(define (problem multirobot_39_50%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r146
  v4
  v5 r83
  v6 r68
  v7 r151
  v8 r119
  v9
  v10 r80
  v11
  v12
  v13 r75
  v14 r130
  v15
  v16 r86
  v17
  v18
  v19
  v20
  v21 r69
  v22 r73
  v23 r76
  v24 r103
  v25 r126
  v26
  v27 r127
  v28 r157
  v29
  v30
  v31
  v32 r150
  v33 r92
  v34 r98
  v35
  v36 r155
  v37
  v38 r81
  v39 r121
  v40 r101
  v41 r90
  v42 r89
  v43
  v44
  v45 r96
  v46 r99
  v47
  v48 r71
  v49 r136
  v50
  v51 r100
  v52
  v53
  v54 r120
  v55
  v56 r95
  v57
  v58 r113
  v59 r138
  v60
  v61 r110
  v62
  v63
  v64 r141
  v65 r147
  v66
  v67
  v68 r105
  v69 r97
  v70 r108
  v71
  v72 r156
  v73 r153
  v74 r109
  v75 r74
  v76 r149
  v77 r142
  v78 r148
  v79
  v80
  v81 r87
  v82 r123
  v83 r88
  v84
  v85 r152
  v86 r145
  v87
  v88
  v89 r70
  v90
  v91 r135
  v92 r117
  v93 r84
  v94 r140
  v95 r132
  v96
  v97 r131
  v98 r144
  v99
  v100
  v101
  v102
  v103 r79
  v104
  v105
  v106 r124
  v107
  v108 r125
  v109 r77
  v110 r111
  v111 r134
  v112
  v113
  v114 r94
  v115
  v116 r104
  v117
  v118 r91
  v119 r114
  v120
  v121 r143
  v122
  v123
  v124
  v125
  v126 r82
  v127
  v128
  v129 r129
  v130
  v131
  v132 r116
  v133
  v134 r133
  v135 r72
  v136 r137
  v137
  v138
  v139 r128
  v140 r78
  v141 r93
  v142 r112
  v143 r102
  v144
  v145 r118
  v146
  v147 r85
  v148
  v149
  v150 r106
  v151 r107
  v152
  v153 r122
  v154 r115
  v155 r139
  v156
  v157 r154
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r146 v3)
  (free v4)
  (at r83 v5)
  (at r68 v6)
  (at r151 v7)
  (at r119 v8)
  (free v9)
  (at r80 v10)
  (free v11)
  (free v12)
  (at r75 v13)
  (at r130 v14)
  (free v15)
  (at r86 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r69 v21)
  (at r73 v22)
  (at r76 v23)
  (at r103 v24)
  (at r126 v25)
  (free v26)
  (at r127 v27)
  (at r157 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r150 v32)
  (at r92 v33)
  (at r98 v34)
  (free v35)
  (at r155 v36)
  (free v37)
  (at r81 v38)
  (at r121 v39)
  (at r101 v40)
  (at r90 v41)
  (at r89 v42)
  (free v43)
  (free v44)
  (at r96 v45)
  (at r99 v46)
  (free v47)
  (at r71 v48)
  (at r136 v49)
  (free v50)
  (at r100 v51)
  (free v52)
  (free v53)
  (at r120 v54)
  (free v55)
  (at r95 v56)
  (free v57)
  (at r113 v58)
  (at r138 v59)
  (free v60)
  (at r110 v61)
  (free v62)
  (free v63)
  (at r141 v64)
  (at r147 v65)
  (free v66)
  (free v67)
  (at r105 v68)
  (at r97 v69)
  (at r108 v70)
  (free v71)
  (at r156 v72)
  (at r153 v73)
  (at r109 v74)
  (at r74 v75)
  (at r149 v76)
  (at r142 v77)
  (at r148 v78)
  (free v79)
  (free v80)
  (at r87 v81)
  (at r123 v82)
  (at r88 v83)
  (free v84)
  (at r152 v85)
  (at r145 v86)
  (free v87)
  (free v88)
  (at r70 v89)
  (free v90)
  (at r135 v91)
  (at r117 v92)
  (at r84 v93)
  (at r140 v94)
  (at r132 v95)
  (free v96)
  (at r131 v97)
  (at r144 v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r79 v103)
  (free v104)
  (free v105)
  (at r124 v106)
  (free v107)
  (at r125 v108)
  (at r77 v109)
  (at r111 v110)
  (at r134 v111)
  (free v112)
  (free v113)
  (at r94 v114)
  (free v115)
  (at r104 v116)
  (free v117)
  (at r91 v118)
  (at r114 v119)
  (free v120)
  (at r143 v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (at r82 v126)
  (free v127)
  (free v128)
  (at r129 v129)
  (free v130)
  (free v131)
  (at r116 v132)
  (free v133)
  (at r133 v134)
  (at r72 v135)
  (at r137 v136)
  (free v137)
  (free v138)
  (at r128 v139)
  (at r78 v140)
  (at r93 v141)
  (at r112 v142)
  (at r102 v143)
  (free v144)
  (at r118 v145)
  (free v146)
  (at r85 v147)
  (free v148)
  (free v149)
  (at r106 v150)
  (at r107 v151)
  (free v152)
  (at r122 v153)
  (at r115 v154)
  (at r139 v155)
  (free v156)
  (at r154 v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v25)
  (adjacent v1 v2)
  (adjacent v1 v59)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v9)
  (adjacent v2 v74)
  (adjacent v3 v4)
  (adjacent v3 v51)
  (adjacent v4 v16)
  (adjacent v4 v17)
  (adjacent v4 v116)
  (adjacent v4 v149)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v5 v56)
  (adjacent v5 v93)
  (adjacent v6 v7)
  (adjacent v6 v97)
  (adjacent v6 v112)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v7 v57)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v9 v19)
  (adjacent v9 v26)
  (adjacent v9 v96)
  (adjacent v10 v32)
  (adjacent v10 v44)
  (adjacent v11 v12)
  (adjacent v11 v24)
