(define (problem multirobot_93_90%_c0) (:domain multirobot) (:objects v0 r195 v1 r196 v2 v3 r297 v4 v5 r295 v6 v7 v8 v9 v10 r227 v11 v12 r190 v13 r213 v14 v15 r193 v16 r283 v17 r260 v18 v19 r251 v20 v21 v22 v23 r249 v24 v25 v26 v27 r314 v28 r288 v29 r187 v30 v31 v32 v33 r244 v34 v35 v36 v37 r239 v38 r197 v39 r186 v40 r248 v41 v42 v43 r302 v44 r301 v45 r306 v46 v47 r204 v48 v49 r290 v50 v51 r183 v52 v53 r236 v54 r200 v55 r171 v56 v57 v58 r285 v59 v60 r205 v61 v62 r233 v63 v64 r300 v65 v66 r263 v67 r202 v68 v69 r278 v70 v71 v72 r247 v73 v74 v75 r208 v76 v77 v78 r238 v79 v80 r299 v81 v82 r174 v83 v84 v85 v86 v87 v88 r272 v89 v90 r256 v91 v92 v93 v94 v95 v96 r231 v97 v98 v99 r230 v100 r264 v101 r170 v102 v103 v104 r286 v105 v106 r173 v107 v108 v109 r217 v110 v111 r234 v112 v113 v114 r241 v115 r221 v116 v117 r237 v118 v119 v120 r182 v121 v122 r296 v123 r222 v124 v125 v126 v127 r309 v128 v129 v130 r226 v131 r185 v132 r317 v133 r177 v134 v135 v136 v137 r275 v138 v139 v140 r220 v141 r191 v142 r240 v143 r316 v144 r203 v145 r169 v146 r232 v147 r223 v148 r293 v149 r246 v150 v151 r276 v152 r287 v153 r254 v154 r198 v155 v156 v157 v158 v159 v160 v161 v162 r318 v163 v164 r277 v165 r176 v166 v167 r303 v168 v169 r206 v170 r179 v171 v172 v173 r219 v174 r216 v175 r235 v176 v177 r315 v178 r284 v179 r258 v180 r211 v181 v182 v183 v184 v185 r245 v186 r253 v187 r189 v188 v189 v190 r313 v191 r210 v192 r229 v193 v194 r242 v195 r252 v196 r273 v197 r281 v198 v199 v200 v201 v202 v203 r184 v204 v205 r269 v206 r181 v207 r194 v208 v209 r267 v210 r304 v211 v212 v213 v214 v215 r305 v216 r270 v217 v218 r311 v219 r282 v220 v221 v222 v223 r228 v224 r214 v225 v226 v227 v228 v229 v230 v231 r271 v232 r201 v233 v234 v235 r262 v236 v237 r257 v238 r310 v239 r268 v240 r292 v241 r294 v242 v243 r289 v244 v245 r255 v246 v247 r291 v248 r261 v249 v250 v251 r225 v252 v253 r259 v254 v255 r274 v256 v257 r218 v258 v259 r209 v260 v261 r243 v262 v263 v264 v265 r307 v266 v267 v268 r178 v269 v270 r199 v271 v272 v273 r250 v274 v275 v276 v277 v278 r224 v279 r308 v280 v281 v282 v283 r280 v284 v285 v286 r266 v287 v288 v289 r212 v290 r175 v291 v292 r312 v293 r180 v294 r215 v295 v296 v297 v298 v299 r188 v300 v301 v302 r265 v303 v304 v305 r207 v306 v307 v308 v309 r172 v310 v311 r192 v312 v313 r279 v314 v315 r298 v316 v317 v318 ) (:init (at r195 v0) (at r196 v1) (free v2) (at r297 v3) (free v4) (at r295 v5) (free v6) (free v7) (free v8) (free v9) (at r227 v10) (free v11) (at r190 v12) (at r213 v13) (free v14) (at r193 v15) (at r283 v16) (at r260 v17) (free v18) (at r251 v19) (free v20) (free v21) (free v22) (at r249 v23) (free v24) (free v25) (free v26) (at r314 v27) (at r288 v28) (at r187 v29) (free v30) (free v31) (free v32) (at r244 v33) (free v34) (free v35) (free v36) (at r239 v37) (at r197 v38) (at r186 v39) (at r248 v40) (free v41) (free v42) (at r302 v43) (at r301 v44) (at r306 v45) (free v46) (at r204 v47) (free v48) (at r290 v49) (free v50) (at r183 v51) (free v52) (at r236 v53) (at r200 v54) (at