102 r205 v103 v104 v105 v106 r294 v107 v108 v109 v110 v111 v112 r227 v113 r226 v114 r251 v115 v116 r288 v117 r276 v118 v119 r323 v120 r174 v121 v122 r183 v123 v124 v125 r299 v126 r197 v127 r244 v128 r255 v129 r311 v130 r264 v131 v132 v133 r173 v134 v135 r300 v136 r231 v137 v138 v139 v140 v141 r281 v142 r242 v143 v144 r230 v145 v146 v147 r284 v148 v149 v150 v151 v152 r179 v153 v154 v155 v156 r292 v157 r177 v158 v159 v160 v161 v162 v163 v164 v165 v166 r203 v167 r297 v168 r186 v169 v170 r175 v171 v172 r298 v173 r191 v174 v175 v176 r257 v177 r267 v178 v179 v180 v181 v182 r178 v183 v184 v185 r275 v186 v187 v188 v189 r325 v190 r211 v191 r193 v192 r241 v193 r319 v194 r172 v195 v196 r265 v197 v198 v199 v200 r313 v201 v202 v203 v204 v205 v206 r213 v207 r321 v208 r200 v209 r304 v210 r253 v211 v212 v213 r181 v214 v215 v216 v217 r258 v218 v219 v220 r262 v221 v222 v223 r252 v224 r305 v225 r189 v226 r250 v227 v228 v229 r224 v230 r266 v231 r247 v232 r282 v233 v234 r238 v235 r263 v236 r201 v237 r287 v238 v239 v240 r324 v241 r302 v242 r202 v243 v244 r307 v245 v246 v247 r320 v248 r187 v249 v250 v251 r318 v252 v253 r223 v254 v255 r218 v256 r259 v257 v258 r286 v259 v260 r207 v261 v262 v263 v264 v265 r233 v266 v267 r209 v268 v269 v270 r198 v271 v272 v273 v274 v275 v276 r306 v277 r176 v278 v279 v280 v281 v282 v283 r268 v284 v285 v286 v287 r269 v288 r290 v289 r192 v290 r237 v291 r208 v292 r206 v293 r274 v294 r216 v295 v296 r195 v297 r273 v298 v299 v300 r194 v301 r312 v302 v303 v304 r225 v305 r185 v306 v307 r285 v308 r270 v309 r296 v310 r293 v311 v312 r210 v313 v314 v315 v316 v317 r291 v318 r196 v319 v320 r308 v321 v322 r214 v323 r272 v324 v325 r215 ) (:init (free v0) (free v1) (free v2) (free v3) (free v4) (at r261 v5) (free v6) (at r190 v7) (free v8) (free v9) (free v10) (at r315 v11) (at r184 v12) (free v13) (at r243 v14) (at r221 v15) (free v16) (at r219 v17) (free v18) (free v19) (at r212 v20) (at r228 v21) (free v22) (at r239 v23) (at r316 v24) (free v25) (at r248 v26) (at r232 v27) (free v28) (at r171 v29) (at r182 v30) (at r217 v31) (free v32) (at r222 v33) (free v34) (free v35) (at r283 v36) (free v37) (at r301 v38) (free v39) (free v40) (free v41) (at r310 v42) (free v43) (at r236 v44) (free v45) (at r249 v46) (free v47) (free v48) (at r295 v49) (at r303 v50) (at r235 v51) (at r277 v52) (free v53) (free v54) (free v55) (at r229 v56) (at r188 v57) (free v58) (at r280 v59) (at r199 v60) (free v61) (free v62) (free v63) (at r240 v64) (at r180 v65) (free v66) (free v67) (free v68) (at r317 v69) (free v70) (at r289 v71) (free v72) (at r204 v73) (free v74) (at r254 v75) (at r271 v76) (free v77) (free v78) (free v79) (free v80) (at r256 v81) (at r220 v82) (free v83) (at r234 v84) (at r245 v85) (at r246 v86) (free v87) (free v88) (at r279 v89) (at r309 v90) (free v91) (free v92) (free v93) (free v94) (at r260 v95) (at r278 v96) (at r314 v97) (free v98) (free v99) (at r322 v100) (free v101) (at r205 v102) (free v103) (free v104) (free v105) (at r294 v106) (free v107) (free v108) (free v109) (free v110) (free v111) (at r227 v112) (at r226 v113) (at r251 v114) (free v115) (at r288 v116) (at r276 v117) (free v118) (at r323 v119) (at r174 v120) (free v121) (at r183 v122) (free v123) (free v124) (at r299 v125) (at r197 v126) (at r244 v127) (at r255 v128) (at