  (adjacent v12 v13)
  (adjacent v12 v70)
  (adjacent v12 v101)
  (adjacent v13 v14)
  (adjacent v13 v31)
  (adjacent v13 v140)
  (adjacent v14 v15)
  (adjacent v14 v57)
  (adjacent v14 v64)
  (adjacent v15 v16)
  (adjacent v15 v50)
  (adjacent v17 v18)
  (adjacent v17 v94)
  (adjacent v19 v20)
  (adjacent v19 v71)
  (adjacent v20 v21)
  (adjacent v20 v132)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v125)
  (adjacent v24 v25)
  (adjacent v24 v35)
  (adjacent v25 v34)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v153)
  (adjacent v30 v31)
  (adjacent v30 v39)
  (adjacent v31 v38)
  (adjacent v31 v68)
  (adjacent v31 v88)
  (adjacent v31 v157)
  (adjacent v32 v33)
  (adjacent v32 v73)
  (adjacent v32 v154)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v142)
  (adjacent v35 v143)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v106)
  (adjacent v38 v43)
  (adjacent v38 v58)
  (adjacent v38 v133)
  (adjacent v39 v40)
  (adjacent v39 v82)
  (adjacent v40 v41)
  (adjacent v40 v58)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v89)
  (adjacent v43 v141)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v65)
  (adjacent v46 v47)
  (adjacent v46 v80)
  (adjacent v47 v48)
  (adjacent v47 v142)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v139)
  (adjacent v56 v83)
  (adjacent v56 v120)
  (adjacent v57 v97)
  (adjacent v57 v98)
  (adjacent v59 v60)
  (adjacent v59 v69)
  (adjacent v60 v61)
  (adjacent v60 v100)
  (adjacent v60 v105)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v115)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v140)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v81)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v113)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v153)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v106 v126)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v152)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v121)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v141)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v148)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
 )
 (:goal
  (and
  (free v0)
  (at r91 v1)
  (free v2)
  (at r146 v3)
  (at r150 v4)
  (at r147 v5)
  (at r77 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r87 v10)
  (free v11)
  (at r127 v12)
  (at r123 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r71 v18)
  (at r113 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r129 v23)
  (free v24)
  (at r131 v25)
  (at r103 v26)
  (at r142 v27)
  (at r143 v28)
  (at r140 v29)
  (free v30)
  (at r81 v31)
  (free v32)
  (at r148 v33)
  (at r88 v34)
  (free v35)
  (at r136 v36)
  (at r89 v37)
  (free v38)
  (at r151 v39)
  (free v40)
  (free v41)
  (at r80 v42)
  (at r124 v43)
  (at r153 v44)
  (at r120 v45)
  (free v46)
  (at r102 v47)
  (at r105 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r137 v52)
  (at r133 v53)
  (free v54)
  (free v55)
  (free v56)
  (at r122 v57)
  (free v58)
  (at r92 v59)
  (free v60)
  (at r157 v61)
  (at r101 v62)
  (at r70 v63)
  (at r96 v64)
  (at r69 v65)
  (at r156 v66)
  (free v67)
  (at r107 v68)
  (at r83 v69)
  (free v70)
  (free v71)
  (at r112 v72)
  (free v73)
  (at r114 v74)
  (free v75)
  (free v76)
  (at r141 v77)
  (at r68 v78)
  (at r76 v79)
  (at r135 v80)
  (at r90 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r116 v85)
  (at r121 v86)
  (at r95 v87)
  (at r132 v88)
  (at r111 v89)
  (free v90)
  (at r126 v91)
  (at r154 v92)
  (free v93)
  (at r99 v94)
  (at r85 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r149 v99)
  (at r73 v100)
  (at r94 v101)
  (free v102)
  (at r72 v103)
  (at r128 v104)
  (at r139 v105)
  (at r125 v106)
  (free v107)
  (at r93 v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r130 v113)
  (at r115 v114)
  (at r106 v115)
  (free v116)
  (at r100 v117)
  (at r118 v118)
  (at r74 v119)
  (free v120)
  (free v121)
  (free v122)
  (at r145 v123)
  (at r119 v124)
  (at r75 v125)
  (free v126)
  (free v127)
  (at r79 v128)
  (at r108 v129)
  (at r138 v130)
  (at r97 v131)
  (at r144 v132)
  (free v133)
  (at r84 v134)
  (at r134 v135)
  (at r117 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r152 v141)
  (at r78 v142)
  (free v143)
  (free v144)
  (at r104 v145)
  (at r86 v146)
  (free v147)
  (at r82 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r109 v152)
  (at r110 v153)
  (at r98 v154)
  (free v155)
  (free v156)
  (at r155 v157)
  )
 )
)