(define (problem multirobot_40_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1 r99
  v2
  v3 r102
  v4 r139
  v5 r97
  v6 r110
  v7
  v8 r107
  v9
  v10 r105
  v11 r131
  v12 r111
  v13
  v14 r77
  v15 r100
  v16 r78
  v17 r113
  v18 r108
  v19
  v20
  v21 r118
  v22 r101
  v23
  v24
  v25
  v26 r135
  v27 r112
  v28
  v29
  v30 r82
  v31 r83
  v32
  v33 r124
  v34
  v35
  v36 r114
  v37
  v38
  v39 r90
  v40
  v41 r121
  v42
  v43 r129
  v44 r134
  v45 r120
  v46
  v47
  v48 r126
  v49 r130
  v50
  v51 r140
  v52
  v53 r98
  v54
  v55 r93
  v56
  v57 r85
  v58 r88
  v59 r128
  v60 r138
  v61 r89
  v62
  v63 r132
  v64
  v65 r109
  v66
  v67
  v68
  v69 r117
  v70
  v71
  v72
  v73 r80
  v74 r103
  v75
  v76 r133
  v77
  v78 r125
  v79 r119
  v80
  v81
  v82 r95
  v83 r86
  v84
  v85
  v86
  v87
  v88 r91
  v89
  v90
  v91
  v92
  v93
  v94 r79
  v95 r81
  v96 r76
  v97
  v98 r122
  v99
  v100
  v101
  v102
  v103
  v104
  v105
  v106 r92
  v107 r96
  v108 r136
  v109
  v110 r115
  v111
  v112
  v113
  v114
  v115
  v116
  v117 r94
  v118 r87
  v119 r141
  v120 r75
  v121
  v122
  v123
  v124
  v125
  v126 r123
  v127
  v128
  v129 r84
  v130 r106
  v131
  v132 r116
  v133
  v134 r137
  v135 r104
  v136 r127
  v137
  v138
  v139
  v140
  v141
 )
 (:init
  (free v0)
  (at r99 v1)
  (free v2)
  (at r102 v3)
  (at r139 v4)
  (at r97 v5)
  (at r110 v6)
  (free v7)
  (at r107 v8)
  (free v9)
  (at r105 v10)
  (at r131 v11)
  (at r111 v12)
  (free v13)
  (at r77 v14)
  (at r100 v15)
  (at r78 v16)
  (at r113 v17)
  (at r108 v18)
  (free v19)
  (free v20)
  (at r118 v21)
  (at r101 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r135 v26)
  (at r112 v27)
  (free v28)
  (free v29)
  (at r82 v30)
  (at r83 v31)
  (free v32)
  (at r124 v33)
  (free v34)
  (free v35)
  (at r114 v36)
  (free v37)
  (free v38)
  (at r90 v39)
  (free v40)
  (at r121 v41)
  (free v42)
  (at r129 v43)
  (at r134 v44)
  (at r120 v45)
  (free v46)
  (free v47)
  (at r126 v48)
  (at r130 v49)
  (free v50)
  (at r140 v51)
  (free v52)
  (at r98 v53)
  (free v54)
  (at r93 v55)
  (free v56)
  (at r85 v57)
  (at r88 v58)
  (at r128 v59)
  (at r138 v60)
  (at r89 v61)
  (free v62)
  (at r132 v63)
  (free v64)
  (at r109 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r117 v69)
  (free v70)
  (free v71)
  (free v72)
  (at r80 v73)
  (at r103 v74)
  (free v75)
  (at r133 v76)
  (free v77)
  (at r125 v78)
  (at r119 v79)
  (free v80)
  (free v81)
  (at r95 v82)
  (at r86 v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (at r91 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r79 v94)
  (at r81 v95)
  (at r76 v96)
  (free v97)
  (at r122 v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (at r92 v106)
  (at r96 v107)
  (at r136 v108)
  (free v109)
  (at r115 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r94 v117)
  (at r87 v118)
  (at r141 v119)
  (at r75 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (at r123 v126)
  (free v127)
  (free v128)
  (at r84 v129)
  (at r106 v130)
  (free v131)
  (at r116 v132)
  (free v133)
  (at r137 v134)
  (at r104 v135)
  (at r127 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v15)
  (adjacent v0 v32)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v27)
  (adjacent v1 v31)
  (adjacent v2 v3)
  (adjacent v2 v39)
  (adjacent v2 v66)
  (adjacent v3 v4)
  (adjacent v3 v35)
  (adjacent v3 v91)
  (adjacent v4 v5)
  (adjacent v4 v126)
  (adjacent v5 v11)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v7 v8)
  (adjacent v7 v77)
  (adjacent v8 v9)
  (adjacent v8 v19)
  (adjacent v8 v22)
  (adjacent v8 v34)
  (adjacent v8 v58)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v21)
  (adjacent v11 v28)
  (adjacent v11 v53)
  (adjacent v11 v58)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v13 v30)
  (adjacent v13 v114)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v86)
  (adjacent v18 v104)
  (adjacent v20 v21)
  (adjacent v20 v100)
  (adjacent v22 v23)
  (adjacent v22 v74)
