(define (problem multirobot_41_50%_c7)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r100
  v3 r119
  v4
  v5
  v6 r86
  v7
  v8
  v9 r114
  v10 r154
  v11
  v12
  v13
  v14
  v15 r91
  v16 r92
  v17 r143
  v18
  v19
  v20
  v21 r128
  v22 r145
  v23 r140
  v24 r95
  v25 r84
  v26
  v27
  v28
  v29 r136
  v30
  v31
  v32
  v33 r153
  v34 r149
  v35
  v36
  v37
  v38 r109
  v39
  v40 r137
  v41
  v42 r147
  v43 r89
  v44 r102
  v45 r155
  v46
  v47
  v48 r94
  v49 r146
  v50 r129
  v51
  v52
  v53 r107
  v54 r123
  v55 r130
  v56
  v57
  v58 r101
  v59
  v60
  v61
  v62
  v63 r135
  v64 r133
  v65
  v66 r144
  v67 r87
  v68
  v69
  v70 r97
  v71
  v72 r90
  v73
  v74 r126
  v75 r98
  v76
  v77 r103
  v78 r142
  v79 r132
  v80
  v81
  v82
  v83 r138
  v84
  v85 r116
  v86 r156
  v87
  v88
  v89 r121
  v90
  v91 r112
  v92 r99
  v93
  v94 r93
  v95 r124
  v96 r113
  v97
  v98
  v99 r125
  v100
  v101 r117
  v102 r141
  v103 r110
  v104
  v105
  v106
  v107
  v108 r111
  v109
  v110
  v111 r150
  v112 r120
  v113 r85
  v114 r104
  v115
  v116 r106
  v117 r122
  v118 r118
  v119
  v120
  v121
  v122
  v123 r152
  v124
  v125
  v126 r127
  v127 r108
  v128 r96
  v129
  v130
  v131
  v132
  v133
  v134
  v135
  v136 r134
  v137 r105
  v138
  v139
  v140
  v141 r139
  v142
  v143 r115
  v144
  v145 r151
  v146
  v147
  v148
  v149
  v150
  v151 r88
  v152 r148
  v153 r131
  v154
  v155
  v156
 )
 (:init
  (free v0)
  (free v1)
  (at r100 v2)
  (at r119 v3)
  (free v4)
  (free v5)
  (at r86 v6)
  (free v7)
  (free v8)
  (at r114 v9)
  (at r154 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r91 v15)
  (at r92 v16)
  (at r143 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r128 v21)
  (at r145 v22)
  (at r140 v23)
  (at r95 v24)
  (at r84 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r136 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r153 v33)
  (at r149 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r109 v38)
  (free v39)
  (at r137 v40)
  (free v41)
  (at r147 v42)
  (at r89 v43)
  (at r102 v44)
  (at r155 v45)
  (free v46)
  (free v47)
  (at r94 v48)
  (at r146 v49)
  (at r129 v50)
  (free v51)
  (free v52)
  (at r107 v53)
  (at r123 v54)
  (at r130 v55)
  (free v56)
  (free v57)
  (at r101 v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r135 v63)
  (at r133 v64)
  (free v65)
  (at r144 v66)
  (at r87 v67)
  (free v68)
  (free v69)
  (at r97 v70)
  (free v71)
  (at r90 v72)
  (free v73)
  (at r126 v74)
  (at r98 v75)
  (free v76)
  (at r103 v77)
  (at r142 v78)
  (at r132 v79)
  (free v80)
  (free v81)
  (free v82)
  (at r138 v83)
  (free v84)
  (at r116 v85)
  (at r156 v86)
  (free v87)
  (free v88)
  (at r121 v89)
  (free v90)
  (at r112 v91)
  (at r99 v92)
  (free v93)
  (at r93 v94)
  (at r124 v95)
  (at r113 v96)
  (free v97)
  (free v98)
  (at r125 v99)
  (free v100)
  (at r117 v101)
  (at r141 v102)
  (at r110 v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r111 v108)
  (free v109)
  (free v110)
  (at r150 v111)
  (at r120 v112)
  (at r85 v113)
  (at r104 v114)
  (free v115)
  (at r106 v116)
  (at r122 v117)
  (at r118 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r152 v123)
  (free v124)
  (free v125)
  (at r127 v126)
  (at r108 v127)
  (at r96 v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (at r134 v136)
  (at r105 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r139 v141)
  (free v142)
  (at r115 v143)
  (free v144)
  (at r151 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r88 v151)
  (at r148 v152)
  (at r131 v153)
  (free v154)
  (free v155)
  (free v156)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v15)
  (adjacent v0 v100)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v14)
  (adjacent v1 v16)
  (adjacent v1 v51)
  (adjacent v2 v3)
  (adjacent v2 v28)
  (adjacent v2 v92)
  (adjacent v2 v143)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v11)
  (adjacent v4 v68)
  (adjacent v4 v101)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v5 v15)
  (adjacent v5 v19)
  (adjacent v5 v51)
  (adjacent v5 v52)
  (adjacent v6 v7)
  (adjacent v6 v108)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v9 v35)
  (adjacent v10 v29)
  (adjacent v10 v36)
  (adjacent v10 v123)
  (adjacent v11 v12)
  (adjacent v11 v69)
  (adjacent v11 v142)
  (adjacent v12 v13)
  (adjacent v12 v21)
  (adjacent v12 v42)
