(define (problem multirobot_41_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r128
  v3 r92
  v4
  v5
  v6
  v7
  v8
  v9 r111
  v10
  v11
  v12
  v13
  v14 r84
  v15
  v16
  v17 r103
  v18
  v19
  v20
  v21
  v22 r134
  v23 r108
  v24
  v25 r117
  v26
  v27
  v28
  v29 r121
  v30
  v31 r135
  v32
  v33 r85
  v34 r133
  v35
  v36
  v37
  v38 r122
  v39 r139
  v40 r143
  v41
  v42 r95
  v43
  v44 r93
  v45 r131
  v46
  v47
  v48 r105
  v49 r123
  v50 r120
  v51
  v52 r119
  v53 r146
  v54
  v55
  v56
  v57
  v58 r96
  v59 r90
  v60 r102
  v61 r118
  v62
  v63
  v64 r138
  v65 r110
  v66
  v67 r124
  v68
  v69
  v70
  v71 r104
  v72 r113
  v73
  v74 r136
  v75
  v76 r126
  v77
  v78 r101
  v79 r142
  v80 r145
  v81 r98
  v82
  v83 r129
  v84
  v85 r106
  v86
  v87 r94
  v88
  v89
  v90 r97
  v91
  v92 r116
  v93 r89
  v94
  v95
  v96 r125
  v97
  v98 r86
  v99
  v100
  v101
  v102
  v103 r130
  v104 r137
  v105
  v106 r147
  v107 r91
  v108
  v109
  v110 r109
  v111
  v112
  v113 r127
  v114
  v115
  v116 r140
  v117
  v118 r144
  v119
  v120
  v121
  v122 r83
  v123
  v124 r100
  v125
  v126
  v127
  v128
  v129
  v130 r87
  v131
  v132
  v133
  v134 r88
  v135 r132
  v136 r107
  v137 r114
  v138
  v139 r112
  v140
  v141
  v142 r99
  v143
  v144 r141
  v145
  v146 r115
  v147
 )
 (:init
  (free v0)
  (free v1)
  (at r128 v2)
  (at r92 v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (at r111 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r84 v14)
  (free v15)
  (free v16)
  (at r103 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r134 v22)
  (at r108 v23)
  (free v24)
  (at r117 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r121 v29)
  (free v30)
  (at r135 v31)
  (free v32)
  (at r85 v33)
  (at r133 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r122 v38)
  (at r139 v39)
  (at r143 v40)
  (free v41)
  (at r95 v42)
  (free v43)
  (at r93 v44)
  (at r131 v45)
  (free v46)
  (free v47)
  (at r105 v48)
  (at r123 v49)
  (at r120 v50)
  (free v51)
  (at r119 v52)
  (at r146 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r96 v58)
  (at r90 v59)
  (at r102 v60)
  (at r118 v61)
  (free v62)
  (free v63)
  (at r138 v64)
  (at r110 v65)
  (free v66)
  (at r124 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r104 v71)
  (at r113 v72)
  (free v73)
  (at r136 v74)
  (free v75)
  (at r126 v76)
  (free v77)
  (at r101 v78)
  (at r142 v79)
  (at r145 v80)
  (at r98 v81)
  (free v82)
  (at r129 v83)
  (free v84)
  (at r106 v85)
  (free v86)
  (at r94 v87)
  (free v88)
  (free v89)
  (at r97 v90)
  (free v91)
  (at r116 v92)
  (at r89 v93)
  (free v94)
  (free v95)
  (at r125 v96)
  (free v97)
  (at r86 v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r130 v103)
  (at r137 v104)
  (free v105)
  (at r147 v106)
  (at r91 v107)
  (free v108)
  (free v109)
  (at r109 v110)
  (free v111)
  (free v112)
  (at r127 v113)
  (free v114)
  (free v115)
  (at r140 v116)
  (free v117)
  (at r144 v118)
  (free v119)
  (free v120)
  (free v121)
  (at r83 v122)
  (free v123)
  (at r100 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (at r87 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r88 v134)
  (at r132 v135)
  (at r107 v136)
  (at r114 v137)
  (free v138)
  (at r112 v139)
  (free v140)
  (free v141)
  (at r99 v142)
  (free v143)
  (at r141 v144)
  (free v145)
  (at r115 v146)
  (free v147)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v11)
  (adjacent v1 v12)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v23)
  (adjacent v2 v54)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v3 v7)
  (adjacent v4 v24)
  (adjacent v4 v31)
  (adjacent v4 v75)
  (adjacent v4 v91)
  (adjacent v5 v12)
  (adjacent v5 v13)
  (adjacent v5 v95)
  (adjacent v6 v135)
  (adjacent v7 v8)
  (adjacent v7 v70)
  (adjacent v7 v139)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v10 v11)
  (adjacent v10 v42)
  (adjacent v10 v43)
  (adjacent v10 v68)
  (adjacent v11 v22)
  (adjacent v12 v88)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v52)
  (adjacent v15 v16)
  (adjacent v16 v25)
  (adjacent v17 v18)
  (adjacent v17 v69)
  (adjacent v18 v19)
  (adjacent v18 v36)
