(define (problem multirobot_38_50%_c0)
 (:domain multirobot)
 (:objects
  v0 r114
  v1
  v2
  v3 r146
  v4
  v5
  v6
  v7 r132
  v8 r164
  v9 r102
  v10
  v11
  v12 r96
  v13
  v14 r77
  v15
  v16 r111
  v17 r126
  v18 r130
  v19
  v20 r90
  v21 r153
  v22
  v23
  v24
  v25 r103
  v26
  v27 r148
  v28
  v29 r134
  v30 r129
  v31 r88
  v32 r81
  v33 r86
  v34 r167
  v35 r137
  v36
  v37 r124
  v38 r131
  v39
  v40 r71
  v41
  v42 r145
  v43 r125
  v44
  v45 r105
  v46
  v47 r97
  v48
  v49 r73
  v50 r80
  v51
  v52 r171
  v53
  v54
  v55
  v56 r82
  v57
  v58
  v59 r117
  v60 r138
  v61 r104
  v62
  v63
  v64
  v65 r135
  v66
  v67 r89
  v68 r107
  v69 r83
  v70
  v71 r69
  v72
  v73
  v74
  v75
  v76 r150
  v77 r168
  v78
  v79
  v80 r139
  v81
  v82
  v83
  v84 r162
  v85
  v86
  v87 r161
  v88 r140
  v89
  v90
  v91 r156
  v92 r166
  v93 r92
  v94
  v95 r110
  v96
  v97 r172
  v98
  v99 r160
  v100
  v101 r78
  v102 r75
  v103 r98
  v104 r74
  v105
  v106 r112
  v107 r155
  v108 r144
  v109
  v110 r141
  v111 r136
  v112 r152
  v113 r133
  v114 r119
  v115
  v116 r115
  v117 r159
  v118 r70
  v119 r95
  v120 r170
  v121
  v122 r84
  v123 r163
  v124
  v125 r99
  v126
  v127 r113
  v128 r116
  v129 r127
  v130 r154
  v131
  v132 r128
  v133
  v134 r72
  v135
  v136 r169
  v137 r108
  v138 r76
  v139
  v140 r143
  v141 r157
  v142 r165
  v143 r109
  v144
  v145
  v146
  v147
  v148
  v149 r121
  v150 r122
  v151 r94
  v152 r85
  v153 r106
  v154 r147
  v155
  v156
  v157 r123
  v158 r100
  v159 r151
  v160 r142
  v161 r101
  v162 r79
  v163 r93
  v164
  v165 r120
  v166 r158
  v167
  v168
  v169 r118
  v170 r91
  v171 r149
  v172 r87
 )
 (:init
  (at r114 v0)
  (free v1)
  (free v2)
  (at r146 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r132 v7)
  (at r164 v8)
  (at r102 v9)
  (free v10)
  (free v11)
  (at r96 v12)
  (free v13)
  (at r77 v14)
  (free v15)
  (at r111 v16)
  (at r126 v17)
  (at r130 v18)
  (free v19)
  (at r90 v20)
  (at r153 v21)
  (free v22)
  (free v23)
  (free v24)
  (at r103 v25)
  (free v26)
  (at r148 v27)
  (free v28)
  (at r134 v29)
  (at r129 v30)
  (at r88 v31)
  (at r81 v32)
  (at r86 v33)
  (at r167 v34)
  (at r137 v35)
  (free v36)
  (at r124 v37)
  (at r131 v38)
  (free v39)
  (at r71 v40)
  (free v41)
  (at r145 v42)
  (at r125 v43)
  (free v44)
  (at r105 v45)
  (free v46)
  (at r97 v47)
  (free v48)
  (at r73 v49)
  (at r80 v50)
  (free v51)
  (at r171 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r82 v56)
  (free v57)
  (free v58)
  (at r117 v59)
  (at r138 v60)
  (at r104 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r135 v65)
  (free v66)
  (at r89 v67)
  (at r107 v68)
  (at r83 v69)
  (free v70)
  (at r69 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r150 v76)
  (at r168 v77)
  (free v78)
  (free v79)
  (at r139 v80)
  (free v81)
  (free v82)
  (free v83)
  (at r162 v84)
  (free v85)
  (free v86)
  (at r161 v87)
  (at r140 v88)
  (free v89)
  (free v90)
  (at r156 v91)
  (at r166 v92)
  (at r92 v93)
  (free v94)
  (at r110 v95)
  (free v96)
  (at r172 v97)
  (free v98)
  (at r160 v99)
  (free v100)
  (at r78 v101)
  (at r75 v102)
  (at r98 v103)
  (at r74 v104)
  (free v105)
  (at r112 v106)
  (at r155 v107)
  (at r144 v108)
  (free v109)
  (at r141 v110)
  (at r136 v111)