r311 v129) (at r264 v130) (free v131) (free v132) (at r173 v133) (free v134) (at r300 v135) (at r231 v136) (free v137) (free v138) (free v139) (free v140) (at r281 v141) (at r242 v142) (free v143) (at r230 v144) (free v145) (free v146) (at r284 v147) (free v148) (free v149) (free v150) (free v151) (at r179 v152) (free v153) (free v154) (free v155) (at r292 v156) (at r177 v157) (free v158) (free v159) (free v160) (free v161) (free v162) (free v163) (free v164) (free v165) (at r203 v166) (at r297 v167) (at r186 v168) (free v169) (at r175 v170) (free v171) (at r298 v172) (at r191 v173) (free v174) (free v175) (at r257 v176) (at r267 v177) (free v178) (free v179) (free v180) (free v181) (at r178 v182) (free v183) (free v184) (at r275 v185) (free v186) (free v187) (free v188) (at r325 v189) (at r211 v190) (at r193 v191) (at r241 v192) (at r319 v193) (at r172 v194) (free v195) (at r265 v196) (free v197) (free v198) (free v199) (at r313 v200) (free v201) (free v202) (free v203) (free v204) (free v205) (at r213 v206) (at r321 v207) (at r200 v208) (at r304 v209) (at r253 v210) (free v211) (free v212) (at r181 v213) (free v214) (free v215) (free v216) (at r258 v217) (free v218) (free v219) (at r262 v220) (free v221) (free v222) (at r252 v223) (at r305 v224) (at r189 v225) (at r250 v226) (free v227) (free v228) (at r224 v229) (at r266 v230) (at r247 v231) (at r282 v232) (free v233) (at r238 v234) (at r263 v235) (at r201 v236) (at r287 v237) (free v238) (free v239) (at r324 v240) (at r302 v241) (at r202 v242) (free v243) (at r307 v244) (free v245) (free v246) (at r320 v247) (at r187 v248) (free v249) (free v250) (at r318 v251) (free v252) (at r223 v253) (free v254) (at r218 v255) (at r259 v256) (free v257) (at r286 v258) (free v259) (at r207 v260) (free v261) (free v262) (free v263) (free v264) (at r233 v265) (free v266) (at r209 v267) (free v268) (free v269) (at r198 v270) (free v271) (free v272) (free v273) (free v274) (free v275) (at r306 v276) (at r176 v277) (free v278) 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v166) (adjacent v28 v29) (adjacent v28 v44) (adjacent v28 v72) (adjacent v28 v125) (adjacent v28 v213) (adjacent v29 v30) (adjacent v30 v31) (adjacent v30 v64) (adjacent v31 v61) (adjacent v31 v145) (adjacent v32 v33) (adjacent v32 v36) (adjacent v32 v89) (adjacent v32 v316) (adjacent v33 v34) (adjacent v33 v126) (adjacent v34 v35) (adjacent v34 v82) (adjacent v35 v137) (adjacent v36 v37) (adjacent v36 v62) (adjacent v37 v38) (adjacent v38 v39) (adjacent v38 v43) (adjacent v39 v40) (adjacent v40 v41) (adjacent v41 v71) (adjacent v42 v43) (adjacent v42 v107) (adjacent v42 v165) (adjacent v43 v111) (adjacent v44 v45) (adjacent v44 v131) (adjacent v45 v46) (adjacent v45 v65) (adjacent v47 v48) (adjacent v48 v49) (adjacent v48 v81) (adjacent v49 v50) (adjacent v49 v71) (adjacent v49 v79) (adjacent v50 v51) (adjacent v51 v52) (adjacent v52 v56) (adjacent v53 v54) (adjacent v53 v120) (adjacent v54 v55) (adjacent v54 v177) (adjacent v56 v57) (adjacent v56 v66) (adjacent v56 v80) (adjacent v56 v164) (adjacent v57 v58) (adjacent v57 v197) (adjacent v58 v59) (adjacent v58 v105) (adjacent v59 v60) (adjacent v59 v236) (adjacent v60 v61) (adjacent v61 v121) (adjacent v62 v63) (adjacent v63 v64) (adjacent v63 v306) (adjacent v65 