(define (problem multirobot_50_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r126
  v1 r112
  v2
  v3 r141
  v4 r53
  v5 r21
  v6 r97
  v7 r17
  v8 r73
  v9
  v10 r127
  v11 r40
  v12 r59
  v13 r46
  v14 r125
  v15 r45
  v16 r117
  v17 r16
  v18 r94
  v19 r119
  v20 r25
  v21 r149
  v22 r109
  v23
  v24
  v25 r60
  v26 r139
  v27
  v28 r88
  v29 r55
  v30 r104
  v31 r98
  v32 r136
  v33 r148
  v34 r140
  v35 r99
  v36 r64
  v37 r23
  v38 r143
  v39 r142
  v40 r47
  v41 r100
  v42 r48
  v43 r92
  v44 r122
  v45 r75
  v46 r42
  v47
  v48 r130
  v49 r34
  v50 r153
  v51 r19
  v52 r103
  v53 r135
  v54 r110
  v55 r121
  v56 r134
  v57 r58
  v58 r29
  v59 r133
  v60 r72
  v61 r66
  v62 r101
  v63 r69
  v64 r114
  v65 r52
  v66
  v67 r128
  v68 r105
  v69 r87
  v70 r120
  v71 r83
  v72 r137
  v73 r79
  v74 r35
  v75 r56
  v76 r115
  v77 r129
  v78 r31
  v79 r41
  v80 r62
  v81 r107
  v82 r65
  v83
  v84 r70
  v85 r22
  v86 r26
  v87 r80
  v88 r138
  v89 r131
  v90 r147
  v91 r85
  v92 r106
  v93 r91
  v94 r54
  v95 r30
  v96 r39
  v97 r146
  v98 r50
  v99 r93
  v100
  v101 r32
  v102 r113
  v103 r144
  v104 r67
  v105 r132
  v106 r71
  v107 r28
  v108 r27
  v109
  v110 r124
  v111 r57
  v112 r61
  v113
  v114 r74
  v115 r24
  v116 r63
  v117 r20
  v118
  v119 r150
  v120 r77
  v121 r123
  v122 r49
  v123 r78
  v124 r95
  v125 r96
  v126 r51
  v127
  v128 r145
  v129 r36
  v130 r84
  v131 r44
  v132 r108
  v133 r33
  v134 r89
  v135 r102
  v136 r90
  v137 r118
  v138
  v139 r18
  v140 r68
  v141 r76
  v142 r111
  v143 r81
  v144 r151
  v145 r152
  v146
  v147
  v148 r82
  v149 r86
  v150 r43
  v151 r38
  v152 r116
  v153 r37
 )
 (:init
  (at r126 v0)
  (at r112 v1)
  (free v2)
  (at r141 v3)
  (at r53 v4)
  (at r21 v5)
  (at r97 v6)
  (at r17 v7)
  (at r73 v8)
  (free v9)
  (at r127 v10)
  (at r40 v11)
  (at r59 v12)
  (at r46 v13)
  (at r125 v14)
  (at r45 v15)
  (at r117 v16)
  (at r16 v17)
  (at r94 v18)
  (at r119 v19)
  (at r25 v20)
  (at r149 v21)
  (at r109 v22)
  (free v23)
  (free v24)
  (at r60 v25)
  (at r139 v26)
  (free v27)
  (at r88 v28)
  (at r55 v29)
  (at r104 v30)
  (at r98 v31)
  (at r136 v32)
  (at r148 v33)
  (at r140 v34)
  (at r99 v35)
  (at r64 v36)
  (at r23 v37)
  (at r143 v38)
  (at r142 v39)
  (at r47 v40)
  (at r100 v41)
  (at r48 v42)
  (at r92 v43)
  (at r122 v44)
  (at r75 v45)
  (at r42 v46)
  (free v47)
  (at r130 v48)
  (at r34 v49)
  (at r153 v50)
  (at r19 v51)
  (at r103 v52)
  (at r135 v53)
  (at r110 v54)
  (at r121 v55)
  (at r134 v56)
  (at r58 v57)
  (at r29 v58)
  (at r133 v59)
  (at r72 v60)
  (at r66 v61)
  (at r101 v62)
  (at r69 v63)
  (at r114 v64)
  (at r52 v65)
  (free v66)
  (at r128 v67)
  (at r105 v68)
  (at r87 v69)
  (at r120 v70)
  (at r83 v71)
  (at r137 v72)
  (at r79 v73)
  (at r35 v74)
  (at r56 v75)
  (at r115 v76)
  (at r129 v77)
  (at r31 v78)
  (at r41 v79)
  (at r62 v80)
  (at r107 v81)
  (at r65 v82)
  (free v83)
  (at r70 v84)
  (at r22 v85)
  (at r26 v86)
  (at r80 v87)
  (at r138 v88)
  (at r131 v89)
  (at r147 v90)
  (at r85 v91)
  (at r106 v92)
  (at r91 v93)
  (at r54 v94)
  (at r30 v95)
  (at r39 v96)
  (at r146 v97)
  (at r50 v98)
  (at r93 v99)
  (free v100)
  (at r32 v101)
  (at r113 v102)
  (at r144 v103)
  (at r67 v104)
  (at r132 v105)
  (at r71 v106)
