(define (problem multirobot_42_50%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r134
  v4
  v5
  v6 r124
  v7
  v8
  v9
  v10
  v11
  v12 r127
  v13
  v14 r100
  v15 r98
  v16 r149
  v17
  v18
  v19
  v20
  v21
  v22 r115
  v23
  v24 r86
  v25
  v26
  v27
  v28 r141
  v29 r113
  v30 r114
  v31
  v32 r85
  v33 r130
  v34 r83
  v35 r88
  v36
  v37
  v38 r104
  v39
  v40 r121
  v41
  v42
  v43 r151
  v44 r144
  v45
  v46 r87
  v47
  v48
  v49
  v50
  v51 r122
  v52
  v53 r128
  v54 r147
  v55
  v56
  v57 r97
  v58
  v59 r148
  v60 r107
  v61 r95
  v62
  v63 r96
  v64
  v65 r94
  v66 r126
  v67
  v68
  v69 r101
  v70
  v71 r155
  v72
  v73
  v74
  v75
  v76
  v77 r120
  v78 r150
  v79
  v80
  v81 r136
  v82
  v83 r109
  v84 r146
  v85 r129
  v86
  v87
  v88 r152
  v89 r111
  v90 r153
  v91 r82
  v92
  v93 r89
  v94
  v95
  v96 r108
  v97
  v98 r139
  v99 r106
  v100 r137
  v101 r112
  v102 r116
  v103 r132
  v104 r143
  v105 r119
  v106
  v107 r102
  v108
  v109 r133
  v110
  v111
  v112 r123
  v113 r103
  v114
  v115
  v116
  v117 r154
  v118 r117
  v119 r142
  v120
  v121 r118
  v122
  v123 r145
  v124 r110
  v125
  v126
  v127 r135
  v128
  v129
  v130 r131
  v131
  v132
  v133 r92
  v134 r90
  v135
  v136 r84
  v137 r140
  v138
  v139 r81
  v140 r125
  v141
  v142
  v143 r138
  v144
  v145 r156
  v146 r93
  v147
  v148
  v149 r99
  v150 r105
  v151
  v152
  v153
  v154 r91
  v155
  v156
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r134 v3)
  (free v4)
  (free v5)
  (at r124 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r127 v12)
  (free v13)
  (at r100 v14)
  (at r98 v15)
  (at r149 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r115 v22)
  (free v23)
  (at r86 v24)
  (free v25)
  (free v26)
  (free v27)
  (at r141 v28)
  (at r113 v29)
  (at r114 v30)
  (free v31)
  (at r85 v32)
  (at r130 v33)
  (at r83 v34)
  (at r88 v35)
  (free v36)
  (free v37)
  (at r104 v38)
  (free v39)
  (at r121 v40)
  (free v41)
  (free v42)
  (at r151 v43)
  (at r144 v44)
  (free v45)
  (at r87 v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r122 v51)
  (free v52)
  (at r128 v53)
  (at r147 v54)
  (free v55)
  (free v56)
  (at r97 v57)
  (free v58)
  (at r148 v59)
  (at r107 v60)
  (at r95 v61)
  (free v62)
  (at r96 v63)
  (free v64)
  (at r94 v65)
  (at r126 v66)
  (free v67)
  (free v68)
  (at r101 v69)
  (free v70)
  (at r155 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r120 v77)
  (at r150 v78)
  (free v79)
  (free v80)
  (at r136 v81)
  (free v82)
  (at r109 v83)
  (at r146 v84)
  (at r129 v85)
  (free v86)
  (free v87)
  (at r152 v88)
  (at r111 v89)
  (at r153 v90)
  (at r82 v91)
  (free v92)
  (at r89 v93)
  (free v94)
  (free v95)
  (at r108 v96)
  (free v97)
  (at r139 v98)
  (at r106 v99)
  (at r137 v100)
  (at r112 v101)
  (at r116 v102)
  (at r132 v103)
  (at r143 v104)
  (at r119 v105)
  (free v106)
  (at r102 v107)
  (free v108)
  (at r133 v109)
  (free v110)
  (free v111)
  (at r123 v112)
  (at r103 v113)
  (free v114)
  (free v115)
  (free v116)
  (at r154 v117)
  (at r117 v118)
  (at r142 v119)
  (free v120)
  (at r118 v121)
  (free v122)
  (at r145 v123)
  (at r110 v124)
  (free v125)
  (free v126)
  (at r135 v127)
  (free v128)
  (free v129)
  (at r131 v130)
  (free v131)
  (free v132)
  (at r92 v133)
  (at r90 v134)
  (free v135)
  (at r84 v136)
  (at r140 v137)
  (free v138)
  (at r81 v139)
  (at r125 v140)
  (free v141)
  (free v142)
  (at r138 v143)
  (free v144)
  (at r156 v145)
  (at r93 v146)
  (free v147)
  (free v148)
  (at r99 v149)
  (at r105 v150)
  (free v151)
  (free v152)
  (free v153)
  (at r91 v154)
  (free v155)
  (free v156)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v16)
  (adjacent v0 v28)
  (adjacent v0 v58)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v15)
  (adjacent v2 v3)
  (adjacent v2 v29)
  (adjacent v2 v103)
  (adjacent v3 v4)
  (adjacent v3 v50)
  (adjacent v3 v127)
  (adjacent v4 v14)
  (adjacent v5 v6)
  (adjacent v5 v52)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v7 v8)
  (adjacent v7 v18)
  (adjacent v7 v32)
  (adjacent v7 v44)
  (adjacent v7 v107)
  (adjacent v8 v9)
  (adjacent v8 v19)
  (adjacent v8 v35)
  (adjacent v8 v37)
  (adjacent v8 v49)
  (adjacent v9 v10)
  (adjacent v9 v22)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v10 v20)
  (adjacent v10 v45)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v18)
  (adjacent v13 v14)
  (adjacent v13 v43)
