(define (problem multirobot_42_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4
  v5 r104
  v6 r118
  v7 r91
  v8
  v9 r114
  v10
  v11 r150
  v12
  v13 r110
  v14
  v15
  v16
  v17
  v18
  v19
  v20 r122
  v21
  v22
  v23 r152
  v24 r158
  v25
  v26 r128
  v27 r117
  v28
  v29 r131
  v30
  v31
  v32 r127
  v33
  v34
  v35 r123
  v36
  v37
  v38 r148
  v39 r129
  v40 r144
  v41 r125
  v42
  v43 r98
  v44 r154
  v45
  v46
  v47 r106
  v48
  v49 r146
  v50
  v51 r157
  v52 r164
  v53
  v54 r108
  v55
  v56 r133
  v57 r163
  v58
  v59 r93
  v60 r88
  v61
  v62
  v63
  v64 r143
  v65
  v66 r109
  v67
  v68 r139
  v69 r90
  v70 r155
  v71
  v72 r111
  v73 r140
  v74
  v75 r84
  v76
  v77 r145
  v78
  v79 r147
  v80 r85
  v81
  v82
  v83
  v84 r113
  v85 r92
  v86
  v87
  v88
  v89
  v90 r130
  v91 r162
  v92 r135
  v93
  v94 r103
  v95
  v96 r136
  v97
  v98
  v99
  v100 r142
  v101 r89
  v102
  v103
  v104
  v105
  v106
  v107
  v108 r156
  v109 r120
  v110 r149
  v111 r153
  v112 r101
  v113
  v114 r126
  v115
  v116 r99
  v117 r160
  v118 r105
  v119 r141
  v120
  v121
  v122
  v123
  v124 r124
  v125 r96
  v126 r159
  v127 r121
  v128 r100
  v129
  v130 r94
  v131 r138
  v132
  v133
  v134 r134
  v135
  v136
  v137 r87
  v138
  v139 r115
  v140
  v141 r137
  v142 r119
  v143
  v144 r97
  v145 r132
  v146 r116
  v147
  v148 r151
  v149 r112
  v150
  v151 r86
  v152
  v153
  v154
  v155
  v156 r95
  v157
  v158
  v159
  v160
  v161 r102
  v162 r107
  v163
  v164 r161
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r104 v5)
  (at r118 v6)
  (at r91 v7)
  (free v8)
  (at r114 v9)
  (free v10)
  (at r150 v11)
  (free v12)
  (at r110 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (at r122 v20)
  (free v21)
  (free v22)
  (at r152 v23)
  (at r158 v24)
  (free v25)
  (at r128 v26)
  (at r117 v27)
  (free v28)
  (at r131 v29)
  (free v30)
  (free v31)
  (at r127 v32)
  (free v33)
  (free v34)
  (at r123 v35)
  (free v36)
  (free v37)
  (at r148 v38)
  (at r129 v39)
  (at r144 v40)
  (at r125 v41)
  (free v42)
  (at r98 v43)
  (at r154 v44)
  (free v45)
  (free v46)
  (at r106 v47)
  (free v48)
  (at r146 v49)
  (free v50)
  (at r157 v51)
  (at r164 v52)
  (free v53)
  (at r108 v54)
  (free v55)
  (at r133 v56)
  (at r163 v57)
  (free v58)
  (at r93 v59)
  (at r88 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r143 v64)
  (free v65)
  (at r109 v66)
  (free v67)
  (at r139 v68)
  (at r90 v69)
  (at r155 v70)
  (free v71)
  (at r111 v72)
  (at r140 v73)
  (free v74)
  (at r84 v75)
  (free v76)
  (at r145 v77)
  (free v78)
  (at r147 v79)
  (at r85 v80)
  (free v81)
  (free v82)
  (free v83)
  (at r113 v84)
  (at r92 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r130 v90)
  (at r162 v91)
  (at r135 v92)
  (free v93)
  (at r103 v94)
  (free v95)
  (at r136 v96)
  (free v97)
  (free v98)
  (free v99)
  (at r142 v100)
  (at r89 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r156 v108)
  (at r120 v109)
  (at r149 v110)
  (at r153 v111)
  (at r101 v112)
  (free v113)
  (at r126 v114)
  (free v115)
  (at r99 v116)
  (at r160 v117)
  (at r105 v118)
  (at r141 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r124 v124)
  (at r96 v125)
  (at r159 v126)
  (at r121 v127)
  (at r100 v128)
  (free v129)
  (at r94 v130)
  (at r138 v131)
  (free v132)
  (free v133)
  (at r134 v134)
  (free v135)
  (free v136)
  (at r87 v137)
  (free v138)
  (at r115 v139)
  (free v140)
  (at r137 v141)
  (at r119 v142)
  (free v143)
  (at r97 v144)
  (at r132 v145)
  (at r116 v146)
  (free v147)
  (at r151 v148)
  (at r112 v149)
  (free v150)
  (at r86 v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (at r95 v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (at r102 v161)
  (at r107 v162)
  (free v163)
  (at r161 v164)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v12)
  (adjacent v1 v2)
  (adjacent v1 v16)
  (adjacent v1 v43)
  (adjacent v1 v47)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v9)
  (adjacent v2 v13)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v23)
  (adjacent v4 v7)
  (adjacent v4 v24)
  (adjacent v5 v6)
  (adjacent v5 v17)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v8 v9)
  (adjacent v8 v135)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v24)
  (adjacent v12 v44)
  (adjacent v13 v14)
  (adjacent v13 v28)
  (adjacent v13 v36)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v35)
  (adjacent v15 v48)
  (adjacent v16 v34)
  (adjacent v16 v44)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v19 v53)
  (adjacent v19 v82)
  (adjacent v19 v119)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v29)