r171 v55) (free v56) (free v57) (at r285 v58) (free v59) (at r205 v60) (free v61) (at r233 v62) (free v63) (at r300 v64) (free v65) (at r263 v66) (at r202 v67) (free v68) (at r278 v69) (free v70) (free v71) (at r247 v72) (free v73) (free v74) (at r208 v75) (free v76) (free v77) (at r238 v78) (free v79) (at r299 v80) (free v81) (at r174 v82) (free v83) (free v84) (free v85) (free v86) (free v87) (at r272 v88) (free v89) (at r256 v90) (free v91) (free v92) (free v93) (free v94) (free v95) (at r231 v96) (free v97) (free v98) (at r230 v99) (at r264 v100) (at r170 v101) (free v102) (free v103) (at r286 v104) (free v105) (at r173 v106) (free v107) (free v108) (at r217 v109) (free v110) (at r234 v111) (free v112) (free v113) (at r241 v114) (at r221 v115) (free v116) (at r237 v117) (free v118) (free v119) (at r182 v120) (free v121) (at r296 v122) (at r222 v123) (free v124) (free v125) (free v126) (at r309 v127) (free v128) (free v129) (at r226 v130) (at r185 v131) (at r317 v132) (at r177 v133) (free v134) (free v135) (free v136) (at r275 v137) (free v138) (free v139) (at r220 v140) (at r191 v141) (at r240 v142) (at r316 v143) (at r203 v144) (at r169 v145) (at r232 v146) (at r223 v147) (at r293 v148) (at r246 v149) (free v150) (at r276 v151) (at r287 v152) (at r254 v153) (at r198 v154) (free v155) (free v156) (free v157) (free v158) (free v159) (free v160) (free v161) (at r318 v162) (free v163) (at r277 v164) (at r176 v165) (free v166) (at r303 v167) (free v168) (at r206 v169) (at r179 v170) (free v171) (free v172) (at r219 v173) (at r216 v174) (at r235 v175) (free v176) (at r315 v177) (at r284 v178) (at r258 v179) (at r211 v180) (free v181) (free v182) (free v183) (free v184) (at r245 v185) (at r253 v186) (at r189 v187) (free v188) (free v189) (at r313 v190) (at r210 v191) (at r229 v192) (free v193) (at r242 v194) (at r252 v195) (at r273 v196) (at r281 v197) (free v198) (free v199) (free v200) (free v201) (free v202) (at r184 v203) (free v204) (at r269 v205) (at r181 v206) (at r194 v207) (free v208) (at r267 v209) (at r304 v210) (free v211) (free v212) (free v213) (free v214) (at r305 v215) (at r270 v216) (free v217) (at r311 v218) (at r282 v219) (free v220) (free v221) (free v222) (at r228 v223) (at r214 v224) (free v225) (free v226) (free v227) (free v228) (free v229) (free v230) (at r271 v231) (at r201 v232) (free v233) (free v234) (at r262 v235) (free v236) (at r257 v237) (at r310 v238) (at r268 v239) (at r292 v240) (at r294 v241) (free v242) (at r289 v243) (free v244) (at r255 v245) (free v246) (at r291 v247) (at r261 v248) (free v249) (free v250) (at r225 v251) (free v252) (at r259 v253) (free v254) (at r274 v255) (free v256) (at r218 v257) (free v258) (at r209 v259) (free v260) (at r243 v261) (free v262) (free v263) (free v264) (at r307 v265) (free v266) (free v267) (at r178 v268) (free v269) (at r199 v270) (free v271) (free v272) (at r250 v273) (free v274) (free v275) (free v276) (free v277) (at r224 v278) (at r308 v279) (free v280) (free