(define (problem multirobot_50_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r82
  v1 r142
  v2 r21
  v3
  v4 r88
  v5 r69
  v6 r85
  v7
  v8 r32
  v9 r140
  v10 r38
  v11 r53
  v12 r49
  v13 r130
  v14 r139
  v15
  v16
  v17 r40
  v18 r133
  v19 r44
  v20 r67
  v21
  v22 r71
  v23 r148
  v24 r138
  v25 r104
  v26 r108
  v27 r134
  v28 r92
  v29
  v30 r123
  v31 r59
  v32 r118
  v33 r135
  v34 r62
  v35 r116
  v36
  v37 r34
  v38 r89
  v39 r23
  v40 r111
  v41 r117
  v42 r107
  v43
  v44 r102
  v45 r137
  v46 r35
  v47 r77
  v48 r145
  v49 r132
  v50 r120
  v51 r50
  v52 r115
  v53 r28
  v54 r125
  v55 r61
  v56 r33
  v57 r25
  v58
  v59 r43
  v60
  v61 r70
  v62 r74
  v63 r20
  v64 r103
  v65 r112
  v66 r24
  v67
  v68 r141
  v69 r22
  v70
  v71
  v72 r52
  v73 r127
  v74 r114
  v75
  v76 r78
  v77 r136
  v78 r27
  v79 r109
  v80 r56
  v81 r147
  v82 r84
  v83
  v84 r95
  v85
  v86 r57
  v87 r54
  v88 r90
  v89 r101
  v90 r96
  v91 r29
  v92 r124
  v93 r122
  v94 r106
  v95 r68
  v96 r129
  v97 r64
  v98
  v99 r73
  v100 r110
  v101 r30
  v102 r100
  v103 r63
  v104 r48
  v105 r149
  v106 r39
  v107 r79
  v108 r51
  v109 r45
  v110 r99
  v111 r47
  v112
  v113 r143
  v114 r91
  v115 r42
  v116 r72
  v117
  v118 r126
  v119 r146
  v120 r65
  v121 r66
  v122 r94
  v123 r97
  v124 r55
  v125 r121
  v126 r58
  v127 r113
  v128 r86
  v129 r26
  v130 r81
  v131 r60
  v132 r131
  v133 r46
  v134 r76
  v135 r36
  v136 r98
  v137 r87
  v138 r83
  v139 r75
  v140 r41
  v141
  v142 r93
  v143 r105
  v144 r128
  v145 r144
  v146 r80
  v147 r37
  v148 r119
  v149 r31
 )
 (:init
  (at r82 v0)
  (at r142 v1)
  (at r21 v2)
  (free v3)
  (at r88 v4)
  (at r69 v5)
  (at r85 v6)
  (free v7)
  (at r32 v8)
  (at r140 v9)
  (at r38 v10)
  (at r53 v11)
  (at r49 v12)
  (at r130 v13)
  (at r139 v14)
  (free v15)
  (free v16)
  (at r40 v17)
  (at r133 v18)
  (at r44 v19)
  (at r67 v20)
  (free v21)
  (at r71 v22)
  (at r148 v23)
  (at r138 v24)
  (at r104 v25)
  (at r108 v26)
  (at r134 v27)
  (at r92 v28)
  (free v29)
  (at r123 v30)
  (at r59 v31)
  (at r118 v32)
  (at r135 v33)
  (at r62 v34)
  (at r116 v35)
  (free v36)
  (at r34 v37)
  (at r89 v38)
  (at r23 v39)
  (at r111 v40)
  (at r117 v41)
  (at r107 v42)
  (free v43)
  (at r102 v44)
  (at r137 v45)
  (at r35 v46)
  (at r77 v47)
  (at r145 v48)
  (at r132 v49)
  (at r120 v50)
  (at r50 v51)
  (at r115 v52)
  (at r28 v53)
  (at r125 v54)
  (at r61 v55)
  (at r33 v56)
  (at r25 v57)
  (free v58)
  (at r43 v59)
  (free v60)
  (at r70 v61)
  (at r74 v62)
  (at r20 v63)
  (at r103 v64)
  (at r112 v65)
  (at r24 v66)
  (free v67)
  (at r141 v68)
  (at r22 v69)
  (free v70)
  (free v71)
  (at r52 v72)
  (at r127 v73)
  (at r114 v74)
  (free v75)
  (at r78 v76)
  (at r136 v77)
  (at r27 v78)
  (at r109 v79)
  (at r56 v80)
  (at r147 v81)
  (at r84 v82)
  (free v83)
  (at r95 v84)
  (free v85)
  (at r57 v86)
  (at r54 v87)
  (at r90 v88)
  (at r101 v89)
  (at r96 v90)
  (at r29 v91)
  (at r124 v92)
  (at r122 v93)
  (at r106 v94)
  (at r68 v95)
  (at r129 v96)
  (at r64 v97)
  (free v98)
  (at r73 v99)
  (at r110 v100)
  (at r30 v101)
  (at r100 v102)
  (at r63 v103)
