(define (problem multirobot_50_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r73
  v1 r127
  v2 r49
  v3 r39
  v4 r72
  v5 r112
  v6 r174
  v7
  v8 r19
  v9 r152
  v10 r167
  v11 r24
  v12 r116
  v13 r153
  v14
  v15 r108
  v16 r170
  v17 r151
  v18 r58
  v19 r21
  v20 r136
  v21 r70
  v22 r145
  v23 r65
  v24 r75
  v25
  v26 r56
  v27 r59
  v28 r54
  v29
  v30 r114
  v31 r90
  v32 r137
  v33
  v34 r138
  v35 r131
  v36 r121
  v37 r23
  v38 r150
  v39 r38
  v40 r165
  v41 r85
  v42
  v43 r142
  v44 r96
  v45 r99
  v46 r69
  v47 r55
  v48 r160
  v49 r87
  v50 r143
  v51 r132
  v52 r115
  v53
  v54
  v55 r93
  v56 r82
  v57 r37
  v58 r20
  v59 r62
  v60 r107
  v61
  v62 r130
  v63 r105
  v64
  v65 r81
  v66 r57
  v67 r144
  v68 r120
  v69 r104
  v70 r159
  v71 r94
  v72 r164
  v73
  v74 r91
  v75 r124
  v76 r53
  v77 r149
  v78 r141
  v79 r155
  v80 r168
  v81 r80
  v82 r98
  v83 r101
  v84 r52
  v85 r134
  v86 r111
  v87 r27
  v88 r171
  v89 r46
  v90 r77
  v91 r28
  v92
  v93 r74
  v94 r35
  v95 r71
  v96 r25
  v97 r83
  v98 r163
  v99 r41
  v100 r113
  v101 r66
  v102 r148
  v103 r162
  v104 r117
  v105 r147
  v106 r119
  v107 r51
  v108 r79
  v109 r48
  v110 r60
  v111 r68
  v112 r154
  v113 r63
  v114 r135
  v115 r100
  v116 r172
  v117 r22
  v118 r92
  v119 r157
  v120 r156
  v121 r31
  v122 r126
  v123 r42
  v124 r29
  v125 r84
  v126
  v127 r45
  v128 r30
  v129 r173
  v130 r89
  v131 r158
  v132 r161
  v133 r128
  v134 r103
  v135
  v136
  v137 r43
  v138 r122
  v139 r95
  v140 r76
  v141 r36
  v142 r86
  v143 r125
  v144
  v145 r32
  v146 r97
  v147 r139
  v148 r140
  v149 r34
  v150 r118
  v151 r123
  v152 r109
  v153 r40
  v154 r133
  v155 r78
  v156 r129
  v157 r64
  v158 r110
  v159 r166
  v160 r67
  v161 r146
  v162 r175
  v163 r102
  v164
  v165 r106
  v166 r26
  v167 r44
  v168 r169
  v169 r88
  v170
  v171 r50
  v172 r33
  v173 r61
  v174 r47
  v175
 )
 (:init
  (at r73 v0)
  (at r127 v1)
  (at r49 v2)
  (at r39 v3)
  (at r72 v4)
  (at r112 v5)
  (at r174 v6)
  (free v7)
  (at r19 v8)
  (at r152 v9)
  (at r167 v10)
  (at r24 v11)
  (at r116 v12)
  (at r153 v13)
  (free v14)
  (at r108 v15)
  (at r170 v16)
  (at r151 v17)
  (at r58 v18)
  (at r21 v19)
  (at r136 v20)
  (at r70 v21)
  (at r145 v22)
  (at r65 v23)
  (at r75 v24)
  (free v25)
  (at r56 v26)
  (at r59 v27)
  (at r54 v28)
  (free v29)
  (at r114 v30)
  (at r90 v31)
  (at r137 v32)
  (free v33)
  (at r138 v34)
  (at r131 v35)
  (at r121 v36)
  (at r23 v37)
  (at r150 v38)
  (at r38 v39)
  (at r165 v40)
  (at r85 v41)
  (free v42)
  (at r142 v43)
  (at r96 v44)
  (at r99 v45)
  (at r69 v46)
  (at r55 v47)
  (at r160 v48)
  (at r87 v49)
  (at r143 v50)
  (at r132 v51)
  (at r115 v52)
  (free v53)
  (free v54)
  (at r93 v55)
  (at r82 v56)
  (at r37 v57)
  (at r20 v58)
  (at r62 v59)
  (at r107 v60)
  (free v61)
  (at r130 v62)
  (at r105 v63)
  (free v64)
  (at r81 v65)
  (at r57 v66)
  (at r144 v67)
  (at r120 v68)
  (at r104 v69)
  (at r159 v70)
  (at r94 v71)
  (at r164 v72)
  (free v73)
  (at r91 v74)
  (at r124 v75)
  (at r53 v76)
  (at r149 v77)
  (at r141 v78)
  (at r155 v79)
  (at r168 v80)
  (at r80 v81)
  (at r98 v82)
  (at r101 v83)
  (at r52 v84)
  (at r134 v85)
  (at r111 v86)
  (at r27 v87)
  (at r171 v88)
  (at r46 v89)
  (at r77 v90)
  (at r28 v91)
  (free v92)
  (at r74 v93)
  (at r35 v94)
  (at r71 v95)
  (at r25 v96)
  (at r83 v97)
  (at r163 v98)
  (at r41 v99)
  (at r113 v100)
  (at r66 v101)
  (at r148 v102)
  (at r162 v103)
  (at r117 v104)
  (at r147 v105)
  (at r119 v106)
  (at r51 v107)
  (at r79 v108)
  (at r48 v109)
  (at r60 v110)
  (at r68 v111)
  (at r154 v112)
  (at r63 v113)
  (at r135 v114)
  (at r100 v115)
  (at r172 v116)
