(define (problem multirobot_37_50%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r71
  v4
  v5
  v6
  v7
  v8 r100
  v9
  v10 r115
  v11 r116
  v12 r150
  v13 r157
  v14 r90
  v15 r119
  v16
  v17
  v18
  v19 r118
  v20 r123
  v21 r154
  v22 r127
  v23
  v24 r89
  v25
  v26 r95
  v27
  v28 r134
  v29
  v30 r143
  v31
  v32
  v33
  v34
  v35
  v36 r73
  v37
  v38
  v39
  v40
  v41
  v42
  v43
  v44 r75
  v45 r103
  v46 r156
  v47
  v48 r153
  v49 r108
  v50
  v51
  v52 r125
  v53
  v54 r114
  v55 r117
  v56 r93
  v57 r112
  v58 r133
  v59 r69
  v60 r81
  v61
  v62 r137
  v63 r120
  v64
  v65 r80
  v66 r111
  v67 r76
  v68 r77
  v69 r110
  v70 r158
  v71 r163
  v72 r128
  v73
  v74
  v75
  v76
  v77 r151
  v78 r107
  v79 r85
  v80 r78
  v81
  v82 r102
  v83 r124
  v84 r144
  v85
  v86
  v87
  v88
  v89
  v90 r72
  v91
  v92 r138
  v93 r79
  v94 r91
  v95
  v96
  v97 r104
  v98 r99
  v99 r86
  v100 r146
  v101
  v102
  v103
  v104 r131
  v105
  v106 r135
  v107 r92
  v108
  v109
  v110 r132
  v111 r161
  v112 r159
  v113 r129
  v114
  v115 r152
  v116 r106
  v117 r101
  v118 r130
  v119
  v120 r145
  v121
  v122
  v123 r139
  v124 r148
  v125
  v126
  v127 r96
  v128 r122
  v129 r121
  v130 r149
  v131 r74
  v132
  v133
  v134 r84
  v135 r105
  v136 r162
  v137 r113
  v138 r98
  v139 r160
  v140 r94
  v141 r142
  v142 r83
  v143 r87
  v144
  v145
  v146 r126
  v147 r140
  v148
  v149
  v150 r147
  v151 r136
  v152 r82
  v153 r88
  v154
  v155 r141
  v156
  v157 r155
  v158
  v159 r97
  v160 r70
  v161 r68
  v162 r109
  v163 r164
  v164
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r71 v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r100 v8)
  (free v9)
  (at r115 v10)
  (at r116 v11)
  (at r150 v12)
  (at r157 v13)
  (at r90 v14)
  (at r119 v15)
  (free v16)
  (free v17)
  (free v18)
  (at r118 v19)
  (at r123 v20)
  (at r154 v21)
  (at r127 v22)
  (free v23)
  (at r89 v24)
  (free v25)
  (at r95 v26)
  (free v27)
  (at r134 v28)
  (free v29)
  (at r143 v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (at r73 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r75 v44)
  (at r103 v45)
  (at r156 v46)
  (free v47)
  (at r153 v48)
  (at r108 v49)
  (free v50)
  (free v51)
  (at r125 v52)
  (free v53)
  (at r114 v54)
  (at r117 v55)
  (at r93 v56)
  (at r112 v57)
  (at r133 v58)
  (at r69 v59)
  (at r81 v60)
  (free v61)
  (at r137 v62)
  (at r120 v63)
  (free v64)
  (at r80 v65)
  (at r111 v66)
  (at r76 v67)
  (at r77 v68)
  (at r110 v69)
  (at r158 v70)
  (at r163 v71)
  (at r128 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r151 v77)
  (at r107 v78)
  (at r85 v79)
  (at r78 v80)
  (free v81)
  (at r102 v82)
  (at r124 v83)
  (at r144 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r72 v90)
  (free v91)
  (at r138 v92)
  (at r79 v93)
  (at r91 v94)
  (free v95)
  (free v96)
  (at r104 v97)
  (at r99 v98)
  (at r86 v99)
  (at r146 v100)
  (free v101)
  (free v102)
  (free v103)
  (at r131 v104)
  (free v105)
  (at r135 v106)
  (at r92 v107)
  (free v108)
  (free v109)
  (at r132 v110)
  (at r161 v111)
  (at r159 v112)
  (at r129 v113)
  (free v114)
  (at r152 v115)
  (at r106 v116)
  (at r101 v117)
  (at r130 v118)
  (free v119)
  (at r145 v120)
  (free v121)
  (free v122)
  (at r139 v123)
  (at r148 v124)
  (free v125)
  (free v126)
  (at r96 v127)
  (at r122 v128)
  (at r121 v129)
  (at r149 v130)
  (at r74 v131)
  (free v132)
  (free v133)
  (at r84 v134)
  (at r105 v135)
  (at r162 v136)
  (at r113 v137)
  (at r98 v138)
  (at r160 v139)
  (at r94 v140)
  (at r142 v141)
  (at r83 v142)
  (at r87 v143)
  (free v144)
  (free v145)
  (at r126 v146)
  (at r140 v147)
  (free v148)
  (free v149)
  (at r147 v150)
  (at r136 v151)
  (at r82 v152)
  (at r88 v153)
  (free v154)
  (at r141 v155)
  (free v156)
  (at r155 v157)
  (free v158)
  (at r97 v159)
  (at r70 v160)
  (at r68 v161)
  (at r109 v162)
  (at r164 v163)
  (free v164)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v16)
  (adjacent v1 v35)
  (adjacent v2 v3)
  (adjacent v2 v78)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v31)
  (adjacent v4 v25)
  (adjacent v4 v26)
  (adjacent v4 v72)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v57)
  (adjacent v5 v139)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v155)
  (adjacent v9 v10)
  (adjacent v9 v19)
  (adjacent v10 v11)
  (adjacent v10 v18)
  (adjacent v10 v65)
  (adjacent v10 v94)
  (adjacent v11 v15)
  (adjacent v12 v13)
  (adjacent v12 v89)
  (adjacent v12 v128)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v95)
  (adjacent v15 v40)
  (adjacent v15 v56)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v103)
