(define (problem multirobot_41_50%_c0)
 (:domain multirobot)
 (:objects
  v0 r144
  v1 r119
  v2 r112
  v3
  v4 r145
  v5 r126
  v6
  v7 r132
  v8
  v9 r106
  v10
  v11
  v12 r118
  v13
  v14 r148
  v15 r104
  v16 r138
  v17 r96
  v18 r97
  v19
  v20
  v21 r141
  v22
  v23 r120
  v24
  v25 r133
  v26
  v27 r123
  v28 r114
  v29
  v30
  v31 r108
  v32
  v33
  v34 r79
  v35
  v36
  v37
  v38 r113
  v39
  v40
  v41
  v42 r149
  v43
  v44 r146
  v45 r82
  v46 r87
  v47 r124
  v48
  v49
  v50 r89
  v51
  v52
  v53
  v54
  v55
  v56 r150
  v57
  v58 r100
  v59
  v60
  v61 r77
  v62 r107
  v63 r128
  v64 r115
  v65 r137
  v66
  v67
  v68
  v69
  v70
  v71 r130
  v72 r94
  v73
  v74
  v75 r85
  v76 r101
  v77 r86
  v78
  v79 r103
  v80 r90
  v81 r109
  v82 r117
  v83 r127
  v84 r125
  v85
  v86 r134
  v87 r83
  v88
  v89 r80
  v90 r88
  v91
  v92
  v93 r122
  v94 r121
  v95
  v96
  v97
  v98 r81
  v99 r76
  v100
  v101
  v102
  v103 r135
  v104
  v105 r84
  v106
  v107 r110
  v108
  v109 r98
  v110 r95
  v111 r102
  v112
  v113 r116
  v114
  v115
  v116 r136
  v117 r111
  v118 r99
  v119
  v120
  v121 r105
  v122
  v123 r147
  v124
  v125 r153
  v126 r129
  v127 r140
  v128 r143
  v129 r142
  v130
  v131
  v132
  v133
  v134
  v135
  v136
  v137 r152
  v138
  v139 r154
  v140 r151
  v141 r139
  v142
  v143 r131
  v144 r92
  v145
  v146
  v147
  v148
  v149
  v150
  v151 r78
  v152 r91
  v153
  v154 r93
 )
 (:init
  (at r144 v0)
  (at r119 v1)
  (at r112 v2)
  (free v3)
  (at r145 v4)
  (at r126 v5)
  (free v6)
  (at r132 v7)
  (free v8)
  (at r106 v9)
  (free v10)
  (free v11)
  (at r118 v12)
  (free v13)
  (at r148 v14)
  (at r104 v15)
  (at r138 v16)
  (at r96 v17)
  (at r97 v18)
  (free v19)
  (free v20)
  (at r141 v21)
  (free v22)
  (at r120 v23)
  (free v24)
  (at r133 v25)
  (free v26)
  (at r123 v27)
  (at r114 v28)
  (free v29)
  (free v30)
  (at r108 v31)
  (free v32)
  (free v33)
  (at r79 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r113 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r149 v42)
  (free v43)
  (at r146 v44)
  (at r82 v45)
  (at r87 v46)
  (at r124 v47)
  (free v48)
  (free v49)
  (at r89 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r150 v56)
  (free v57)
  (at r100 v58)
  (free v59)
  (free v60)
  (at r77 v61)
  (at r107 v62)
  (at r128 v63)
  (at r115 v64)
  (at r137 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r130 v71)
  (at r94 v72)
  (free v73)
  (free v74)
  (at r85 v75)
  (at r101 v76)
  (at r86 v77)
  (free v78)
  (at r103 v79)
  (at r90 v80)
  (at r109 v81)
  (at r117 v82)
  (at r127 v83)
  (at r125 v84)
  (free v85)
  (at r134 v86)
  (at r83 v87)
  (free v88)
  (at r80 v89)
  (at r88 v90)
  (free v91)
  (free v92)
  (at r122 v93)
  (at r121 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r81 v98)
  (at r76 v99)
  (free v100)
  (free v101)
  (free v102)
  (at r135 v103)
  (free v104)
  (at r84 v105)
  (free v106)
  (at r110 v107)
  (free v108)
  (at r98 v109)
  (at r95 v110)
  (at r102 v111)
  (free v112)
  (at r116 v113)
  (free v114)
  (free v115)
  (at r136 v116)
  (at r111 v117)
  (at r99 v118)
  (free v119)
  (free v120)
  (at r105 v121)
  (free v122)
  (at r147 v123)
  (free v124)
  (at r153 v125)
  (at r129 v126)
  (at r140 v127)
  (at r143 v128)
  (at r142 v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r152 v137)
  (free v138)
  (at r154 v139)
  (at r151 v140)
  (at r139 v141)
  (free v142)
  (at r131 v143)
  (at r92 v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r78 v151)
  (at r91 v152)
  (free v153)
  (at r93 v154)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v154)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v7)
  (adjacent v1 v16)
  (adjacent v1 v24)
  (adjacent v2 v3)
  (adjacent v2 v63)
  (adjacent v3 v4)
  (adjacent v3 v23)
  (adjacent v4 v12)
  (adjacent v4 v96)
  (adjacent v5 v6)
  (adjacent v6 v10)
  (adjacent v6 v39)
  (adjacent v6 v84)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v8 v9)
  (adjacent v8 v135)
  (adjacent v9 v10)
  (adjacent v9 v110)
  (adjacent v10 v11)
  (adjacent v10 v69)
  (adjacent v11 v49)
  (adjacent v11 v64)
  (adjacent v11 v91)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v12 v35)
  (adjacent v12 v47)
  (adjacent v13 v14)
  (adjacent v13 v36)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v38)
  (adjacent v17 v18)
  (adjacent v17 v86)
  (adjacent v17 v152)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v28)
  (adjacent v20 v44)
