(define (problem multirobot_34_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r72
  v3 r69
  v4
  v5
  v6 r93
  v7 r66
  v8 r139
  v9 r127
  v10
  v11
  v12 r68
  v13 r86
  v14 r121
  v15
  v16 r132
  v17
  v18 r99
  v19 r77
  v20 r106
  v21 r104
  v22 r63
  v23
  v24 r112
  v25
  v26 r118
  v27
  v28 r82
  v29 r113
  v30 r92
  v31
  v32 r71
  v33 r107
  v34 r96
  v35
  v36 r110
  v37 r87
  v38 r70
  v39 r119
  v40 r135
  v41
  v42 r140
  v43
  v44
  v45 r98
  v46 r120
  v47 r137
  v48 r108
  v49
  v50
  v51
  v52 r105
  v53
  v54 r91
  v55
  v56 r102
  v57
  v58
  v59 r81
  v60
  v61 r65
  v62 r116
  v63 r109
  v64
  v65 r100
  v66
  v67 r123
  v68 r78
  v69
  v70
  v71 r76
  v72
  v73
  v74 r84
  v75
  v76 r126
  v77 r83
  v78
  v79 r133
  v80
  v81 r95
  v82
  v83
  v84
  v85 r125
  v86
  v87 r90
  v88 r79
  v89 r122
  v90
  v91
  v92
  v93
  v94
  v95 r97
  v96 r130
  v97 r138
  v98 r67
  v99 r103
  v100
  v101 r88
  v102
  v103
  v104
  v105
  v106
  v107
  v108 r117
  v109
  v110 r136
  v111 r89
  v112 r62
  v113
  v114 r115
  v115 r111
  v116 r101
  v117 r131
  v118
  v119
  v120
  v121 r142
  v122 r94
  v123 r114
  v124 r129
  v125
  v126 r85
  v127 r134
  v128 r64
  v129 r73
  v130
  v131 r75
  v132 r80
  v133
  v134 r74
  v135 r141
  v136
  v137
  v138
  v139
  v140
  v141 r128
  v142 r124
 )
 (:init
  (free v0)
  (free v1)
  (at r72 v2)
  (at r69 v3)
  (free v4)
  (free v5)
  (at r93 v6)
  (at r66 v7)
  (at r139 v8)
  (at r127 v9)
  (free v10)
  (free v11)
  (at r68 v12)
  (at r86 v13)
  (at r121 v14)
  (free v15)
  (at r132 v16)
  (free v17)
  (at r99 v18)
  (at r77 v19)
  (at r106 v20)
  (at r104 v21)
  (at r63 v22)
  (free v23)
  (at r112 v24)
  (free v25)
  (at r118 v26)
  (free v27)
  (at r82 v28)
  (at r113 v29)
  (at r92 v30)
  (free v31)
  (at r71 v32)
  (at r107 v33)
  (at r96 v34)
  (free v35)
  (at r110 v36)
  (at r87 v37)
  (at r70 v38)
  (at r119 v39)
  (at r135 v40)
  (free v41)
  (at r140 v42)
  (free v43)
  (free v44)
  (at r98 v45)
  (at r120 v46)
  (at r137 v47)
  (at r108 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r105 v52)
  (free v53)
  (at r91 v54)
  (free v55)
  (at r102 v56)
  (free v57)
  (free v58)
  (at r81 v59)
  (free v60)
  (at r65 v61)
  (at r116 v62)
  (at r109 v63)
  (free v64)
  (at r100 v65)
  (free v66)
  (at r123 v67)
  (at r78 v68)
  (free v69)
  (free v70)
  (at r76 v71)
  (free v72)
  (free v73)
  (at r84 v74)
  (free v75)
  (at r126 v76)
  (at r83 v77)
  (free v78)
  (at r133 v79)
  (free v80)
  (at r95 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r125 v85)
  (free v86)
  (at r90 v87)
  (at r79 v88)
  (at r122 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r97 v95)
  (at r130 v96)
  (at r138 v97)
  (at r67 v98)
  (at r103 v99)
  (free v100)
  (at r88 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r117 v108)
  (free v109)
  (at r136 v110)
  (at r89 v111)
  (at r62 v112)
  (free v113)
  (at r115 v114)
  (at r111 v115)
  (at r101 v116)
  (at r131 v117)
  (free v118)
  (free v119)
  (free v120)
  (at r142 v121)
  (at r94 v122)
  (at r114 v123)
  (at r129 v124)
  (free v125)
  (at r85 v126)
  (at r134 v127)
  (at r64 v128)
  (at r73 v129)
  (free v130)
  (at r75 v131)
  (at r80 v132)
  (free v133)
  (at r74 v134)
  (at r141 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r128 v141)
  (at r124 v142)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v27)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v58)
  (adjacent v4 v11)
  (adjacent v4 v40)
  (adjacent v5 v6)
  (adjacent v5 v20)
  (adjacent v5 v84)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v6 v16)
  (adjacent v6 v56)
  (adjacent v7 v8)
  (adjacent v7 v41)
  (adjacent v7 v130)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v9 v10)
  (adjacent v10 v34)
  (adjacent v10 v39)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v13 v123)
  (adjacent v14 v15)
  (adjacent v15 v78)
  (adjacent v15 v104)
  (adjacent v16 v17)