v281) (free v282) (at r280 v283) (free v284) (free v285) (at r266 v286) (free v287) (free v288) (at r212 v289) (at r175 v290) (free v291) (at r312 v292) (at r180 v293) (at r215 v294) (free v295) (free v296) (free v297) (free v298) (at r188 v299) (free v300) (free v301) (at r265 v302) (free v303) (free v304) (at r207 v305) (free v306) (free v307) (free v308) (at r172 v309) (free v310) (at r192 v311) (free v312) (at r279 v313) (free v314) (at r298 v315) (free v316) (free v317) (free v318) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v27) (adjacent v0 v174) (adjacent v1 v2) (adjacent v1 v14) (adjacent v1 v33) (adjacent v1 v63) (adjacent v1 v206) (adjacent v1 v239) (adjacent v2 v3) (adjacent v2 v22) (adjacent v2 v26) (adjacent v3 v4) (adjacent v3 v5) (adjacent v3 v18) (adjacent v3 v23) (adjacent v3 v31) (adjacent v3 v64) (adjacent v4 v5) (adjacent v4 v8) (adjacent v4 v18) (adjacent v4 v115) (adjacent v4 v181) (adjacent v5 v6) (adjacent v5 v9) (adjacent v5 v182) (adjacent v5 v279) (adjacent v5 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v126) (adjacent v126 v127) (adjacent v127 v128) (adjacent v128 v129) (adjacent v129 v130) (adjacent v130 v131) (adjacent v131 v141) (adjacent v132 v133) (adjacent v133 v134) (adjacent v133 v177) (adjacent v134 v135) (adjacent v134 v151) (adjacent v134 v168) (adjacent v134 v303) (adjacent v135 v136) (adjacent v136 v137) (adjacent v138 v199) (adjacent v140 v226) (adjacent v140 v267) (adjacent v141 v194) (adjacent v142 v143) (adjacent v142 v150) (adjacent v143 v144) (adjacent v143 v198) (adjacent v144 v145) (adjacent v144 v285) (adjacent v146 v147) (adjacent v147 v148) (adjacent v147 v316) (adjacent v148 v149) (adjacent v149 v150) (adjacent v151 v152) (adjacent v152 v153) (adjacent v153 v154) (adjacent v153 v227) (adjacent v154 v155) (adjacent v155 v156) (adjacent v155 v175) (adjacent v156 v157) (adjacent v157 v173) (adjacent v158 v159) (adjacent v160 v161) (adjacent v161 v162) (adjacent v162 v163) (adjacent v162 v186) (adjacent v163 v164) (adjacent v163 v188) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v246) (adjacent v168 v169) (adjacent v169 v170) (adjacent v170 v171) (adjacent v171 v172) (adjacent v171 v242) (adjacent v171 v284) (adjacent v172 v173) (adjacent v172 v241) (adjacent v172 v289) (adjacent v175 v176) (adjacent v176 v177) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v180 v309) (adjacent v181 v200) (adjacent v182 v183) (adjacent v183 v184) (adjacent v184 v185) (adjacent v185 v186) (adjacent v187 v240) (adjacent v189 v190) (adjacent v190 v191) (adjacent v190 v296) (adjacent v191 v192) (adjacent v191 v240) (adjacent v192 v193) (adjacent v192 v220) (adjacent v194 v195) (adjacent v195 v196) (adjacent v196 v197) (adjacent v197 v198) (adjacent v197 v311) (adjacent v200 v201) (adjacent v201 v202) (adjacent v202 v203) (adjacent v202 v290) (adjacent v203 v204) (adjacent v204 v205) (adjacent v207 v208) (adjacent v208 v209) (adjacent v209 v210) (adjacent v210 v211) (adjacent v211 