  (at r28 v107)
  (at r27 v108)
  (free v109)
  (at r124 v110)
  (at r57 v111)
  (at r61 v112)
  (free v113)
  (at r74 v114)
  (at r24 v115)
  (at r63 v116)
  (at r20 v117)
  (free v118)
  (at r150 v119)
  (at r77 v120)
  (at r123 v121)
  (at r49 v122)
  (at r78 v123)
  (at r95 v124)
  (at r96 v125)
  (at r51 v126)
  (free v127)
  (at r145 v128)
  (at r36 v129)
  (at r84 v130)
  (at r44 v131)
  (at r108 v132)
  (at r33 v133)
  (at r89 v134)
  (at r102 v135)
  (at r90 v136)
  (at r118 v137)
  (free v138)
  (at r18 v139)
  (at r68 v140)
  (at r76 v141)
  (at r111 v142)
  (at r81 v143)
  (at r151 v144)
  (at r152 v145)
  (free v146)
  (free v147)
  (at r82 v148)
  (at r86 v149)
  (at r43 v150)
  (at r38 v151)
  (at r116 v152)
  (at r37 v153)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v13)
  (adjacent v0 v27)
  (adjacent v0 v62)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v15)
  (adjacent v3 v4)
  (adjacent v3 v34)
  (adjacent v3 v82)
  (adjacent v3 v116)
  (adjacent v5 v6)
  (adjacent v5 v21)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v6 v14)
  (adjacent v6 v15)
  (adjacent v7 v8)
  (adjacent v7 v31)
  (adjacent v7 v43)
  (adjacent v7 v114)
  (adjacent v7 v115)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v9 v13)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v39)
  (adjacent v10 v44)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v11 v22)
  (adjacent v12 v38)
  (adjacent v13 v25)
  (adjacent v13 v49)
  (adjacent v13 v99)
  (adjacent v13 v150)
  (adjacent v14 v16)
  (adjacent v14 v42)
  (adjacent v14 v137)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v21)
  (adjacent v18 v19)
  (adjacent v18 v55)
  (adjacent v18 v86)
  (adjacent v19 v20)
  (adjacent v20 v35)
  (adjacent v20 v104)
  (adjacent v20 v119)
  (adjacent v21 v26)
  (adjacent v21 v89)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v23 v24)
  (adjacent v23 v136)
  (adjacent v24 v25)
  (adjacent v25 v140)
  (adjacent v26 v27)
  (adjacent v26 v70)
  (adjacent v26 v100)
  (adjacent v27 v28)
  (adjacent v27 v114)
  (adjacent v28 v29)
  (adjacent v28 v143)
  (adjacent v29 v30)
  (adjacent v31 v32)
  (adjacent v31 v82)
  (adjacent v31 v116)
  (adjacent v32 v33)
  (adjacent v32 v152)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v141)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v50)
  (adjacent v37 v92)
  (adjacent v38 v45)
  (adjacent v38 v76)
  (adjacent v39 v40)
  (adjacent v39 v76)
  (adjacent v39 v151)
  (adjacent v40 v41)
  (adjacent v40 v98)
  (adjacent v40 v153)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v43 v58)
  (adjacent v43 v91)
  (adjacent v43 v117)
  (adjacent v43 v132)
  (adjacent v44 v65)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v59)
  (adjacent v49 v64)
  (adjacent v49 v75)
  (adjacent v50 v51)
  (adjacent v50 v56)
  (adjacent v50 v101)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v63)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v90)
  (adjacent v56 v105)
  (adjacent v57 v58)
  (adjacent v58 v69)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v66)
  (adjacent v60 v74)
  (adjacent v61 v62)
  (adjacent v62 v104)
  (adjacent v63 v64)
  (adjacent v63 v109)
  (adjacent v64 v65)
  (adjacent v64 v85)
  (adjacent v65 v77)