  (adjacent v18 v88)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v61)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v116)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v66)
  (adjacent v26 v27)
  (adjacent v26 v36)
  (adjacent v26 v110)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v51)
  (adjacent v29 v30)
  (adjacent v29 v50)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v45)
  (adjacent v33 v34)
  (adjacent v33 v82)
  (adjacent v33 v96)
  (adjacent v34 v35)
  (adjacent v34 v119)
  (adjacent v35 v46)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v103)
  (adjacent v38 v39)
  (adjacent v38 v41)
  (adjacent v39 v40)
  (adjacent v39 v115)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v83)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v160)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v151)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v62)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v121)
  (adjacent v55 v149)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v71)
  (adjacent v59 v77)
  (adjacent v60 v61)
  (adjacent v61 v104)
  (adjacent v62 v63)
  (adjacent v62 v116)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v143)
  (adjacent v68 v69)
  (adjacent v68 v102)
  (adjacent v68 v150)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v72 v109)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v152)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v156)
  (adjacent v84 v161)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v89 v95)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v117)
  (adjacent v91 v120)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v135)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v136)
  (adjacent v102 v151)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v123)
  (adjacent v108 v109)
  (adjacent v108 v122)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v129)
  (adjacent v112 v148)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v122)
  (adjacent v117 v118)
  (adjacent v117 v138)
  (adjacent v118 v119)
  (adjacent v118 v164)
  (adjacent v120 v121)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v144)
  (adjacent v125 v126)
  (adjacent v125 v154)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v157)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
 )
 (:goal
  (and
  (at r158 v0)
  (at r143 v1)
  (free v2)
  (free v3)
  (at r113 v4)
  (free v5)
  (free v6)
  (at r138 v7)
  (at r90 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r116 v12)
  (free v13)
  (at r108 v14)
  (at r133 v15)
  (free v16)
  (at r150 v17)
  (at r73 v18)
  (at r131 v19)
  (at r80 v20)
  (at r139 v21)
  (at r123 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r124 v26)
  (at r163 v27)
  (free v28)
  (at r72 v29)
  (free v30)
  (free v31)
  (at r156 v32)
  (free v33)
  (free v34)
  (at r122 v35)
  (at r99 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r162 v41)
  (at r69 v42)
  (at r117 v43)
  (at r100 v44)
  (free v45)
  (at r132 v46)
  (at r147 v47)
  (at r159 v48)
  (free v49)
  (at r110 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r84 v55)
  (at r102 v56)
  (free v57)
  (at r146 v58)
  (free v59)
  (at r134 v60)
  (at r145 v61)
  (at r155 v62)
  (at r93 v63)
  (at r118 v64)
  (at r151 v65)
  (at r120 v66)
  (at r70 v67)
  (at r144 v68)
  (at r137 v69)
  (at r161 v70)
  (at r98 v71)
  (at r95 v72)
  (at r91 v73)
  (free v74)
  (at r142 v75)
  (at r115 v76)
  (free v77)
  (at r94 v78)
  (free v79)
  (at r71 v80)
  (at r140 v81)
  (at r76 v82)
  (free v83)
  (at r148 v84)
  (at r77 v85)
  (at r109 v86)
  (at r92 v87)
  (at r85 v88)
  (at r103 v89)
  (at r82 v90)
  (at r121 v91)
  (at r126 v92)
  (free v93)
  (at r119 v94)
  (at r87 v95)
  (at r104 v96)
  (free v97)
  (at r164 v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (at r127 v104)
  (at r74 v105)
  (free v106)
  (at r154 v107)
  (at r97 v108)
  (free v109)
  (at r107 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r75 v115)
  (at r79 v116)
  (free v117)
  (at r106 v118)
  (free v119)
  (free v120)
  (at r129 v121)
  (free v122)
  (free v123)
  (at r105 v124)
  (free v125)
  (at r112 v126)
  (free v127)
  (at r89 v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (at r78 v133)
  (at r83 v134)
  (free v135)
  (free v136)
  (free v137)
  (at r157 v138)
  (at r141 v139)
  (at r136 v140)
  (free v141)
  (at r81 v142)
  (at r114 v143)
  (at r152 v144)
  (at r68 v145)
  (free v146)
  (at r149 v147)
  (at r86 v148)
  (at r88 v149)
  (free v150)
  (free v151)
  (at r135 v152)
  (at r160 v153)
  (at r130 v154)
  (at r153 v155)
  (free v156)
  (free v157)
  (at r111 v158)
  (at r101 v159)
  (free v160)
  (at r128 v161)
  (free v162)
  (at r125 v163)
  (at r96 v164)
  )
 )
)