v94) (adjacent v66 v67) (adjacent v67 v68) (adjacent v68 v174) (adjacent v69 v70) (adjacent v70 v175) (adjacent v71 v214) (adjacent v73 v74) (adjacent v74 v75) (adjacent v74 v190) (adjacent v75 v76) (adjacent v75 v115) (adjacent v75 v232) (adjacent v76 v77) (adjacent v76 v94) (adjacent v76 v101) (adjacent v76 v181) (adjacent v77 v78) (adjacent v77 v96) (adjacent v78 v79) (adjacent v80 v81) (adjacent v81 v86) (adjacent v82 v83) (adjacent v83 v84) (adjacent v84 v85) (adjacent v84 v163) (adjacent v86 v87) (adjacent v86 v106) (adjacent v86 v144) (adjacent v86 v171) (adjacent v87 v88) (adjacent v89 v90) (adjacent v89 v95) (adjacent v90 v91) (adjacent v90 v244) (adjacent v91 v92) (adjacent v92 v93) (adjacent v92 v122) (adjacent v94 v108) (adjacent v94 v134) (adjacent v94 v243) (adjacent v95 v178) (adjacent v95 v306) (adjacent v95 v325) (adjacent v96 v97) (adjacent v96 v289) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v100) (adjacent v99 v187) (adjacent v100 v143) (adjacent v100 v182) (adjacent v101 v102) (adjacent v101 v191) (adjacent v102 v103) (adjacent v103 v104) (adjacent v103 v294) (adjacent v104 v105) (adjacent v104 v233) (adjacent v106 v107) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v110 v200) (adjacent v112 v113) (adjacent v112 v151) (adjacent v112 v158) (adjacent v113 v114) (adjacent v113 v126) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v117) (adjacent v116 v237) (adjacent v117 v118) (adjacent v118 v119) (adjacent v119 v120) (adjacent v119 v177) (adjacent v120 v271) (adjacent v121 v130) (adjacent v122 v123) (adjacent v122 v133) (adjacent v123 v124) (adjacent v123 v136) (adjacent v123 v313) (adjacent v124 v125) (adjacent v124 v218) (adjacent v125 v164) (adjacent v127 v128) (adjacent v128 v129) (adjacent v129 v130) (adjacent v129 v201) (adjacent v130 v219) (adjacent v131 v132) (adjacent v131 v277) (adjacent v132 v133) (adjacent v132 v176) (adjacent v132 v242) (adjacent v133 v225) (adjacent v134 v135) (adjacent v135 v136) (adjacent v137 v138) (adjacent v137 v207) (adjacent v138 v139) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v160) (adjacent v141 v324) (adjacent v142 v143) (adjacent v142 v317) (adjacent v144 v145) (adjacent v144 v159) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v149) (adjacent v148 v208) (adjacent v149 v150) (adjacent v151 v152) (adjacent v151 v176) (adjacent v152 v153) (adjacent v153 v154) (adjacent v154 v155) (adjacent v155 v156) (adjacent v156 v157) (adjacent v156 v254) (adjacent v157 v304) (adjacent v158 v159) (adjacent v160 v161) (adjacent v160 v188) (adjacent v161 v162) (adjacent v162 v163) (adjacent v166 v167) (adjacent v166 v175) (adjacent v166 v243) (adjacent v166 v323) (adjacent v167 v168) (adjacent v167 v297) (adjacent v168 v169) (adjacent v169 v170) (adjacent v169 v272) (adjacent v170 v171) (adjacent v171 v201) (adjacent v172 v173) (adjacent v173 v174) (adjacent v176 v250) (adjacent v178 v179) (adjacent v178 v305) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v264) (adjacent v182 v183) (adjacent v183 v184) (adjacent v183 v276) (adjacent v184 v185) (adjacent v185 v186) (adjacent v186 v187) (adjacent v188 v189) (adjacent v189 v190) (adjacent v190 v298) (adjacent v191 v192) (adjacent v192 v193) (adjacent v193 v194) (adjacent v193 v296) (adjacent v194 v195) (adjacent