  (at r22 v117)
  (at r92 v118)
  (at r157 v119)
  (at r156 v120)
  (at r31 v121)
  (at r126 v122)
  (at r42 v123)
  (at r29 v124)
  (at r84 v125)
  (free v126)
  (at r45 v127)
  (at r30 v128)
  (at r173 v129)
  (at r89 v130)
  (at r158 v131)
  (at r161 v132)
  (at r128 v133)
  (at r103 v134)
  (free v135)
  (free v136)
  (at r43 v137)
  (at r122 v138)
  (at r95 v139)
  (at r76 v140)
  (at r36 v141)
  (at r86 v142)
  (at r125 v143)
  (free v144)
  (at r32 v145)
  (at r97 v146)
  (at r139 v147)
  (at r140 v148)
  (at r34 v149)
  (at r118 v150)
  (at r123 v151)
  (at r109 v152)
  (at r40 v153)
  (at r133 v154)
  (at r78 v155)
  (at r129 v156)
  (at r64 v157)
  (at r110 v158)
  (at r166 v159)
  (at r67 v160)
  (at r146 v161)
  (at r175 v162)
  (at r102 v163)
  (free v164)
  (at r106 v165)
  (at r26 v166)
  (at r44 v167)
  (at r169 v168)
  (at r88 v169)
  (free v170)
  (at r50 v171)
  (at r33 v172)
  (at r61 v173)
  (at r47 v174)
  (free v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v124)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v27)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v13)
  (adjacent v2 v33)
  (adjacent v2 v153)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v19)
  (adjacent v3 v51)
  (adjacent v3 v139)
  (adjacent v4 v7)
  (adjacent v5 v26)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v14)
  (adjacent v6 v25)
  (adjacent v6 v84)
  (adjacent v6 v85)
  (adjacent v7 v50)
  (adjacent v8 v9)
  (adjacent v8 v24)
  (adjacent v8 v49)
  (adjacent v8 v62)
  (adjacent v8 v88)
  (adjacent v9 v10)
  (adjacent v9 v61)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v10 v95)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v32)
  (adjacent v12 v13)
  (adjacent v13 v41)
  (adjacent v13 v131)
  (adjacent v14 v15)
  (adjacent v15 v33)
  (adjacent v15 v145)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v43)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v62)
  (adjacent v20 v173)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v44)
  (adjacent v22 v52)
  (adjacent v22 v165)
  (adjacent v23 v24)
  (adjacent v24 v50)
  (adjacent v24 v83)
  (adjacent v25 v26)
  (adjacent v26 v174)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v27 v123)
  (adjacent v28 v29)
  (adjacent v28 v95)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v29 v68)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v94)
  (adjacent v32 v69)
  (adjacent v33 v55)
  (adjacent v34 v35)
  (adjacent v34 v51)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v42)
  (adjacent v37 v38)
  (adjacent v37 v74)
  (adjacent v38 v39)
  (adjacent v38 v41)
  (adjacent v39 v40)
  (adjacent v40 v93)
  (adjacent v41 v42)
  (adjacent v41 v45)
  (adjacent v41 v63)
  (adjacent v42 v79)
  (adjacent v42 v117)
  (adjacent v43 v44)
  (adjacent v43 v54)
  (adjacent v45 v46)
  (adjacent v45 v124)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v126)
  (adjacent v48 v166)
  (adjacent v49 v125)
  (adjacent v52 v53)
  (adjacent v52 v158)
  (adjacent v53 v54)
  (adjacent v54 v119)
  (adjacent v55 v56)
  (adjacent v55 v134)
  (adjacent v55 v140)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v73)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v102)
  (adjacent v60 v61)
  (adjacent v61 v135)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v113)
  (adjacent v65 v66)
  (adjacent v65 v78)
  (adjacent v65 v108)
  (adjacent v66 v67)
  (adjacent v66 v114)
  (adjacent v67 v68)
  (adjacent v67 v175)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v171)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v94)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v103)
  (adjacent v78 v82)
  (adjacent v79 v80)
  (adjacent v79 v89)