  (adjacent v22 v82)
  (adjacent v23 v24)
  (adjacent v23 v59)
  (adjacent v24 v25)
  (adjacent v24 v95)
  (adjacent v24 v106)
  (adjacent v25 v26)
  (adjacent v25 v77)
  (adjacent v25 v78)
  (adjacent v26 v27)
  (adjacent v26 v57)
  (adjacent v27 v45)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v103)
  (adjacent v30 v31)
  (adjacent v32 v33)
  (adjacent v32 v52)
  (adjacent v32 v69)
  (adjacent v33 v34)
  (adjacent v34 v40)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v54)
  (adjacent v37 v101)
  (adjacent v38 v39)
  (adjacent v38 v54)
  (adjacent v39 v64)
  (adjacent v39 v83)
  (adjacent v40 v41)
  (adjacent v40 v46)
  (adjacent v40 v53)
  (adjacent v41 v42)
  (adjacent v41 v85)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v55)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v110)
  (adjacent v51 v52)
  (adjacent v51 v66)
  (adjacent v53 v68)
  (adjacent v53 v94)
  (adjacent v54 v76)
  (adjacent v55 v56)
  (adjacent v55 v65)
  (adjacent v55 v67)
  (adjacent v56 v57)
  (adjacent v57 v111)
  (adjacent v59 v60)
  (adjacent v59 v65)
  (adjacent v59 v122)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v81)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v113)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v86)
  (adjacent v72 v73)
  (adjacent v72 v82)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v116)
  (adjacent v77 v92)
  (adjacent v77 v107)
  (adjacent v78 v79)
  (adjacent v78 v87)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v132)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v133)
  (adjacent v94 v141)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v127)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v139)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v123)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v117)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v127 v140)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
 )
 (:goal
  (and
  (at r118 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r75 v5)
  (at r102 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (at r129 v11)
  (at r79 v12)
  (at r93 v13)
  (at r91 v14)
  (at r89 v15)
  (at r125 v16)
  (at r139 v17)
  (free v18)
  (at r83 v19)
  (free v20)
  (at r140 v21)
  (free v22)
  (at r82 v23)
  (free v24)
  (at r121 v25)
  (free v26)
  (free v27)
  (at r124 v28)
  (at r99 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r88 v33)
  (free v34)
  (at r98 v35)
  (at r134 v36)
  (free v37)
  (free v38)
  (at r90 v39)
  (at r137 v40)
  (at r119 v41)
  (at r138 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r101 v46)
  (at r84 v47)
  (at r87 v48)
  (free v49)
  (free v50)
  (at r110 v51)
  (free v52)
  (at r133 v53)
  (free v54)
  (at r80 v55)
  (at r132 v56)
  (at r95 v57)
  (at r141 v58)
  (free v59)
  (free v60)
  (at r109 v61)
  (at r117 v62)
  (at r85 v63)
  (at r111 v64)
  (free v65)
  (at r122 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r123 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r94 v74)
  (free v75)
  (at r107 v76)
  (at r115 v77)
  (free v78)
  (free v79)
  (at r136 v80)
  (free v81)
  (free v82)
  (at r76 v83)
  (at r112 v84)
  (free v85)
  (at r86 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r130 v90)
  (free v91)
  (free v92)
  (at r114 v93)
  (free v94)
  (at r116 v95)
  (at r128 v96)
  (free v97)
  (at r96 v98)
  (free v99)
  (at r131 v100)
  (at r92 v101)
  (at r120 v102)
  (free v103)
  (at r126 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r135 v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r106 v113)
  (at r105 v114)
  (free v115)
  (at r81 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r113 v122)
  (free v123)
  (at r78 v124)
  (free v125)
  (at r77 v126)
  (free v127)
  (free v128)
  (free v129)
  (at r103 v130)
  (free v131)
  (at r127 v132)
  (free v133)
  (at r108 v134)
  (at r97 v135)
  (free v136)
  (at r100 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r104 v141)
  )
 )
)