v194 v198) (adjacent v195 v196) (adjacent v195 v295) (adjacent v196 v197) (adjacent v198 v199) (adjacent v199 v200) (adjacent v199 v226) (adjacent v202 v203) (adjacent v203 v204) (adjacent v204 v205) (adjacent v205 v206) (adjacent v206 v207) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v211 v255) (adjacent v212 v213) (adjacent v213 v287) (adjacent v214 v215) (adjacent v214 v286) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v219 v220) (adjacent v219 v284) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v226 v227) (adjacent v227 v228) (adjacent v228 v229) (adjacent v229 v230) (adjacent v230 v231) (adjacent v230 v251) (adjacent v231 v232) (adjacent v233 v234) (adjacent v233 v290) (adjacent v234 v235) (adjacent v235 v236) (adjacent v237 v238) (adjacent v238 v239) (adjacent v239 v240) (adjacent v240 v241) (adjacent v241 v242) (adjacent v241 v257) (adjacent v244 v245) (adjacent v245 v246) (adjacent v246 v247) (adjacent v247 v248) (adjacent v248 v249) (adjacent v249 v250) (adjacent v251 v252) (adjacent v251 v258) (adjacent v252 v253) (adjacent v253 v254) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v295) (adjacent v258 v259) (adjacent v259 v260) (adjacent v259 v297) (adjacent v260 v261) (adjacent v261 v262) (adjacent v261 v307) (adjacent v262 v263) (adjacent v263 v264) (adjacent v265 v266) (adjacent v266 v267) (adjacent v267 v268) (adjacent v268 v269) (adjacent v269 v270) (adjacent v270 v271) (adjacent v272 v273) (adjacent v273 v274) (adjacent v274 v275) (adjacent v274 v296) (adjacent v275 v276) (adjacent v277 v278) (adjacent v278 v279) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v284 v285) (adjacent v284 v312) (adjacent v285 v286) (adjacent v287 v288) (adjacent v288 v289) (adjacent v290 v291) (adjacent v291 v292) (adjacent v292 v293) (adjacent v292 v305) (adjacent v293 v294) (adjacent v298 v299) (adjacent v299 v300) (adjacent v300 v301) (adjacent v300 v320) (adjacent v301 v302) (adjacent v302 v303) (adjacent v303 v304) (adjacent v305 v324) (adjacent v306 v319) (adjacent v307 v308) (adjacent v308 v309) (adjacent v309 v310) (adjacent v310 v311) (adjacent v311 v312) (adjacent v313 v314) (adjacent v314 v315) (adjacent v315 v316) (adjacent v317 v318) (adjacent v318 v319) (adjacent v320 v321) (adjacent v321 v322) (adjacent v322 v323) ) (:goal (and (free v0) (at r301 v1) (at r177 v2) (at r203 v3) (free v4) (free v5) (at r258 v6) (free v7) (free v8) (at r193 v9) (at r194 v10) (at r323 v11) (free v12) (free v13) (free v14) (at r283 v15) (at r209 v16) (free v17) (at r268 v18) (at r261 v19) (free v20) (free v21) (at r263 v22) (free v23) (at r217 v24) (free v25) (at r265 v26) (free v27) (at r173 v28) (at r322 v29) (at r297 v30) (free v31) (at r212 v32) (at r216 v33) (at r242 v34) (free v35) (at r235 v36) (free v37) (free v38) (at r201 v39) (at r280 v40) (at r278 v41) (free v42) (at r296 v43) (at r240 v44) (free v45) (free v46) (free v47) (free v48) (free v49) (at r200 v50) (at r238 v51) (at r267 v52) (free v53) (at r304 v54) (at r311 v55) (at r185 v56) (free v57) (at r253 v58) (free v59) (free v60) (free v61) (free v62) (at r259 v63) (at r290 v64) (at r262 v65) (at r224 v66) (at r211 v67) (free v68) (at r255 v69) (at r234 v70) (free v71) (free v72) (free v73) (free v74) (free v75) (free v76) (at r179 v77) (free