  (adjacent v65 v93)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v115)
  (adjacent v70 v71)
  (adjacent v70 v120)
  (adjacent v71 v72)
  (adjacent v71 v75)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v124)
  (adjacent v74 v83)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v90)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v131)
  (adjacent v86 v87)
  (adjacent v86 v108)
  (adjacent v86 v130)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v129)
  (adjacent v95 v96)
  (adjacent v95 v113)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v103)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v125)
  (adjacent v105 v106)
  (adjacent v105 v125)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v144)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v115 v126)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v141 v153)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
 )
 (:goal
  (and
  (at r46 v0)
  (at r90 v1)
  (at r59 v2)
  (at r17 v3)
  (at r74 v4)
  (at r127 v5)
  (at r111 v6)
  (free v7)
  (at r129 v8)
  (at r102 v9)
  (at r133 v10)
  (at r44 v11)
  (at r123 v12)
  (at r94 v13)
  (at r45 v14)
  (at r100 v15)
  (at r24 v16)
  (at r104 v17)
  (at r21 v18)
  (at r64 v19)
  (at r66 v20)
  (at r83 v21)
  (at r95 v22)
  (at r50 v23)
  (at r86 v24)
  (at r139 v25)
  (at r62 v26)
  (at r32 v27)
  (at r33 v28)
  (at r18 v29)
  (at r116 v30)
  (at r150 v31)
  (at r28 v32)
  (at r125 v33)
  (at r23 v34)
  (at r37 v35)
  (at r49 v36)
  (at r106 v37)
  (at r43 v38)
  (at r29 v39)
  (at r152 v40)
  (at r42 v41)
  (at r35 v42)
  (at r120 v43)
  (at r77 v44)
  (at r134 v45)
  (at r96 v46)
  (at r65 v47)
  (at r122 v48)
  (free v49)
  (at r79 v50)
  (at r144 v51)
  (at r69 v52)
  (free v53)
  (at r68 v54)
  (at r71 v55)
  (at r115 v56)
  (at r76 v57)
  (at r92 v58)
  (at r143 v59)
  (at r124 v60)
  (at r40 v61)
  (at r41 v62)
  (at r39 v63)
  (at r80 v64)
  (at r67 v65)
  (at r16 v66)
  (at r142 v67)
  (at r57 v68)
  (at r82 v69)
  (at r85 v70)
  (free v71)
  (at r54 v72)
  (at r121 v73)
  (free v74)
  (at r114 v75)
  (at r84 v76)
  (at r137 v77)
  (at r118 v78)
  (at r151 v79)
  (at r117 v80)
  (at r30 v81)
  (at r138 v82)
  (at r108 v83)
  (at r147 v84)
  (at r140 v85)
  (at r48 v86)
  (at r126 v87)
  (at r73 v88)
  (at r31 v89)
  (free v90)
  (at r34 v91)
  (at r130 v92)
  (at r132 v93)
  (at r55 v94)
  (at r136 v95)
  (at r36 v96)
  (at r47 v97)
  (at r58 v98)
  (free v99)
  (free v100)
  (at r61 v101)
  (at r97 v102)
  (at r51 v103)
  (free v104)
  (at r119 v105)
  (at r72 v106)
  (at r113 v107)
  (at r145 v108)
  (free v109)
  (at r99 v110)
  (free v111)
  (free v112)
  (at r93 v113)
  (at r98 v114)
  (at r109 v115)
  (at r91 v116)
  (free v117)
  (at r89 v118)
  (at r112 v119)
  (free v120)
  (at r149 v121)
  (at r141 v122)
  (at r27 v123)
  (at r131 v124)
  (at r81 v125)
  (at r22 v126)
  (free v127)
  (at r52 v128)
  (at r128 v129)
  (at r105 v130)
  (at r78 v131)
  (at r53 v132)
  (at r148 v133)
  (at r107 v134)
  (at r135 v135)
  (at r56 v136)
  (at r87 v137)
  (at r25 v138)
  (at r60 v139)
  (at r19 v140)
  (at r88 v141)
  (at r103 v142)
  (at r153 v143)
  (at r75 v144)
  (at r110 v145)
  (at r70 v146)
  (at r101 v147)
  (at r20 v148)
  (at r146 v149)
  (at r63 v150)
  (free v151)
  (at r38 v152)
  (at r26 v153)
  )
 )
)