  (at r152 v112)
  (at r133 v113)
  (at r119 v114)
  (free v115)
  (at r115 v116)
  (at r159 v117)
  (at r70 v118)
  (at r95 v119)
  (at r170 v120)
  (free v121)
  (at r84 v122)
  (at r163 v123)
  (free v124)
  (at r99 v125)
  (free v126)
  (at r113 v127)
  (at r116 v128)
  (at r127 v129)
  (at r154 v130)
  (free v131)
  (at r128 v132)
  (free v133)
  (at r72 v134)
  (free v135)
  (at r169 v136)
  (at r108 v137)
  (at r76 v138)
  (free v139)
  (at r143 v140)
  (at r157 v141)
  (at r165 v142)
  (at r109 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (at r121 v149)
  (at r122 v150)
  (at r94 v151)
  (at r85 v152)
  (at r106 v153)
  (at r147 v154)
  (free v155)
  (free v156)
  (at r123 v157)
  (at r100 v158)
  (at r151 v159)
  (at r142 v160)
  (at r101 v161)
  (at r79 v162)
  (at r93 v163)
  (free v164)
  (at r120 v165)
  (at r158 v166)
  (free v167)
  (free v168)
  (at r118 v169)
  (at r91 v170)
  (at r149 v171)
  (at r87 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v9)
  (adjacent v1 v35)
  (adjacent v2 v3)
  (adjacent v2 v26)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v17)
  (adjacent v3 v98)
  (adjacent v4 v14)
  (adjacent v4 v15)
  (adjacent v5 v6)
  (adjacent v5 v172)
  (adjacent v6 v7)
  (adjacent v6 v40)
  (adjacent v6 v59)
  (adjacent v7 v8)
  (adjacent v7 v34)
  (adjacent v7 v68)
  (adjacent v9 v10)
  (adjacent v9 v24)
  (adjacent v10 v11)
  (adjacent v10 v18)
  (adjacent v10 v103)
  (adjacent v11 v12)
  (adjacent v11 v104)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v27)
  (adjacent v13 v45)
  (adjacent v14 v134)
  (adjacent v15 v16)
  (adjacent v15 v23)
  (adjacent v16 v17)
  (adjacent v16 v41)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v33)
  (adjacent v21 v36)
  (adjacent v21 v127)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v24 v153)
  (adjacent v25 v26)
  (adjacent v27 v28)
  (adjacent v27 v111)
  (adjacent v28 v29)
  (adjacent v28 v62)
  (adjacent v29 v30)
  (adjacent v29 v37)
  (adjacent v29 v46)
  (adjacent v30 v31)
  (adjacent v30 v53)
  (adjacent v31 v32)
  (adjacent v31 v52)
  (adjacent v32 v33)
  (adjacent v32 v36)
  (adjacent v32 v111)
  (adjacent v34 v35)
  (adjacent v34 v98)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v79)
  (adjacent v39 v40)
  (adjacent v39 v58)
  (adjacent v41 v42)
  (adjacent v41 v90)
  (adjacent v41 v99)
  (adjacent v42 v43)
  (adjacent v42 v160)
  (adjacent v43 v44)
  (adjacent v43 v67)
  (adjacent v44 v45)
  (adjacent v45 v154)
  (adjacent v46 v47)
  (adjacent v46 v115)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v75)
  (adjacent v52 v87)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v86)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v63)
  (adjacent v59 v60)
  (adjacent v59 v74)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v78)
  (adjacent v68 v69)
  (adjacent v68 v85)
  (adjacent v68 v86)
  (adjacent v69 v70)
  (adjacent v69 v91)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v97)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v126)
  (adjacent v81 v82)
  (adjacent v81 v114)
  (adjacent v82 v83)
  (adjacent v82 v166)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v110)
  (adjacent v89 v141)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v150)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v171)