v78) (free v79) (free v80) (at r225 v81) (free v82) (at r230 v83) (at r187 v84) (at r288 v85) (at r232 v86) (free v87) (free v88) (free v89) (at r264 v90) (free v91) (at r186 v92) (at r257 v93) (at r183 v94) (free v95) (free v96) (free v97) (free v98) (at r289 v99) (free v100) (at r223 v101) (free v102) (free v103) (at r214 v104) (free v105) (at r270 v106) (at r213 v107) (at r197 v108) (at r184 v109) (free v110) (at r250 v111) (free v112) (at r310 v113) (at r231 v114) (at r266 v115) (free v116) (free v117) (free v118) (at r316 v119) (free v120) (free v121) (free v122) (free v123) (at r299 v124) (at r233 v125) (at r251 v126) (free v127) (free v128) (at r180 v129) (at r208 v130) (free v131) (at r206 v132) (free v133) (free v134) (at r320 v135) (free v136) (at r218 v137) (at r325 v138) (free v139) (free v140) (free v141) (at r285 v142) (at r248 v143) (at r312 v144) (at r298 v145) (free v146) (free v147) (free v148) (free v149) (free v150) (free v151) (at r190 v152) (free v153) (at r246 v154) (free v155) (free v156) (at r317 v157) (free v158) (free v159) (at r181 v160) (free v161) (at r205 v162) (free v163) (free v164) (free v165) (at r198 v166) (free v167) (at r318 v168) (free v169) (free v170) (at r196 v171) (at r281 v172) (free v173) (free v174) (at r294 v175) (at r229 v176) (free v177) (at r260 v178) (at r305 v179) (free v180) (free v181) (free v182) (at r274 v183) (free v184) (at r309 v185) (free v186) (at r284 v187) (free v188) (free v189) (free v190) (at r303 v191) (at r239 v192) (at r272 v193) (free v194) (at r276 v195) (free v196) (free v197) (at r295 v198) (free v199) (free v200) (free v201) (free v202) (at r199 v203) (free v204) (at r319 v205) (at r282 v206) (free v207) (free v208) (free v209) (free v210) (at r243 v211) (at r244 v212) (free v213) (at r204 v214) (free v215) (free v216) (at r171 v217) (free v218) (at r175 v219) (free v220) (at r236 v221) (at r188 v222) (free v223) (at r321 v224) (at r314 v225) (free v226) (free v227) (free v228) (at r220 v229) (at r279 v230) (free v231) (free v232) (at r273 v233) (at r191 v234) (at r192 v235) (free v236) (free v237) (at r222 v238) (free v239) (at r227 v240) (at r172 v241) (at r313 v242) (free v243) (at r237 v244) (at r241 v245) (free v246) (free v247) (free v248) (free v249) (free v250) (at r228 v251) (free v252) (at r202 v253) (free v254) (at r178 v255) (at r300 v256) (free v257) (free v258) (free v259) (at r307 v260) (free v261) (at r174 v262) (free v263) (free v264) (free v265) (at r215 v266) (at r207 v267) (at r247 v268) (at r302 v269) (free v270) (at r245 v271) (at r269 v272) (free v273) (at r306 v274) (free v275) (at r286 v276) (free v277) (free v278) (at r210 v279) (at r292 v280) (free v281) (free v282) (at r271 v283) (at r249 v284) (free v285) (at r315 v286) (free v287) (at r254 v288) (at r195 v289) (at r308 v290) (free v291) (at r176 v292) (at r277 v293) (free v294) (at r221 v295) (at r291 v296) (free v297) (free v298) (at r226 v299) (free v300) (at r182 v301) (free v302) (at r324 v303) (free v304) (free v305) (free v306) (at r219 v307) (free v308) (free v309) (free v310) (at r256 v311) (at r275 v312) (at r189 v313) (free v314) (at r293 v315) (free v316) (free v317) (at r287 v318) (free v319) (free v320) (free v321) (free v322) (at r252 v323) (free v324) (free v325) ) ) )