v212) (adjacent v212 v213) (adjacent v214 v215) (adjacent v215 v216) (adjacent v216 v217) (adjacent v217 v218) (adjacent v217 v269) (adjacent v219 v260) (adjacent v220 v221) (adjacent v221 v222) (adjacent v222 v223) (adjacent v223 v224) (adjacent v224 v225) (adjacent v225 v226) (adjacent v226 v246) (adjacent v227 v228) (adjacent v228 v229) (adjacent v228 v248) (adjacent v229 v230) (adjacent v230 v231) (adjacent v231 v232) (adjacent v233 v234) (adjacent v234 v235) (adjacent v235 v236) (adjacent v236 v237) (adjacent v236 v274) (adjacent v237 v238) (adjacent v238 v239) (adjacent v241 v242) (adjacent v243 v244) (adjacent v247 v248) (adjacent v249 v250) (adjacent v249 v290) (adjacent v250 v251) (adjacent v251 v252) (adjacent v252 v253) (adjacent v254 v255) (adjacent v255 v256) (adjacent v256 v257) (adjacent v257 v258) (adjacent v260 v261) (adjacent v261 v262) (adjacent v262 v263) (adjacent v262 v310) (adjacent v263 v264) (adjacent v264 v265) (adjacent v265 v266) (adjacent v267 v268) (adjacent v270 v271) (adjacent v271 v272) (adjacent v272 v273) (adjacent v273 v274) (adjacent v275 v276) (adjacent v276 v277) (adjacent v277 v278) (adjacent v278 v286) (adjacent v279 v280) (adjacent v280 v281) (adjacent v281 v282) (adjacent v282 v283) (adjacent v283 v284) (adjacent v286 v287) (adjacent v286 v308) (adjacent v287 v288) (adjacent v288 v289) (adjacent v291 v292) (adjacent v292 v293) (adjacent v293 v294) (adjacent v294 v295) (adjacent v295 v296) (adjacent v297 v298) (adjacent v298 v299) (adjacent v299 v300) (adjacent v300 v301) (adjacent v301 v302) (adjacent v303 v304) (adjacent v304 v305) (adjacent v305 v306) (adjacent v306 v307) (adjacent v307 v308) (adjacent v309 v310) (adjacent v311 v312) (adjacent v312 v313) (adjacent v313 v314) (adjacent v314 v315) (adjacent v316 v317) (adjacent v317 v318) ) (:goal (and (at r301 v0) (free v1) (at r298 v2) (at r176 v3) (free v4) (at r171 v5) (at r308 v6) (at r224 v7) (at r310 v8) (free v9) (free v10) (at r178 v11) (at r199 v12) (free v13) (free v14) (free v15) (free v16) (free v17) (free v18) (at r266 v19) (at r256 v20) (at r238 v21) (free v22) (at r305 v23) (at r240 v24) (free v25) (at r260 v26) (free v27) (free v28) (free v29) (at r285 v30) (free v31) (free v32) (at r318 v33) (free v34) (at r272 v35) (at r281 v36) (free v37) (free v38) (free v39) (free v40) (free v41) (at r284 v42) (free v43) (at r207 v44) (at r223 v45) (at r173 v46) (at r250 v47) (free v48) (at r306 v49) (at r241 v50) (free v51) (at r212 v52) (free v53) (at r274 v54) (free v55) (free v56) (at r313 v57) (at r304 v58) (at r195 v59) (at r271 v60) (at r251 v61) (at r230 v62) (free v63) (free v64) (free v65) (at r204 v66) (free v67) (at r261 v68) (free v69) (at r169 v70) (free v71) (at r231 v72) (free v73) (free v74) (free v75) (free v76) (free v77) (at r314 v78) (free v79) (free v80) (free v81) (at r270 v82) (free v83) (free v84) (at r174 v85) (free v86) (at r277 v87) (free v88) (free v89) (free v90) (free v91) (free v92) (at r257 v93) (free v94) (at r210 