  (adjacent v15 v36)
  (adjacent v15 v74)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v16 v23)
  (adjacent v16 v66)
  (adjacent v17 v33)
  (adjacent v17 v120)
  (adjacent v18 v67)
  (adjacent v20 v21)
  (adjacent v20 v37)
  (adjacent v21 v22)
  (adjacent v22 v153)
  (adjacent v23 v24)
  (adjacent v23 v77)
  (adjacent v23 v90)
  (adjacent v24 v25)
  (adjacent v24 v34)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v59)
  (adjacent v27 v28)
  (adjacent v27 v76)
  (adjacent v27 v146)
  (adjacent v28 v38)
  (adjacent v28 v77)
  (adjacent v29 v30)
  (adjacent v29 v129)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v78)
  (adjacent v31 v96)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v66)
  (adjacent v35 v71)
  (adjacent v36 v44)
  (adjacent v37 v70)
  (adjacent v37 v75)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v51)
  (adjacent v39 v147)
  (adjacent v40 v41)
  (adjacent v40 v121)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v42 v114)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v112)
  (adjacent v52 v53)
  (adjacent v52 v76)
  (adjacent v52 v131)
  (adjacent v52 v149)
  (adjacent v53 v54)
  (adjacent v53 v89)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v111)
  (adjacent v57 v58)
  (adjacent v57 v65)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v139)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v102)
  (adjacent v69 v70)
  (adjacent v70 v130)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v97)
  (adjacent v74 v75)
  (adjacent v74 v108)
  (adjacent v76 v82)
  (adjacent v77 v113)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v83)
  (adjacent v80 v112)
  (adjacent v81 v82)
  (adjacent v82 v150)
  (adjacent v83 v84)
  (adjacent v83 v128)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v90 v134)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v130)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v108 v113)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v133)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v140)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v154)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v156)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
 )
 (:goal
  (and
  (free v0)
  (at r87 v1)
  (free v2)
  (at r142 v3)
  (free v4)
  (at r153 v5)
  (at r104 v6)
  (at r129 v7)
  (at r84 v8)
  (free v9)
  (free v10)
  (at r139 v11)
  (at r149 v12)
  (at r95 v13)
  (at r90 v14)
  (at r147 v15)
  (at r97 v16)
  (free v17)
  (at r111 v18)
  (free v19)
  (free v20)
  (at r102 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r120 v26)
  (at r89 v27)
  (at r100 v28)
  (at r114 v29)
  (at r122 v30)
  (free v31)
  (free v32)
  (at r130 v33)
  (free v34)
  (at r138 v35)
  (free v36)
  (at r137 v37)
  (at r107 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r152 v42)
  (free v43)
  (free v44)
  (at r123 v45)
  (at r132 v46)
  (free v47)
  (at r118 v48)
  (at r155 v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r103 v55)
  (at r124 v56)
  (free v57)
  (at r106 v58)
  (at r141 v59)
  (free v60)
  (at r154 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (at r125 v66)
  (at r92 v67)
  (free v68)
  (free v69)
  (at r148 v70)
  (free v71)
  (free v72)
  (at r150 v73)
  (free v74)
  (at r156 v75)
  (at r126 v76)
  (at r98 v77)
  (free v78)
  (free v79)
  (at r135 v80)
  (at r110 v81)
  (free v82)
  (free v83)
  (at r85 v84)
  (at r133 v85)
  (at r94 v86)
  (free v87)
  (at r144 v88)
  (free v89)
  (at r105 v90)
  (at r81 v91)
  (free v92)
  (free v93)
  (free v94)
  (at r96 v95)
  (at r86 v96)
  (free v97)
  (at r121 v98)
  (free v99)
  (at r115 v100)
  (free v101)
  (at r101 v102)
  (free v103)
  (at r93 v104)
  (at r88 v105)
  (free v106)
  (at r91 v107)
  (at r127 v108)
  (free v109)
  (at r113 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r145 v114)
  (free v115)
  (at r131 v116)
  (free v117)
  (at r134 v118)
  (at r117 v119)
  (at r143 v120)
  (at r140 v121)
  (free v122)
  (at r112 v123)
  (at r128 v124)
  (free v125)
  (free v126)
  (at r82 v127)
  (free v128)
  (free v129)
  (free v130)
  (at r136 v131)
  (free v132)
  (free v133)
  (at r109 v134)
  (at r99 v135)
  (free v136)
  (at r116 v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r151 v144)
  (free v145)
  (at r119 v146)
  (free v147)
  (free v148)
  (free v149)
  (at r146 v150)
  (free v151)
  (free v152)
  (at r108 v153)
  (free v154)
  (free v155)
  (at r83 v156)
  )
 )
)