  (adjacent v79 v97)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v116)
  (adjacent v83 v84)
  (adjacent v84 v107)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v146)
  (adjacent v92 v93)
  (adjacent v94 v96)
  (adjacent v94 v130)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v133)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v152)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v108 v118)
  (adjacent v108 v127)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v117 v134)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v175)
  (adjacent v122 v123)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v170)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v159)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v138 v149)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v150)
  (adjacent v146 v147)
  (adjacent v146 v174)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v172 v173)
 )
 (:goal
  (and
  (at r99 v0)
  (at r129 v1)
  (at r136 v2)
  (at r95 v3)
  (at r54 v4)
  (at r29 v5)
  (free v6)
  (at r128 v7)
  (at r138 v8)
  (at r119 v9)
  (at r163 v10)
  (at r67 v11)
  (at r139 v12)
  (at r37 v13)
  (at r165 v14)
  (at r40 v15)
  (at r151 v16)
  (at r39 v17)
  (at r85 v18)
  (at r55 v19)
  (at r65 v20)
  (at r137 v21)
  (at r86 v22)
  (free v23)
  (at r57 v24)
  (at r87 v25)
  (at r88 v26)
  (at r91 v27)
  (at r25 v28)
  (at r109 v29)
  (at r108 v30)
  (at r44 v31)
  (at r146 v32)
  (at r50 v33)
  (at r82 v34)
  (free v35)
  (at r104 v36)
  (at r66 v37)
  (at r84 v38)
  (at r81 v39)
  (at r143 v40)
  (at r167 v41)
  (free v42)
  (at r94 v43)
  (free v44)
  (at r31 v45)
  (at r142 v46)
  (at r157 v47)
  (at r20 v48)
  (at r61 v49)
  (at r103 v50)
  (at r159 v51)
  (free v52)
  (at r70 v53)
  (at r114 v54)
  (at r64 v55)
  (at r59 v56)
  (at r36 v57)
  (at r92 v58)
  (free v59)
  (at r74 v60)
  (at r122 v61)
  (at r83 v62)
  (at r79 v63)
  (at r26 v64)
  (at r107 v65)
  (at r117 v66)
  (at r172 v67)
  (at r62 v68)
  (at r153 v69)
  (free v70)
  (free v71)
  (at r63 v72)
  (at r110 v73)
  (at r56 v74)
  (at r175 v75)
  (at r135 v76)
  (at r35 v77)
  (at r52 v78)
  (at r28 v79)
  (at r120 v80)
  (at r115 v81)
  (at r160 v82)
  (at r76 v83)
  (at r145 v84)
  (at r123 v85)
  (at r126 v86)
  (at r171 v87)
  (at r69 v88)
  (at r156 v89)
  (free v90)
  (at r102 v91)
  (at r170 v92)
  (at r113 v93)
  (at r174 v94)
  (at r22 v95)
  (at r147 v96)
  (at r130 v97)
  (at r34 v98)
  (at r42 v99)
  (at r134 v100)
  (at r96 v101)
  (at r105 v102)
  (free v103)
  (at r155 v104)
  (at r98 v105)
  (at r158 v106)
  (at r154 v107)
  (free v108)
  (at r75 v109)
  (at r144 v110)
  (at r90 v111)
  (at r101 v112)
  (at r106 v113)
  (at r148 v114)
  (free v115)
  (at r161 v116)
  (at r23 v117)
  (at r38 v118)
  (at r166 v119)
  (at r125 v120)
  (at r68 v121)
  (at r168 v122)
  (at r93 v123)
  (at r71 v124)
  (at r97 v125)
  (at r19 v126)
  (at r131 v127)
  (at r124 v128)
  (at r116 v129)
  (at r169 v130)
  (at r133 v131)
  (at r77 v132)
  (at r45 v133)
  (at r141 v134)
  (at r27 v135)
  (at r173 v136)
  (at r162 v137)
  (at r21 v138)
  (at r149 v139)
  (free v140)
  (at r80 v141)
  (at r150 v142)
  (at r118 v143)
  (at r132 v144)
  (at r41 v145)
  (at r60 v146)
  (free v147)
  (at r100 v148)
  (free v149)
  (at r51 v150)
  (at r43 v151)
  (at r78 v152)
  (at r140 v153)
  (at r47 v154)
  (at r73 v155)
  (at r46 v156)
  (at r48 v157)
  (at r24 v158)
  (at r89 v159)
  (at r121 v160)
  (at r30 v161)
  (at r111 v162)
  (at r33 v163)
  (at r53 v164)
  (at r32 v165)
  (at r152 v166)
  (at r58 v167)
  (at r72 v168)
  (at r127 v169)
  (at r49 v170)
  (at r164 v171)
  (at r112 v172)
  (free v173)
  (free v174)
  (free v175)
  )
 )
)