  (adjacent v18 v49)
  (adjacent v18 v97)
  (adjacent v19 v20)
  (adjacent v19 v32)
  (adjacent v19 v53)
  (adjacent v19 v85)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v96)
  (adjacent v22 v35)
  (adjacent v23 v24)
  (adjacent v24 v101)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v86)
  (adjacent v26 v114)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v93)
  (adjacent v29 v30)
  (adjacent v29 v79)
  (adjacent v30 v31)
  (adjacent v30 v69)
  (adjacent v31 v62)
  (adjacent v32 v33)
  (adjacent v32 v63)
  (adjacent v32 v112)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v50)
  (adjacent v39 v53)
  (adjacent v40 v41)
  (adjacent v40 v76)
  (adjacent v41 v42)
  (adjacent v41 v56)
  (adjacent v41 v92)
  (adjacent v41 v127)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v57)
  (adjacent v45 v46)
  (adjacent v45 v120)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v139)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v140)
  (adjacent v59 v60)
  (adjacent v59 v89)
  (adjacent v60 v61)
  (adjacent v60 v132)
  (adjacent v61 v62)
  (adjacent v61 v96)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v113)
  (adjacent v66 v67)
  (adjacent v66 v113)
  (adjacent v66 v126)
  (adjacent v67 v68)
  (adjacent v69 v118)
  (adjacent v70 v71)
  (adjacent v70 v109)
  (adjacent v71 v72)
  (adjacent v71 v123)
  (adjacent v72 v73)
  (adjacent v72 v80)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v108)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v137)
  (adjacent v78 v79)
  (adjacent v78 v92)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v93)
  (adjacent v81 v143)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v134)
  (adjacent v84 v138)
  (adjacent v85 v102)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v131)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v142)
  (adjacent v96 v138)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v147)
  (adjacent v104 v105)
  (adjacent v104 v117)
  (adjacent v105 v106)
  (adjacent v105 v119)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v122)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
 )
 (:goal
  (and
  (at r95 v0)
  (at r147 v1)
  (at r132 v2)
  (at r88 v3)
  (at r119 v4)
  (at r121 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r138 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r137 v18)
  (at r123 v19)
  (free v20)
  (free v21)
  (at r102 v22)
  (free v23)
  (free v24)
  (at r96 v25)
  (free v26)
  (at r90 v27)
  (free v28)
  (at r127 v29)
  (at r141 v30)
  (free v31)
  (at r124 v32)
  (at r92 v33)
  (at r146 v34)
  (free v35)
  (at r97 v36)
  (at r143 v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r101 v44)
  (at r100 v45)
  (free v46)
  (at r111 v47)
  (free v48)
  (at r131 v49)
  (at r129 v50)
  (at r104 v51)
  (at r140 v52)
  (free v53)
  (at r93 v54)
  (free v55)
  (free v56)
  (at r136 v57)
  (free v58)
  (free v59)
  (at r112 v60)
  (free v61)
  (at r106 v62)
  (free v63)
  (at r94 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r133 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r130 v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r105 v79)
  (at r83 v80)
  (free v81)
  (free v82)
  (at r86 v83)
  (free v84)
  (free v85)
  (at r114 v86)
  (at r122 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r87 v91)
  (at r103 v92)
  (at r91 v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (at r142 v99)
  (free v100)
  (free v101)
  (at r125 v102)
  (free v103)
  (at r89 v104)
  (free v105)
  (free v106)
  (at r115 v107)
  (free v108)
  (at r85 v109)
  (at r117 v110)
  (at r135 v111)
  (free v112)
  (free v113)
  (at r128 v114)
  (at r109 v115)
  (at r134 v116)
  (free v117)
  (at r113 v118)
  (free v119)
  (at r120 v120)
  (free v121)
  (at r110 v122)
  (free v123)
  (free v124)
  (at r107 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r139 v129)
  (free v130)
  (at r98 v131)
  (at r99 v132)
  (free v133)
  (free v134)
  (at r126 v135)
  (at r84 v136)
  (free v137)
  (at r108 v138)
  (free v139)
  (free v140)
  (at r116 v141)
  (free v142)
  (at r144 v143)
  (free v144)
  (at r145 v145)
  (free v146)
  (at r118 v147)
  )
 )
)