(define (problem multirobot_40_50%_c5)
 (:domain multirobot)
 (:objects
  v0 r108
  v1 r130
  v2
  v3 r91
  v4
  v5 r154
  v6
  v7 r152
  v8 r140
  v9 r132
  v10
  v11
  v12 r117
  v13
  v14
  v15 r134
  v16 r127
  v17
  v18 r73
  v19 r76
  v20
  v21 r99
  v22
  v23
  v24 r97
  v25
  v26 r148
  v27
  v28 r70
  v29
  v30 r72
  v31
  v32 r83
  v33
  v34 r109
  v35 r131
  v36 r121
  v37 r145
  v38
  v39 r120
  v40 r116
  v41
  v42
  v43
  v44 r86
  v45 r90
  v46
  v47
  v48 r149
  v49 r135
  v50 r144
  v51
  v52 r85
  v53 r157
  v54
  v55 r93
  v56
  v57
  v58 r156
  v59
  v60 r82
  v61
  v62 r77
  v63
  v64 r113
  v65 r115
  v66 r119
  v67
  v68
  v69
  v70 r142
  v71 r94
  v72
  v73
  v74
  v75
  v76 r111
  v77 r102
  v78 r89
  v79 r128
  v80 r125
  v81
  v82 r143
  v83
  v84 r151
  v85 r84
  v86
  v87 r80
  v88 r141
  v89
  v90
  v91 r122
  v92
  v93 r101
  v94
  v95 r103
  v96 r105
  v97
  v98 r106
  v99 r96
  v100
  v101 r136
  v102 r69
  v103 r88
  v104
  v105 r81
  v106
  v107
  v108
  v109
  v110 r98
  v111 r79
  v112 r129
  v113 r153
  v114 r139
  v115 r114
  v116 r71
  v117 r155
  v118 r124
  v119 r146
  v120 r137
  v121 r92
  v122
  v123 r95
  v124 r100
  v125 r147
  v126
  v127
  v128 r150
  v129
  v130
  v131
  v132
  v133
  v134 r110
  v135 r74
  v136 r118
  v137 r133
  v138 r104
  v139
  v140
  v141
  v142 r87
  v143
  v144 r126
  v145 r138
  v146 r107
  v147
  v148 r75
  v149 r78
  v150
  v151 r123
  v152
  v153
  v154
  v155 r112
  v156
  v157
 )
 (:init
  (at r108 v0)
  (at r130 v1)
  (free v2)
  (at r91 v3)
  (free v4)
  (at r154 v5)
  (free v6)
  (at r152 v7)
  (at r140 v8)
  (at r132 v9)
  (free v10)
  (free v11)
  (at r117 v12)
  (free v13)
  (free v14)
  (at r134 v15)
  (at r127 v16)
  (free v17)
  (at r73 v18)
  (at r76 v19)
  (free v20)
  (at r99 v21)
  (free v22)
  (free v23)
  (at r97 v24)
  (free v25)
  (at r148 v26)
  (free v27)
  (at r70 v28)
  (free v29)
  (at r72 v30)
  (free v31)
  (at r83 v32)
  (free v33)
  (at r109 v34)
  (at r131 v35)
  (at r121 v36)
  (at r145 v37)
  (free v38)
  (at r120 v39)
  (at r116 v40)
  (free v41)
  (free v42)
  (free v43)
  (at r86 v44)
  (at r90 v45)
  (free v46)
  (free v47)
  (at r149 v48)
  (at r135 v49)
  (at r144 v50)
  (free v51)
  (at r85 v52)
  (at r157 v53)
  (free v54)
  (at r93 v55)
  (free v56)
  (free v57)
  (at r156 v58)
  (free v59)
  (at r82 v60)
  (free v61)
  (at r77 v62)
  (free v63)
  (at r113 v64)
  (at r115 v65)
  (at r119 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r142 v70)
  (at r94 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r111 v76)
  (at r102 v77)
  (at r89 v78)
  (at r128 v79)
  (at r125 v80)
  (free v81)
  (at r143 v82)
  (free v83)
  (at r151 v84)
  (at r84 v85)
  (free v86)
  (at r80 v87)
  (at r141 v88)
  (free v89)
  (free v90)
  (at r122 v91)
  (free v92)
  (at r101 v93)
  (free v94)
  (at r103 v95)
  (at r105 v96)
  (free v97)
  (at r106 v98)
  (at r96 v99)
  (free v100)
  (at r136 v101)
  (at r69 v102)
  (at r88 v103)
  (free v104)
  (at r81 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r98 v110)
  (at r79 v111)
  (at r129 v112)
  (at r153 v113)
  (at r139 v114)
  (at r114 v115)
  (at r71 v116)
  (at r155 v117)
  (at r124 v118)
  (at r146 v119)
  (at r137 v120)
  (at r92 v121)
  (free v122)
  (at r95 v123)
  (at r100 v124)
  (at r147 v125)
  (free v126)
  (free v127)
  (at r150 v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (at r110 v134)
  (at r74 v135)
  (at r118 v136)
  (at r133 v137)
  (at r104 v138)
  (free v139)
  (free v140)
  (free v141)
  (at r87 v142)
  (free v143)
  (at r126 v144)
  (at r138 v145)
  (at r107 v146)
  (free v147)
  (at r75 v148)
  (at r78 v149)
  (free v150)
  (at r123 v151)
  (free v152)
  (free v153)
  (free v154)
  (at r112 v155)
  (free v156)
  (free v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v87)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v19)
  (adjacent v2 v3)
  (adjacent v2 v19)
  (adjacent v2 v53)
  (adjacent v3 v4)
  (adjacent v3 v144)
  (adjacent v4 v5)
  (adjacent v4 v14)
  (adjacent v4 v41)
  (adjacent v5 v6)
  (adjacent v5 v73)
  (adjacent v5 v112)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v7 v35)
  (adjacent v8 v9)
  (adjacent v8 v26)
  (adjacent v8 v69)
  (adjacent v8 v86)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v9 v43)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v18)
  (adjacent v10 v48)
  (adjacent v10 v120)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v34)
  (adjacent v12 v97)
  (adjacent v13 v14)
  (adjacent v13 v30)
  (adjacent v14 v24)