v95) (at r220 v96) (free v97) (at r242 v98) (at r172 v99) (free v100) (at r254 v101) (at r282 v102) (free v103) (free v104) (free v105) (free v106) (at r295 v107) (at r232 v108) (free v109) (at r312 v110) (free v111) (free v112) (free v113) (free v114) (at r294 v115) (free v116) (free v117) (free v118) (at r235 v119) (at r299 v120) (free v121) (free v122) (free v123) (free v124) (at r289 v125) (free v126) (free v127) (at r248 v128) (at r227 v129) (free v130) (at r202 v131) (at r191 v132) (free v133) (free v134) (free v135) (at r203 v136) (free v137) (free v138) (free v139) (at r225 v140) (at r186 v141) (free v142) (at r200 v143) (free v144) (free v145) (at r263 v146) (at r247 v147) (at r184 v148) (at r181 v149) (free v150) (free v151) (free v152) (free v153) (at r249 v154) (at r201 v155) (free v156) (free v157) (free v158) (at r205 v159) (at r255 v160) (free v161) (free v162) (free v163) (at r196 v164) (at r293 v165) (free v166) (at r291 v167) (free v168) (at r234 v169) (free v170) (at r252 v171) (at r183 v172) (free v173) (free v174) (free v175) (free v176) (free v177) (free v178) (at r283 v179) (free v180) (free v181) (at r218 v182) (free v183) (at r216 v184) (at r209 v185) (at r267 v186) (at r258 v187) (free v188) (at r276 v189) (at r275 v190) (at r278 v191) (at r206 v192) (free v193) (at r290 v194) (at r217 v195) (free v196) (at r300 v197) (at r262 v198) (free v199) (at r170 v200) (at r187 v201) (at r228 v202) (at r317 v203) (at r297 v204) (free v205) (free v206) (free v207) (at r269 v208) (free v209) (free v210) (at r182 v211) (free v212) (at r280 v213) (at r273 v214) (at r236 v215) (at r189 v216) (at r192 v217) (free v218) (at r243 v219) (free v220) (at r239 v221) (at r215 v222) (at r303 v223) (free v224) (free v225) (at r179 v226) (free v227) (at r245 v228) (free v229) (at r309 v230) (at r244 v231) (at r193 v232) (free v233) (free v234) (free v235) (free v236) (free v237) (free v238) (free v239) (at r188 v240) (free v241) (at r226 v242) (at r177 v243) (free v244) (free v245) (free v246) (free v247) (free v248) (free v249) (at r287 v250) (at r208 v251) (free v252) (at r268 v253) (free v254) (at r292 v255) (free v256) (free v257) (at r279 v258) (free v259) (at r246 v260) (at r185 v261) (at r259 v262) (free v263) (free v264) (free v265) (at r180 v266) (at r229 v267) (at r211 v268) (free v269) (free v270) (free v271) (at r253 v272) (free v273) (at r222 v274) (at r288 v275) (free v276) (free v277) (at r264 v278) (at r221 v279) (at r219 v280) (free v281) (at r190 v282) (free v283) (free v284) (free v285) (free v286) (at r175 v287) (at r194 v288) (at r311 v289) (at r315 v290) (free v291) (at r213 v292) (free v293) (free v294) (free v295) (at r316 v296) (free v297) (free v298) (free v299) (free v300) (at r307 v301) (at r197 v302) (at r237 v303) (free v304) (at r198 v305) (at r214 v306) (at r265 v307) (free v308) (free v309) (at r302 v310) (free v311) (free v312) (free v313) (free v314) (at r233 v315) (at r296 v316) (at r286 v317) (free v318) ) ) )