(define (problem multirobot_39_50%_c6)
 (:domain multirobot)
 (:objects
  v0 r106
  v1
  v2 r102
  v3
  v4 r90
  v5
  v6
  v7 r92
  v8 r110
  v9 r86
  v10
  v11
  v12 r122
  v13 r156
  v14
  v15 r118
  v16
  v17
  v18 r75
  v19
  v20 r116
  v21 r121
  v22 r85
  v23
  v24
  v25 r82
  v26
  v27
  v28
  v29
  v30
  v31 r109
  v32 r151
  v33
  v34
  v35 r100
  v36 r83
  v37 r117
  v38 r135
  v39
  v40
  v41
  v42 r128
  v43
  v44 r132
  v45 r97
  v46
  v47 r157
  v48 r94
  v49 r154
  v50 r78
  v51
  v52 r153
  v53
  v54 r152
  v55 r89
  v56
  v57
  v58 r84
  v59 r119
  v60
  v61
  v62 r136
  v63 r115
  v64 r141
  v65
  v66 r130
  v67 r147
  v68 r144
  v69 r149
  v70 r104
  v71
  v72 r99
  v73 r79
  v74 r101
  v75 r108
  v76 r73
  v77
  v78 r76
  v79 r148
  v80
  v81 r146
  v82 r74
  v83 r123
  v84 r93
  v85
  v86
  v87
  v88
  v89
  v90 r81
  v91
  v92
  v93 r137
  v94
  v95
  v96 r103
  v97 r96
  v98 r129
  v99
  v100
  v101 r112
  v102 r91
  v103
  v104
  v105 r140
  v106
  v107 r114
  v108
  v109 r125
  v110
  v111
  v112
  v113 r124
  v114 r142
  v115
  v116
  v117
  v118 r120
  v119 r98
  v120 r80
  v121 r111
  v122
  v123
  v124
  v125
  v126
  v127 r133
  v128
  v129
  v130 r113
  v131
  v132
  v133 r126
  v134
  v135
  v136 r139
  v137 r95
  v138 r145
  v139
  v140 r127
  v141
  v142 r77
  v143 r134
  v144 r138
  v145 r143
  v146
  v147 r87
  v148
  v149 r131
  v150
  v151 r107
  v152 r150
  v153 r88
  v154
  v155
  v156 r105
  v157 r155
 )
 (:init
  (at r106 v0)
  (free v1)
  (at r102 v2)
  (free v3)
  (at r90 v4)
  (free v5)
  (free v6)
  (at r92 v7)
  (at r110 v8)
  (at r86 v9)
  (free v10)
  (free v11)
  (at r122 v12)
  (at r156 v13)
  (free v14)
  (at r118 v15)
  (free v16)
  (free v17)
  (at r75 v18)
  (free v19)
  (at r116 v20)
  (at r121 v21)
  (at r85 v22)
  (free v23)
  (free v24)
  (at r82 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r109 v31)
  (at r151 v32)
  (free v33)
  (free v34)
  (at r100 v35)
  (at r83 v36)
  (at r117 v37)
  (at r135 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r128 v42)
  (free v43)
  (at r132 v44)
  (at r97 v45)
  (free v46)
  (at r157 v47)
  (at r94 v48)
  (at r154 v49)
  (at r78 v50)
  (free v51)
  (at r153 v52)
  (free v53)
  (at r152 v54)
  (at r89 v55)
  (free v56)
  (free v57)
  (at r84 v58)
  (at r119 v59)
  (free v60)
  (free v61)
  (at r136 v62)
  (at r115 v63)
  (at r141 v64)
  (free v65)
  (at r130 v66)
  (at r147 v67)
  (at r144 v68)
  (at r149 v69)
  (at r104 v70)
  (free v71)
  (at r99 v72)
  (at r79 v73)
  (at r101 v74)
  (at r108 v75)
  (at r73 v76)
  (free v77)
  (at r76 v78)
  (at r148 v79)
  (free v80)
  (at r146 v81)
  (at r74 v82)
  (at r123 v83)
  (at r93 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r81 v90)
  (free v91)
  (free v92)
  (at r137 v93)
  (free v94)
  (free v95)
  (at r103 v96)
  (at r96 v97)
  (at r129 v98)
  (free v99)
  (free v100)
  (at r112 v101)
  (at r91 v102)
  (free v103)
  (free v104)
  (at r140 v105)
  (free v106)
  (at r114 v107)
  (free v108)
  (at r125 v109)
  (free v110)
  (free v111)
  (free v112)
  (at r124 v113)
  (at r142 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r120 v118)
  (at r98 v119)
  (at r80 v120)
  (at r111 v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r133 v127)
  (free v128)
  (free v129)
  (at r113 v130)
  (free v131)
  (free v132)
  (at r126 v133)
  (free v134)
  (free v135)
  (at r139 v136)
  (at r95 v137)
  (at r145 v138)
  (free v139)
  (at r127 v140)
  (free v141)
  (at r77 v142)
  (at r134 v143)
  (at r138 v144)
  (at r143 v145)
  (free v146)
  (at r87 v147)
  (free v148)
  (at r131 v149)
  (free v150)
  (at r107 v151)
  (at r150 v152)
  (at r88 v153)
  (free v154)
  (free v155)
  (at r105 v156)
  (at r155 v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v20)
  (adjacent v0 v38)
  (adjacent v0 v148)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v29)
  (adjacent v1 v56)
  (adjacent v1 v141)
  (adjacent v2 v3)
  (adjacent v2 v28)
  (adjacent v2 v32)
  (adjacent v3 v4)
  (adjacent v3 v27)
  (adjacent v4 v19)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v5 v31)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v93)
  (adjacent v8 v9)
  (adjacent v8 v26)
  (adjacent v8 v61)
  (adjacent v8 v113)
  (adjacent v9 v10)
  (adjacent v9 v14)
  (adjacent v9 v72)
  (adjacent v10 v11)
  (adjacent v10 v44)
  (adjacent v11 v12)
  (adjacent v11 v35)
  (adjacent v12 v13)
  (adjacent v12 v45)
  (adjacent v12 v59)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v42)