  (adjacent v20 v151)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v143)
  (adjacent v23 v103)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v29)
  (adjacent v25 v48)
  (adjacent v25 v74)
  (adjacent v26 v27)
  (adjacent v26 v57)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v99)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v73)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v36 v117)
  (adjacent v37 v38)
  (adjacent v37 v50)
  (adjacent v37 v51)
  (adjacent v37 v64)
  (adjacent v37 v115)
  (adjacent v38 v98)
  (adjacent v38 v114)
  (adjacent v39 v40)
  (adjacent v39 v50)
  (adjacent v39 v56)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v134)
  (adjacent v43 v44)
  (adjacent v43 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v85)
  (adjacent v47 v59)
  (adjacent v47 v96)
  (adjacent v48 v49)
  (adjacent v50 v60)
  (adjacent v51 v52)
  (adjacent v51 v68)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v65)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v136)
  (adjacent v60 v61)
  (adjacent v60 v118)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v77)
  (adjacent v64 v97)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v87)
  (adjacent v69 v70)
  (adjacent v69 v92)
  (adjacent v69 v144)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v121)
  (adjacent v73 v78)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v95)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v78 v104)
  (adjacent v79 v80)
  (adjacent v79 v153)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v109)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v147)
  (adjacent v85 v86)
  (adjacent v86 v111)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v126)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v97 v98)
  (adjacent v98 v152)
  (adjacent v99 v100)
  (adjacent v99 v142)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v110)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v120)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v148)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v127)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v129)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v128)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v135)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v143)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (at r86 v0)
  (at r115 v1)
  (free v2)
  (free v3)
  (at r103 v4)
  (at r102 v5)
  (at r110 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (at r96 v11)
  (at r125 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (at r119 v19)
  (free v20)
  (free v21)
  (at r154 v22)
  (at r146 v23)
  (at r99 v24)
  (free v25)
  (at r104 v26)
  (at r108 v27)
  (free v28)
  (at r127 v29)
  (at r151 v30)
  (free v31)
  (free v32)
  (at r79 v33)
  (at r109 v34)
  (at r135 v35)
  (at r121 v36)
  (at r89 v37)
  (at r92 v38)
  (free v39)
  (at r143 v40)
  (free v41)
  (free v42)
  (at r111 v43)
  (free v44)
  (free v45)
  (free v46)
  (at r90 v47)
  (at r139 v48)
  (at r123 v49)
  (at r141 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r134 v56)
  (at r128 v57)
  (free v58)
  (free v59)
  (at r148 v60)
  (free v61)
  (free v62)
  (at r113 v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r82 v68)
  (at r114 v69)
  (free v70)
  (free v71)
  (at r133 v72)
  (free v73)
  (at r83 v74)
  (at r84 v75)
  (free v76)
  (at r87 v77)
  (free v78)
  (at r77 v79)
  (at r78 v80)
  (at r129 v81)
  (at r120 v82)
  (at r100 v83)
  (free v84)
  (free v85)
  (at r101 v86)
  (at r80 v87)
  (free v88)
  (free v89)
  (at r150 v90)
  (free v91)
  (free v92)
  (at r147 v93)
  (free v94)
  (free v95)
  (at r126 v96)
  (at r88 v97)
  (at r116 v98)
  (free v99)
  (at r145 v100)
  (free v101)
  (free v102)
  (free v103)
  (at r132 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (at r93 v112)
  (free v113)
  (at r107 v114)
  (at r144 v115)
  (free v116)
  (free v117)
  (at r117 v118)
  (at r130 v119)
  (free v120)
  (at r91 v121)
  (at r98 v122)
  (free v123)
  (at r122 v124)
  (free v125)
  (at r138 v126)
  (at r112 v127)
  (at r149 v128)
  (free v129)
  (at r118 v130)
  (free v131)
  (at r76 v132)
  (at r137 v133)
  (at r136 v134)
  (at r81 v135)
  (at r105 v136)
  (at r140 v137)
  (free v138)
  (at r152 v139)
  (free v140)
  (at r85 v141)
  (at r94 v142)
  (free v143)
  (at r106 v144)
  (free v145)
  (free v146)
  (free v147)
  (at r97 v148)
  (at r124 v149)
  (at r131 v150)
  (at r95 v151)
  (at r153 v152)
  (at r142 v153)
  (free v154)
  )
 )
)