  (at r48 v104)
  (at r149 v105)
  (at r39 v106)
  (at r79 v107)
  (at r51 v108)
  (at r45 v109)
  (at r99 v110)
  (at r47 v111)
  (free v112)
  (at r143 v113)
  (at r91 v114)
  (at r42 v115)
  (at r72 v116)
  (free v117)
  (at r126 v118)
  (at r146 v119)
  (at r65 v120)
  (at r66 v121)
  (at r94 v122)
  (at r97 v123)
  (at r55 v124)
  (at r121 v125)
  (at r58 v126)
  (at r113 v127)
  (at r86 v128)
  (at r26 v129)
  (at r81 v130)
  (at r60 v131)
  (at r131 v132)
  (at r46 v133)
  (at r76 v134)
  (at r36 v135)
  (at r98 v136)
  (at r87 v137)
  (at r83 v138)
  (at r75 v139)
  (at r41 v140)
  (free v141)
  (at r93 v142)
  (at r105 v143)
  (at r128 v144)
  (at r144 v145)
  (at r80 v146)
  (at r37 v147)
  (at r119 v148)
  (at r31 v149)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v13)
  (adjacent v0 v20)
  (adjacent v0 v21)
  (adjacent v0 v108)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v9)
  (adjacent v1 v10)
  (adjacent v2 v3)
  (adjacent v2 v78)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v43)
  (adjacent v4 v5)
  (adjacent v4 v12)
  (adjacent v4 v73)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v137)
  (adjacent v6 v9)
  (adjacent v6 v19)
  (adjacent v6 v20)
  (adjacent v7 v8)
  (adjacent v7 v19)
  (adjacent v7 v38)
  (adjacent v7 v42)
  (adjacent v7 v95)
  (adjacent v8 v13)
  (adjacent v8 v39)
  (adjacent v8 v69)
  (adjacent v9 v15)
  (adjacent v9 v23)
  (adjacent v9 v139)
  (adjacent v10 v11)
  (adjacent v10 v85)
  (adjacent v11 v12)
  (adjacent v11 v26)
  (adjacent v11 v63)
  (adjacent v11 v121)
  (adjacent v12 v16)
  (adjacent v12 v44)
  (adjacent v13 v27)
  (adjacent v14 v15)
  (adjacent v14 v18)
  (adjacent v14 v49)
  (adjacent v15 v81)
  (adjacent v15 v105)
  (adjacent v16 v17)
  (adjacent v16 v45)
  (adjacent v16 v63)
  (adjacent v16 v64)
  (adjacent v16 v88)
  (adjacent v17 v18)
  (adjacent v18 v104)
  (adjacent v18 v140)
  (adjacent v20 v22)
  (adjacent v20 v31)
  (adjacent v20 v131)
  (adjacent v20 v148)
  (adjacent v21 v22)
  (adjacent v21 v28)
  (adjacent v21 v118)
  (adjacent v22 v33)
  (adjacent v22 v57)
  (adjacent v22 v122)
  (adjacent v23 v24)
  (adjacent v23 v32)
  (adjacent v24 v25)
  (adjacent v24 v72)
  (adjacent v25 v26)
  (adjacent v25 v29)
  (adjacent v25 v107)
  (adjacent v26 v86)
  (adjacent v26 v136)
  (adjacent v27 v28)
  (adjacent v27 v149)
  (adjacent v29 v30)
  (adjacent v29 v32)
  (adjacent v29 v50)
  (adjacent v29 v135)
  (adjacent v30 v31)
  (adjacent v32 v80)
  (adjacent v33 v34)
  (adjacent v33 v62)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v76)
  (adjacent v42 v79)
  (adjacent v43 v44)
  (adjacent v43 v99)
  (adjacent v44 v56)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v145)
  (adjacent v48 v49)
  (adjacent v49 v75)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v113)
  (adjacent v55 v56)
  (adjacent v55 v113)
  (adjacent v56 v68)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v120)
  (adjacent v59 v60)
  (adjacent v59 v82)
  (adjacent v59 v139)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v112)
  (adjacent v62 v147)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v114)