  (adjacent v15 v92)
  (adjacent v16 v17)
  (adjacent v16 v97)
  (adjacent v17 v18)
  (adjacent v17 v51)
  (adjacent v18 v19)
  (adjacent v18 v50)
  (adjacent v18 v79)
  (adjacent v19 v43)
  (adjacent v19 v70)
  (adjacent v20 v21)
  (adjacent v20 v71)
  (adjacent v21 v22)
  (adjacent v21 v64)
  (adjacent v22 v23)
  (adjacent v22 v44)
  (adjacent v23 v24)
  (adjacent v23 v60)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v135)
  (adjacent v27 v28)
  (adjacent v27 v85)
  (adjacent v28 v155)
  (adjacent v29 v30)
  (adjacent v29 v43)
  (adjacent v30 v31)
  (adjacent v32 v33)
  (adjacent v32 v37)
  (adjacent v32 v50)
  (adjacent v33 v34)
  (adjacent v33 v36)
  (adjacent v33 v73)
  (adjacent v33 v101)
  (adjacent v34 v35)
  (adjacent v34 v86)
  (adjacent v35 v72)
  (adjacent v35 v80)
  (adjacent v36 v37)
  (adjacent v36 v49)
  (adjacent v38 v39)
  (adjacent v38 v129)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v60)
  (adjacent v42 v55)
  (adjacent v42 v96)
  (adjacent v42 v140)
  (adjacent v44 v147)
  (adjacent v45 v46)
  (adjacent v45 v130)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v96)
  (adjacent v48 v49)
  (adjacent v48 v108)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v95)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v65)
  (adjacent v58 v59)
  (adjacent v61 v62)
  (adjacent v61 v71)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v65 v102)
  (adjacent v66 v67)
  (adjacent v66 v141)
  (adjacent v66 v146)
  (adjacent v67 v68)
  (adjacent v67 v147)
  (adjacent v68 v69)
  (adjacent v68 v124)
  (adjacent v69 v70)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v114)
  (adjacent v78 v79)
  (adjacent v79 v120)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v107)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v134)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v106)
  (adjacent v99 v154)
  (adjacent v100 v101)
  (adjacent v101 v121)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v123)
  (adjacent v104 v105)
  (adjacent v104 v107)
  (adjacent v105 v106)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v142)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v157)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r104 v2)
  (free v3)
  (at r133 v4)
  (free v5)
  (at r137 v6)
  (free v7)
  (free v8)
  (at r106 v9)
  (at r135 v10)
  (free v11)
  (free v12)
  (free v13)
  (at r129 v14)
  (at r139 v15)
  (at r117 v16)
  (free v17)
  (at r134 v18)
  (free v19)
  (at r130 v20)
  (free v21)
  (free v22)
  (at r152 v23)
  (at r96 v24)
  (at r81 v25)
  (at r125 v26)
  (free v27)
  (free v28)
  (at r103 v29)
  (at r74 v30)
  (at r121 v31)
  (at r119 v32)
  (free v33)
  (free v34)
  (at r156 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r109 v39)
  (at r110 v40)
  (free v41)
  (at r98 v42)
  (free v43)
  (at r100 v44)
  (at r145 v45)
  (at r112 v46)
  (at r73 v47)
  (at r83 v48)
  (at r90 v49)
  (at r115 v50)
  (free v51)
  (at r157 v52)
  (free v53)
  (free v54)
  (at r149 v55)
  (at r153 v56)
  (at r144 v57)
  (at r87 v58)
  (free v59)
  (free v60)
  (free v61)
  (at r150 v62)
  (at r105 v63)
  (free v64)
  (at r89 v65)
  (at r95 v66)
  (at r77 v67)
  (at r123 v68)
  (free v69)
  (free v70)
  (free v71)
  (at r99 v72)
  (free v73)
  (at r101 v74)
  (at r151 v75)
  (free v76)
  (free v77)
  (at r136 v78)
  (at r131 v79)
  (free v80)
  (at r127 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r76 v85)
  (free v86)
  (free v87)
  (at r102 v88)
  (free v89)
  (at r114 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (at r94 v96)
  (at r155 v97)
  (free v98)
  (at r120 v99)
  (at r93 v100)
  (at r118 v101)
  (free v102)
  (at r85 v103)
  (at r146 v104)
  (free v105)
  (at r116 v106)
  (at r124 v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (at r113 v112)
  (at r148 v113)
  (at r79 v114)
  (free v115)
  (at r84 v116)
  (at r108 v117)
  (at r141 v118)
  (at r107 v119)
  (at r75 v120)
  (at r78 v121)
  (at r97 v122)
  (at r132 v123)
  (free v124)
  (free v125)
  (at r92 v126)
  (free v127)
  (free v128)
  (at r140 v129)
  (free v130)
  (at r86 v131)
  (free v132)
  (at r91 v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r82 v140)
  (free v141)
  (at r88 v142)
  (at r138 v143)
  (at r111 v144)
  (free v145)
  (at r143 v146)
  (at r154 v147)
  (free v148)
  (free v149)
  (at r147 v150)
  (free v151)
  (free v152)
  (at r128 v153)
  (at r80 v154)
  (at r126 v155)
  (at r142 v156)
  (at r122 v157)
  )
 )
)