  (adjacent v14 v127)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v20)
  (adjacent v17 v18)
  (adjacent v18 v134)
  (adjacent v19 v62)
  (adjacent v20 v21)
  (adjacent v20 v63)
  (adjacent v21 v22)
  (adjacent v21 v31)
  (adjacent v22 v23)
  (adjacent v22 v25)
  (adjacent v22 v27)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v25 v26)
  (adjacent v26 v52)
  (adjacent v26 v74)
  (adjacent v26 v112)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v138)
  (adjacent v29 v30)
  (adjacent v29 v153)
  (adjacent v30 v87)
  (adjacent v31 v32)
  (adjacent v31 v58)
  (adjacent v32 v33)
  (adjacent v32 v102)
  (adjacent v33 v34)
  (adjacent v34 v108)
  (adjacent v35 v36)
  (adjacent v35 v42)
  (adjacent v36 v37)
  (adjacent v36 v42)
  (adjacent v36 v47)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v88)
  (adjacent v40 v41)
  (adjacent v40 v59)
  (adjacent v42 v155)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v96)
  (adjacent v48 v49)
  (adjacent v48 v68)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v154)
  (adjacent v51 v52)
  (adjacent v51 v143)
  (adjacent v52 v101)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v109)
  (adjacent v54 v110)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v145)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v59 v132)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v80)
  (adjacent v65 v121)
  (adjacent v66 v67)
  (adjacent v66 v94)
  (adjacent v66 v126)
  (adjacent v66 v133)
  (adjacent v67 v68)
  (adjacent v68 v114)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v109)
  (adjacent v71 v72)
  (adjacent v71 v144)
  (adjacent v72 v73)
  (adjacent v73 v113)
  (adjacent v73 v115)
  (adjacent v74 v75)
  (adjacent v74 v111)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v93)
  (adjacent v81 v82)
  (adjacent v81 v137)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v155)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v151)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v94 v154)
  (adjacent v94 v157)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v110 v111)
  (adjacent v113 v114)
  (adjacent v113 v150)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v133)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v151 v156)
  (adjacent v152 v153)
  (adjacent v156 v157)
 )
 (:goal
  (and
  (free v0)
  (at r93 v1)
  (free v2)
  (free v3)
  (at r125 v4)
  (at r72 v5)
  (free v6)
  (at r152 v7)
  (at r116 v8)
  (at r78 v9)
  (at r120 v10)
  (at r122 v11)
  (at r157 v12)
  (at r144 v13)
  (at r100 v14)
  (free v15)
  (free v16)
  (free v17)
  (at r124 v18)
  (at r71 v19)
  (at r146 v20)
  (free v21)
  (at r70 v22)
  (at r89 v23)
  (at r86 v24)
  (at r73 v25)
  (free v26)
  (at r92 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r85 v32)
  (free v33)
  (free v34)
  (at r132 v35)
  (free v36)
  (at r87 v37)
  (free v38)
  (free v39)
  (at r115 v40)
  (free v41)
  (at r74 v42)
  (at r117 v43)
  (free v44)
  (free v45)
  (at r69 v46)
  (at r107 v47)
  (at r106 v48)
  (free v49)
  (free v50)
  (at r119 v51)
  (free v52)
  (at r105 v53)
  (at r82 v54)
  (free v55)
  (free v56)
  (at r108 v57)
  (at r90 v58)
  (at r94 v59)
  (free v60)
  (at r150 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (at r103 v67)
  (at r91 v68)
  (free v69)
  (at r102 v70)
  (at r96 v71)
  (at r147 v72)
  (at r130 v73)
  (free v74)
  (at r76 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r128 v79)
  (at r138 v80)
  (at r95 v81)
  (at r97 v82)
  (at r151 v83)
  (at r137 v84)
  (free v85)
  (at r101 v86)
  (at r131 v87)
  (at r143 v88)
  (free v89)
  (at r104 v90)
  (free v91)
  (at r114 v92)
  (at r99 v93)
  (free v94)
  (free v95)
  (at r141 v96)
  (at r121 v97)
  (at r98 v98)
  (free v99)
  (free v100)
  (free v101)
  (at r75 v102)
  (at r123 v103)
  (free v104)
  (at r145 v105)
  (at r110 v106)
  (at r109 v107)
  (at r118 v108)
  (free v109)
  (free v110)
  (at r155 v111)
  (free v112)
  (at r79 v113)
  (at r113 v114)
  (free v115)
  (at r112 v116)
  (at r139 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r142 v125)
  (at r133 v126)
  (free v127)
  (at r149 v128)
  (free v129)
  (at r134 v130)
  (at r148 v131)
  (at r88 v132)
  (at r126 v133)
  (at r83 v134)
  (at r84 v135)
  (free v136)
  (at r80 v137)
  (at r153 v138)
  (free v139)
  (at r77 v140)
  (free v141)
  (at r129 v142)
  (at r136 v143)
  (free v144)
  (at r135 v145)
  (free v146)
  (at r111 v147)
  (free v148)
  (at r156 v149)
  (at r154 v150)
  (free v151)
  (free v152)
  (free v153)
  (at r81 v154)
  (at r140 v155)
  (free v156)
  (at r127 v157)
  )
 )
)