  (adjacent v22 v23)
  (adjacent v22 v37)
  (adjacent v22 v70)
  (adjacent v23 v111)
  (adjacent v25 v26)
  (adjacent v25 v83)
  (adjacent v25 v115)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v150)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v156)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v63)
  (adjacent v36 v117)
  (adjacent v36 v132)
  (adjacent v37 v38)
  (adjacent v37 v131)
  (adjacent v38 v39)
  (adjacent v38 v61)
  (adjacent v39 v40)
  (adjacent v39 v45)
  (adjacent v40 v41)
  (adjacent v40 v46)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v47)
  (adjacent v43 v94)
  (adjacent v44 v72)
  (adjacent v45 v46)
  (adjacent v46 v54)
  (adjacent v46 v93)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v64)
  (adjacent v52 v53)
  (adjacent v52 v60)
  (adjacent v54 v55)
  (adjacent v54 v151)
  (adjacent v55 v56)
  (adjacent v55 v98)
  (adjacent v56 v57)
  (adjacent v56 v105)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v77)
  (adjacent v58 v97)
  (adjacent v59 v60)
  (adjacent v60 v87)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v73)
  (adjacent v70 v71)
  (adjacent v70 v78)
  (adjacent v70 v129)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v152)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v130)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v124)
  (adjacent v82 v120)
  (adjacent v82 v142)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v94 v104)
  (adjacent v94 v112)
  (adjacent v94 v118)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v126)
  (adjacent v98 v99)
  (adjacent v98 v125)
  (adjacent v98 v145)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v136)
  (adjacent v101 v162)
  (adjacent v102 v103)
  (adjacent v102 v157)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v116)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v151)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v141)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v126 v163)
  (adjacent v127 v128)
  (adjacent v127 v163)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v130 v146)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v155 v164)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v164)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
 )
 (:goal
  (and
  (at r122 v0)
  (at r105 v1)
  (at r112 v2)
  (at r160 v3)
  (at r85 v4)
  (free v5)
  (at r150 v6)
  (at r119 v7)
  (at r142 v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (at r130 v13)
  (at r94 v14)
  (at r97 v15)
  (free v16)
  (free v17)
  (at r162 v18)
  (at r146 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r109 v29)
  (free v30)
  (at r138 v31)
  (at r133 v32)
  (free v33)
  (at r158 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (at r127 v39)
  (at r148 v40)
  (at r115 v41)
  (at r139 v42)
  (at r143 v43)
  (at r155 v44)
  (at r93 v45)
  (at r84 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r145 v50)
  (free v51)
  (at r88 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r131 v56)
  (at r136 v57)
  (free v58)
  (free v59)
  (at r99 v60)
  (at r151 v61)
  (free v62)
  (at r163 v63)
  (at r149 v64)
  (at r111 v65)
  (free v66)
  (free v67)
  (at r101 v68)
  (at r86 v69)
  (free v70)
  (at r141 v71)
  (at r132 v72)
  (at r96 v73)
  (at r121 v74)
  (at r159 v75)
  (free v76)
  (free v77)
  (at r110 v78)
  (at r126 v79)
  (free v80)
  (at r114 v81)
  (free v82)
  (at r117 v83)
  (free v84)
  (at r102 v85)
  (at r144 v86)
  (free v87)
  (free v88)
  (at r118 v89)
  (at r87 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r120 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r98 v98)
  (at r153 v99)
  (at r104 v100)
  (free v101)
  (at r134 v102)
  (free v103)
  (free v104)
  (at r129 v105)
  (free v106)
  (free v107)
  (at r140 v108)
  (at r91 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (at r106 v114)
  (at r137 v115)
  (at r107 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r116 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r154 v124)
  (at r90 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r157 v129)
  (free v130)
  (free v131)
  (at r135 v132)
  (free v133)
  (at r152 v134)
  (at r156 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r164 v140)
  (at r89 v141)
  (free v142)
  (free v143)
  (at r123 v144)
  (free v145)
  (at r95 v146)
  (at r124 v147)
  (at r128 v148)
  (at r125 v149)
  (at r103 v150)
  (free v151)
  (at r100 v152)
  (at r161 v153)
  (free v154)
  (free v155)
  (free v156)
  (at r92 v157)
  (free v158)
  (free v159)
  (at r113 v160)
  (free v161)
  (at r147 v162)
  (free v163)
  (at r108 v164)
  )
 )
)