  (adjacent v12 v62)
  (adjacent v13 v14)
  (adjacent v14 v73)
  (adjacent v14 v86)
  (adjacent v16 v17)
  (adjacent v16 v83)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v17 v57)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v19 v45)
  (adjacent v20 v24)
  (adjacent v20 v93)
  (adjacent v21 v22)
  (adjacent v21 v63)
  (adjacent v21 v79)
  (adjacent v22 v23)
  (adjacent v22 v41)
  (adjacent v23 v24)
  (adjacent v23 v151)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v50)
  (adjacent v26 v133)
  (adjacent v27 v28)
  (adjacent v27 v112)
  (adjacent v29 v30)
  (adjacent v29 v142)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v72)
  (adjacent v31 v99)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v34 v35)
  (adjacent v35 v81)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v150)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v75)
  (adjacent v40 v41)
  (adjacent v40 v56)
  (adjacent v42 v43)
  (adjacent v42 v124)
  (adjacent v42 v128)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v76)
  (adjacent v47 v82)
  (adjacent v48 v49)
  (adjacent v48 v82)
  (adjacent v49 v50)
  (adjacent v49 v145)
  (adjacent v50 v141)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v117)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v135)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v116)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v106)
  (adjacent v69 v70)
  (adjacent v69 v100)
  (adjacent v69 v134)
  (adjacent v70 v71)
  (adjacent v70 v80)
  (adjacent v71 v72)
  (adjacent v71 v140)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v110)
  (adjacent v76 v77)
  (adjacent v76 v85)
  (adjacent v77 v78)
  (adjacent v77 v109)
  (adjacent v77 v146)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v109)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v156)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v107)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v111)
  (adjacent v107 v108)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v127)
  (adjacent v113 v114)
  (adjacent v113 v155)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v134)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
 )
 (:goal
  (and
  (at r96 v0)
  (at r114 v1)
  (free v2)
  (at r84 v3)
  (free v4)
  (at r148 v5)
  (at r118 v6)
  (free v7)
  (at r151 v8)
  (at r98 v9)
  (free v10)
  (free v11)
  (at r110 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r87 v18)
  (at r125 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r102 v26)
  (free v27)
  (at r94 v28)
  (free v29)
  (at r122 v30)
  (free v31)
  (at r109 v32)
  (free v33)
  (free v34)
  (at r138 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r85 v39)
  (free v40)
  (at r129 v41)
  (free v42)
  (free v43)
  (at r134 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r130 v50)
  (free v51)
  (at r144 v52)
  (at r91 v53)
  (free v54)
  (at r147 v55)
  (at r99 v56)
  (at r123 v57)
  (at r128 v58)
  (free v59)
  (free v60)
  (free v61)
  (at r137 v62)
  (free v63)
  (at r103 v64)
  (at r140 v65)
  (at r100 v66)
  (free v67)
  (at r142 v68)
  (at r155 v69)
  (free v70)
  (at r89 v71)
  (at r124 v72)
  (at r113 v73)
  (at r135 v74)
  (at r97 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r150 v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r126 v84)
  (at r105 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r133 v91)
  (at r119 v92)
  (free v93)
  (free v94)
  (at r149 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r132 v99)
  (at r93 v100)
  (free v101)
  (at r90 v102)
  (free v103)
  (free v104)
  (free v105)
  (at r111 v106)
  (free v107)
  (free v108)
  (at r131 v109)
  (at r139 v110)
  (free v111)
  (free v112)
  (at r92 v113)
  (free v114)
  (at r120 v115)
  (at r121 v116)
  (at r127 v117)
  (free v118)
  (free v119)
  (at r116 v120)
  (free v121)
  (at r95 v122)
  (free v123)
  (at r156 v124)
  (at r88 v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (at r143 v132)
  (at r145 v133)
  (free v134)
  (free v135)
  (at r153 v136)
  (at r86 v137)
  (free v138)
  (at r101 v139)
  (at r104 v140)
  (at r154 v141)
  (at r112 v142)
  (free v143)
  (at r146 v144)
  (at r115 v145)
  (at r136 v146)
  (free v147)
  (at r106 v148)
  (free v149)
  (at r152 v150)
  (at r117 v151)
  (at r141 v152)
  (at r108 v153)
  (free v154)
  (free v155)
  (at r107 v156)
  )
 )
)