(define (problem multirobot_39_50%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r122
  v4
  v5 r94
  v6 r118
  v7
  v8
  v9 r73
  v10 r100
  v11
  v12 r143
  v13 r92
  v14 r95
  v15
  v16
  v17 r82
  v18 r98
  v19 r114
  v20 r79
  v21 r138
  v22
  v23
  v24 r119
  v25 r148
  v26
  v27 r69
  v28
  v29
  v30 r113
  v31 r89
  v32
  v33
  v34
  v35 r134
  v36
  v37 r76
  v38 r125
  v39 r128
  v40
  v41 r111
  v42 r88
  v43
  v44
  v45 r140
  v46
  v47
  v48 r83
  v49
  v50
  v51
  v52 r106
  v53
  v54
  v55 r90
  v56 r104
  v57 r86
  v58
  v59 r135
  v60
  v61
  v62 r80
  v63
  v64 r78
  v65
  v66 r85
  v67 r110
  v68 r70
  v69 r77
  v70
  v71 r133
  v72 r108
  v73
  v74
  v75
  v76
  v77 r109
  v78 r105
  v79 r127
  v80
  v81
  v82
  v83 r121
  v84
  v85
  v86 r116
  v87
  v88 r84
  v89
  v90
  v91 r142
  v92 r71
  v93 r131
  v94
  v95
  v96 r87
  v97 r126
  v98
  v99
  v100 r124
  v101 r96
  v102 r74
  v103
  v104
  v105 r115
  v106 r117
  v107 r72
  v108
  v109 r146
  v110
  v111
  v112
  v113
  v114 r137
  v115 r136
  v116
  v117
  v118 r130
  v119
  v120
  v121 r103
  v122
  v123
  v124 r75
  v125
  v126 r120
  v127 r123
  v128 r132
  v129 r144
  v130 r93
  v131 r81
  v132 r129
  v133 r145
  v134
  v135 r97
  v136 r112
  v137 r147
  v138 r99
  v139 r141
  v140 r107
  v141
  v142 r91
  v143 r102
  v144
  v145 r101
  v146 r139
  v147
  v148
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r122 v3)
  (free v4)
  (at r94 v5)
  (at r118 v6)
  (free v7)
  (free v8)
  (at r73 v9)
  (at r100 v10)
  (free v11)
  (at r143 v12)
  (at r92 v13)
  (at r95 v14)
  (free v15)
  (free v16)
  (at r82 v17)
  (at r98 v18)
  (at r114 v19)
  (at r79 v20)
  (at r138 v21)
  (free v22)
  (free v23)
  (at r119 v24)
  (at r148 v25)
  (free v26)
  (at r69 v27)
  (free v28)
  (free v29)
  (at r113 v30)
  (at r89 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r134 v35)
  (free v36)
  (at r76 v37)
  (at r125 v38)
  (at r128 v39)
  (free v40)
  (at r111 v41)
  (at r88 v42)
  (free v43)
  (free v44)
  (at r140 v45)
  (free v46)
  (free v47)
  (at r83 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r106 v52)
  (free v53)
  (free v54)
  (at r90 v55)
  (at r104 v56)
  (at r86 v57)
  (free v58)
  (at r135 v59)
  (free v60)
  (free v61)
  (at r80 v62)
  (free v63)
  (at r78 v64)
  (free v65)
  (at r85 v66)
  (at r110 v67)
  (at r70 v68)
  (at r77 v69)
  (free v70)
  (at r133 v71)
  (at r108 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r109 v77)
  (at r105 v78)
  (at r127 v79)
  (free v80)
  (free v81)
  (free v82)
  (at r121 v83)
  (free v84)
  (free v85)
  (at r116 v86)
  (free v87)
  (at r84 v88)
  (free v89)
  (free v90)
  (at r142 v91)
  (at r71 v92)
  (at r131 v93)
  (free v94)
  (free v95)
  (at r87 v96)
  (at r126 v97)
  (free v98)
  (free v99)
  (at r124 v100)
  (at r96 v101)
  (at r74 v102)
  (free v103)
  (free v104)
  (at r115 v105)
  (at r117 v106)
  (at r72 v107)
  (free v108)
  (at r146 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (at r137 v114)
  (at r136 v115)
  (free v116)
  (free v117)
  (at r130 v118)
  (free v119)
  (free v120)
  (at r103 v121)
  (free v122)
  (free v123)
  (at r75 v124)
  (free v125)
  (at r120 v126)
  (at r123 v127)
  (at r132 v128)
  (at r144 v129)
  (at r93 v130)
  (at r81 v131)
  (at r129 v132)
  (at r145 v133)
  (free v134)
  (at r97 v135)
  (at r112 v136)
  (at r147 v137)
  (at r99 v138)
  (at r141 v139)
  (at r107 v140)
  (free v141)
  (at r91 v142)
  (at r102 v143)
  (free v144)
  (at r101 v145)
  (at r139 v146)
  (free v147)
  (free v148)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v26)
  (adjacent v0 v46)
  (adjacent v1 v2)
  (adjacent v1 v15)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v10)
  (adjacent v2 v32)
  (adjacent v2 v39)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v56)
  (adjacent v5 v9)
  (adjacent v5 v65)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v6 v33)
  (adjacent v6 v105)
  (adjacent v7 v8)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v8 v19)
  (adjacent v9 v34)
  (adjacent v9 v118)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v25)
  (adjacent v11 v137)
  (adjacent v12 v13)
  (adjacent v12 v79)
  (adjacent v13 v14)
  (adjacent v13 v44)
  (adjacent v13 v75)
  (adjacent v13 v126)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v35)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v80)