  (adjacent v16 v113)
  (adjacent v17 v18)
  (adjacent v17 v40)
  (adjacent v18 v19)
  (adjacent v18 v129)
  (adjacent v19 v20)
  (adjacent v19 v70)
  (adjacent v20 v66)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v21 v66)
  (adjacent v21 v75)
  (adjacent v22 v23)
  (adjacent v22 v39)
  (adjacent v22 v46)
  (adjacent v22 v131)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v85)
  (adjacent v24 v136)
  (adjacent v25 v26)
  (adjacent v25 v120)
  (adjacent v26 v27)
  (adjacent v26 v28)
  (adjacent v26 v54)
  (adjacent v26 v59)
  (adjacent v28 v29)
  (adjacent v28 v67)
  (adjacent v28 v76)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v97)
  (adjacent v31 v32)
  (adjacent v31 v91)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v65)
  (adjacent v34 v53)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v77)
  (adjacent v40 v47)
  (adjacent v40 v59)
  (adjacent v41 v42)
  (adjacent v41 v110)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v55)
  (adjacent v44 v45)
  (adjacent v44 v71)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v109)
  (adjacent v49 v50)
  (adjacent v49 v90)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v92)
  (adjacent v51 v142)
  (adjacent v52 v53)
  (adjacent v53 v122)
  (adjacent v54 v55)
  (adjacent v54 v121)
  (adjacent v55 v124)
  (adjacent v56 v57)
  (adjacent v56 v60)
  (adjacent v57 v58)
  (adjacent v58 v105)
  (adjacent v60 v61)
  (adjacent v60 v137)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v78 v98)
  (adjacent v79 v80)
  (adjacent v79 v121)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v128)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v137)
  (adjacent v91 v92)
  (adjacent v91 v114)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v138)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
 )
 (:goal
  (and
  (at r96 v0)
  (at r74 v1)
  (at r118 v2)
  (at r94 v3)
  (at r84 v4)
  (at r114 v5)
  (free v6)
  (at r85 v7)
  (at r130 v8)
  (at r135 v9)
  (free v10)
  (at r107 v11)
  (free v12)
  (free v13)
  (at r98 v14)
  (free v15)
  (free v16)
  (at r75 v17)
  (at r79 v18)
  (at r101 v19)
  (free v20)
  (at r133 v21)
  (free v22)
  (at r129 v23)
  (free v24)
  (at r99 v25)
  (free v26)
  (at r136 v27)
  (at r139 v28)
  (at r86 v29)
  (at r106 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r97 v34)
  (free v35)
  (at r77 v36)
  (at r65 v37)
  (at r125 v38)
  (at r102 v39)
  (free v40)
  (free v41)
  (at r120 v42)
  (at r117 v43)
  (at r69 v44)
  (free v45)
  (at r142 v46)
  (free v47)
  (at r111 v48)
  (free v49)
  (at r104 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r63 v55)
  (free v56)
  (free v57)
  (at r71 v58)
  (at r95 v59)
  (at r124 v60)
  (free v61)
  (free v62)
  (at r82 v63)
  (at r137 v64)
  (at r70 v65)
  (free v66)
  (at r91 v67)
  (free v68)
  (at r80 v69)
  (free v70)
  (free v71)
  (at r103 v72)
  (at r90 v73)
  (free v74)
  (free v75)
  (at r132 v76)
  (free v77)
  (free v78)
  (at r123 v79)
  (at r134 v80)
  (at r112 v81)
  (free v82)
  (at r67 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r109 v87)
  (free v88)
  (at r122 v89)
  (at r131 v90)
  (at r78 v91)
  (free v92)
  (free v93)
  (free v94)
  (at r68 v95)
  (at r83 v96)
  (at r64 v97)
  (at r113 v98)
  (at r121 v99)
  (free v100)
  (at r72 v101)
  (at r81 v102)
  (free v103)
  (at r100 v104)
  (at r126 v105)
  (at r128 v106)
  (free v107)
  (at r66 v108)
  (at r76 v109)
  (at r110 v110)
  (free v111)
  (at r62 v112)
  (at r141 v113)
  (free v114)
  (at r108 v115)
  (free v116)
  (free v117)
  (free v118)
  (at r115 v119)
  (at r73 v120)
  (free v121)
  (at r105 v122)
  (free v123)
  (free v124)
  (free v125)
  (at r88 v126)
  (at r119 v127)
  (free v128)
  (at r93 v129)
  (at r116 v130)
  (free v131)
  (at r92 v132)
  (at r138 v133)
  (at r140 v134)
  (free v135)
  (at r87 v136)
  (at r89 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r127 v141)
  (free v142)
  )
 )
)