  (adjacent v67 v131)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v123)
  (adjacent v71 v72)
  (adjacent v72 v132)
  (adjacent v73 v74)
  (adjacent v73 v136)
  (adjacent v74 v75)
  (adjacent v74 v87)
  (adjacent v74 v100)
  (adjacent v76 v77)
  (adjacent v76 v79)
  (adjacent v77 v78)
  (adjacent v79 v94)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v117)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v148)
  (adjacent v86 v149)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v130)
  (adjacent v91 v144)
  (adjacent v92 v93)
  (adjacent v92 v124)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v123)
  (adjacent v100 v101)
  (adjacent v100 v138)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v147)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v146)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
 )
 (:goal
  (and
  (at r67 v0)
  (at r110 v1)
  (at r106 v2)
  (at r54 v3)
  (at r69 v4)
  (at r73 v5)
  (free v6)
  (free v7)
  (at r55 v8)
  (at r77 v9)
  (free v10)
  (at r38 v11)
  (at r87 v12)
  (at r129 v13)
  (at r79 v14)
  (free v15)
  (at r27 v16)
  (at r98 v17)
  (at r147 v18)
  (at r53 v19)
  (at r113 v20)
  (at r46 v21)
  (at r122 v22)
  (at r94 v23)
  (at r128 v24)
  (at r29 v25)
  (at r51 v26)
  (at r118 v27)
  (at r75 v28)
  (at r33 v29)
  (free v30)
  (at r45 v31)
  (at r20 v32)
  (at r102 v33)
  (free v34)
  (at r39 v35)
  (at r50 v36)
  (at r66 v37)
  (at r82 v38)
  (at r97 v39)
  (at r143 v40)
  (at r132 v41)
  (at r21 v42)
  (at r58 v43)
  (free v44)
  (at r88 v45)
  (free v46)
  (free v47)
  (at r78 v48)
  (at r25 v49)
  (at r92 v50)
  (at r26 v51)
  (at r61 v52)
  (at r36 v53)
  (at r35 v54)
  (at r146 v55)
  (at r81 v56)
  (at r68 v57)
  (at r119 v58)
  (at r120 v59)
  (at r59 v60)
  (at r101 v61)
  (free v62)
  (at r111 v63)
  (at r123 v64)
  (free v65)
  (at r76 v66)
  (at r56 v67)
  (at r52 v68)
  (at r148 v69)
  (at r112 v70)
  (at r72 v71)
  (free v72)
  (at r100 v73)
  (at r144 v74)
  (at r47 v75)
  (at r104 v76)
  (at r80 v77)
  (at r138 v78)
  (at r62 v79)
  (at r89 v80)
  (at r137 v81)
  (at r22 v82)
  (at r42 v83)
  (at r74 v84)
  (free v85)
  (at r65 v86)
  (at r127 v87)
  (at r57 v88)
  (free v89)
  (at r93 v90)
  (at r37 v91)
  (at r139 v92)
  (at r43 v93)
  (at r86 v94)
  (at r70 v95)
  (free v96)
  (at r34 v97)
  (free v98)
  (at r49 v99)
  (at r48 v100)
  (at r149 v101)
  (at r114 v102)
  (free v103)
  (at r91 v104)
  (at r95 v105)
  (at r32 v106)
  (at r140 v107)
  (at r85 v108)
  (at r105 v109)
  (at r71 v110)
  (at r133 v111)
  (at r136 v112)
  (at r64 v113)
  (at r31 v114)
  (at r63 v115)
  (at r141 v116)
  (at r126 v117)
  (at r96 v118)
  (at r115 v119)
  (at r116 v120)
  (at r41 v121)
  (at r44 v122)
  (at r124 v123)
  (at r84 v124)
  (at r40 v125)
  (at r131 v126)
  (at r117 v127)
  (at r83 v128)
  (free v129)
  (at r103 v130)
  (at r99 v131)
  (at r130 v132)
  (at r134 v133)
  (at r30 v134)
  (free v135)
  (at r145 v136)
  (at r24 v137)
  (free v138)
  (at r23 v139)
  (at r109 v140)
  (at r142 v141)
  (at r90 v142)
  (at r135 v143)
  (at r125 v144)
  (at r108 v145)
  (at r107 v146)
  (at r28 v147)
  (at r60 v148)
  (at r121 v149)
  )
 )
)