  (adjacent v97 v147)
  (adjacent v98 v121)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v120)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v112)
  (adjacent v109 v110)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v139)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v170)
  (adjacent v121 v122)
  (adjacent v121 v140)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v133)
  (adjacent v127 v128)
  (adjacent v127 v140)
  (adjacent v127 v146)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v169)
  (adjacent v131 v132)
  (adjacent v131 v167)
  (adjacent v132 v133)
  (adjacent v133 v149)
  (adjacent v134 v135)
  (adjacent v134 v170)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v147 v159)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r96 v2)
  (free v3)
  (free v4)
  (at r147 v5)
  (at r83 v6)
  (free v7)
  (at r102 v8)
  (at r87 v9)
  (at r75 v10)
  (free v11)
  (free v12)
  (at r80 v13)
  (free v14)
  (free v15)
  (at r131 v16)
  (free v17)
  (free v18)
  (at r114 v19)
  (free v20)
  (at r116 v21)
  (at r118 v22)
  (at r143 v23)
  (free v24)
  (at r128 v25)
  (at r109 v26)
  (at r84 v27)
  (at r81 v28)
  (at r169 v29)
  (free v30)
  (free v31)
  (at r135 v32)
  (at r151 v33)
  (free v34)
  (free v35)
  (at r167 v36)
  (at r163 v37)
  (at r141 v38)
  (at r160 v39)
  (at r117 v40)
  (at r69 v41)
  (free v42)
  (at r170 v43)
  (at r106 v44)
  (at r72 v45)
  (free v46)
  (free v47)
  (at r104 v48)
  (at r112 v49)
  (at r71 v50)
  (free v51)
  (at r139 v52)
  (at r132 v53)
  (at r149 v54)
  (free v55)
  (at r129 v56)
  (at r82 v57)
  (at r158 v58)
  (at r115 v59)
  (free v60)
  (free v61)
  (at r123 v62)
  (free v63)
  (free v64)
  (at r107 v65)
  (at r127 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r99 v75)
  (at r136 v76)
  (at r93 v77)
  (free v78)
  (at r148 v79)
  (at r125 v80)
  (at r100 v81)
  (free v82)
  (free v83)
  (at r74 v84)
  (at r77 v85)
  (at r166 v86)
  (free v87)
  (at r70 v88)
  (free v89)
  (at r95 v90)
  (free v91)
  (at r137 v92)
  (at r78 v93)
  (free v94)
  (at r161 v95)
  (free v96)
  (at r156 v97)
  (at r103 v98)
  (at r79 v99)
  (at r97 v100)
  (at r154 v101)
  (free v102)
  (at r91 v103)
  (free v104)
  (at r140 v105)
  (at r101 v106)
  (at r119 v107)
  (at r86 v108)
  (at r98 v109)
  (free v110)
  (at r146 v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r76 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (at r134 v121)
  (free v122)
  (at r138 v123)
  (at r155 v124)
  (free v125)
  (at r153 v126)
  (free v127)
  (at r90 v128)
  (at r85 v129)
  (at r111 v130)
  (at r121 v131)
  (at r130 v132)
  (free v133)
  (at r145 v134)
  (free v135)
  (at r165 v136)
  (at r108 v137)
  (at r124 v138)
  (at r168 v139)
  (at r162 v140)
  (at r105 v141)
  (at r144 v142)
  (at r171 v143)
  (free v144)
  (free v145)
  (at r159 v146)
  (at r88 v147)
  (at r133 v148)
  (free v149)
  (at r152 v150)
  (free v151)
  (at r94 v152)
  (free v153)
  (at r157 v154)
  (at r122 v155)
  (at r113 v156)
  (at r110 v157)
  (free v158)
  (at r73 v159)
  (at r142 v160)
  (at r172 v161)
  (at r89 v162)
  (free v163)
  (at r120 v164)
  (free v165)
  (at r164 v166)
  (at r150 v167)
  (at r126 v168)
  (free v169)
  (at r92 v170)
  (free v171)
  (free v172)
  )
 )
)