  (adjacent v19 v45)
  (adjacent v19 v100)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v39)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v41)
  (adjacent v24 v57)
  (adjacent v25 v34)
  (adjacent v25 v38)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v129)
  (adjacent v28 v29)
  (adjacent v28 v45)
  (adjacent v28 v51)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v33)
  (adjacent v30 v126)
  (adjacent v31 v32)
  (adjacent v34 v61)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v99)
  (adjacent v37 v38)
  (adjacent v37 v40)
  (adjacent v41 v42)
  (adjacent v41 v62)
  (adjacent v41 v87)
  (adjacent v41 v133)
  (adjacent v42 v43)
  (adjacent v42 v52)
  (adjacent v43 v44)
  (adjacent v44 v66)
  (adjacent v44 v91)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v66)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v85)
  (adjacent v50 v51)
  (adjacent v51 v67)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v97)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v96)
  (adjacent v56 v67)
  (adjacent v56 v68)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v88)
  (adjacent v59 v114)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v62 v74)
  (adjacent v62 v148)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v67 v86)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v89)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v127)
  (adjacent v75 v76)
  (adjacent v75 v113)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v142)
  (adjacent v78 v79)
  (adjacent v78 v106)
  (adjacent v80 v81)
  (adjacent v80 v86)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v124)
  (adjacent v84 v85)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v89 v123)
  (adjacent v89 v125)
  (adjacent v90 v91)
  (adjacent v90 v92)
  (adjacent v90 v119)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v112)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v132)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v115)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v141)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v130)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v138)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
 )
 (:goal
  (and
  (at r72 v0)
  (free v1)
  (at r148 v2)
  (free v3)
  (at r123 v4)
  (at r81 v5)
  (free v6)
  (free v7)
  (at r107 v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r146 v14)
  (at r138 v15)
  (free v16)
  (at r125 v17)
  (free v18)
  (at r113 v19)
  (free v20)
  (free v21)
  (at r99 v22)
  (at r137 v23)
  (free v24)
  (free v25)
  (at r132 v26)
  (at r126 v27)
  (free v28)
  (free v29)
  (at r90 v30)
  (free v31)
  (at r77 v32)
  (at r91 v33)
  (at r145 v34)
  (free v35)
  (at r135 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r115 v40)
  (at r105 v41)
  (free v42)
  (at r88 v43)
  (free v44)
  (at r82 v45)
  (free v46)
  (free v47)
  (at r133 v48)
  (at r76 v49)
  (at r121 v50)
  (at r140 v51)
  (free v52)
  (free v53)
  (at r96 v54)
  (at r71 v55)
  (at r143 v56)
  (at r131 v57)
  (at r86 v58)
  (at r70 v59)
  (at r85 v60)
  (free v61)
  (at r142 v62)
  (at r92 v63)
  (at r98 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r74 v68)
  (at r116 v69)
  (free v70)
  (free v71)
  (at r83 v72)
  (free v73)
  (free v74)
  (at r79 v75)
  (free v76)
  (at r93 v77)
  (free v78)
  (at r141 v79)
  (free v80)
  (at r124 v81)
  (free v82)
  (at r94 v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (at r118 v88)
  (at r117 v89)
  (at r108 v90)
  (at r144 v91)
  (at r110 v92)
  (at r69 v93)
  (at r114 v94)
  (at r129 v95)
  (free v96)
  (at r78 v97)
  (at r112 v98)
  (free v99)
  (at r73 v100)
  (free v101)
  (at r80 v102)
  (at r119 v103)
  (free v104)
  (free v105)
  (at r139 v106)
  (at r127 v107)
  (free v108)
  (at r130 v109)
  (at r87 v110)
  (free v111)
  (at r89 v112)
  (free v113)
  (at r75 v114)
  (free v115)
  (at r97 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (at r147 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r136 v125)
  (at r111 v126)
  (at r122 v127)
  (at r100 v128)
  (at r109 v129)
  (free v130)
  (at r101 v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r128 v137)
  (at r84 v138)
  (at r134 v139)
  (free v140)
  (at r104 v141)
  (free v142)
  (at r106 v143)
  (at r102 v144)
  (at r120 v145)
  (at r95 v146)
  (at r103 v147)
  (free v148)
  )
 )
)