(define (problem multirobot_42_50%_c7)
 (:domain multirobot)
 (:objects
  v0 r134
  v1 r123
  v2
  v3 r82
  v4 r149
  v5
  v6
  v7 r88
  v8
  v9 r153
  v10 r93
  v11 r115
  v12 r124
  v13 r159
  v14
  v15 r106
  v16 r167
  v17 r139
  v18
  v19
  v20
  v21
  v22 r143
  v23 r141
  v24
  v25
  v26
  v27 r147
  v28 r158
  v29
  v30 r138
  v31 r165
  v32
  v33 r95
  v34
  v35
  v36 r120
  v37
  v38
  v39
  v40 r103
  v41 r122
  v42 r112
  v43 r164
  v44
  v45
  v46 r171
  v47
  v48
  v49 r172
  v50 r160
  v51
  v52 r125
  v53
  v54 r87
  v55
  v56
  v57 r162
  v58 r94
  v59 r173
  v60 r161
  v61
  v62
  v63
  v64
  v65 r127
  v66
  v67
  v68
  v69 r135
  v70
  v71 r155
  v72
  v73 r166
  v74
  v75 r92
  v76 r163
  v77
  v78 r85
  v79 r100
  v80 r133
  v81
  v82
  v83
  v84 r156
  v85 r110
  v86 r148
  v87 r142
  v88 r129
  v89
  v90
  v91
  v92 r157
  v93
  v94 r96
  v95 r104
  v96
  v97
  v98
  v99 r170
  v100
  v101 r116
  v102 r128
  v103
  v104
  v105 r144
  v106 r137
  v107
  v108
  v109 r154
  v110 r79
  v111 r169
  v112
  v113 r99
  v114
  v115
  v116
  v117
  v118 r108
  v119 r168
  v120
  v121
  v122 r90
  v123 r114
  v124 r117
  v125
  v126 r81
  v127 r121
  v128
  v129
  v130
  v131 r136
  v132 r102
  v133 r84
  v134 r107
  v135
  v136 r86
  v137 r83
  v138 r119
  v139 r89
  v140
  v141
  v142 r101
  v143 r91
  v144 r118
  v145
  v146
  v147 r131
  v148 r109
  v149
  v150 r151
  v151 r132
  v152
  v153 r152
  v154 r140
  v155 r146
  v156 r105
  v157
  v158 r113
  v159 r126
  v160 r97
  v161
  v162
  v163 r111
  v164
  v165 r130
  v166 r98
  v167 r80
  v168
  v169
  v170 r145
  v171
  v172 r150
  v173
 )
 (:init
  (at r134 v0)
  (at r123 v1)
  (free v2)
  (at r82 v3)
  (at r149 v4)
  (free v5)
  (free v6)
  (at r88 v7)
  (free v8)
  (at r153 v9)
  (at r93 v10)
  (at r115 v11)
  (at r124 v12)
  (at r159 v13)
  (free v14)
  (at r106 v15)
  (at r167 v16)
  (at r139 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r143 v22)
  (at r141 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r147 v27)
  (at r158 v28)
  (free v29)
  (at r138 v30)
  (at r165 v31)
  (free v32)
  (at r95 v33)
  (free v34)
  (free v35)
  (at r120 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r103 v40)
  (at r122 v41)
  (at r112 v42)
  (at r164 v43)
  (free v44)
  (free v45)
  (at r171 v46)
  (free v47)
  (free v48)
  (at r172 v49)
  (at r160 v50)
  (free v51)
  (at r125 v52)
  (free v53)
  (at r87 v54)
  (free v55)
  (free v56)
  (at r162 v57)
  (at r94 v58)
  (at r173 v59)
  (at r161 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r127 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r135 v69)
  (free v70)
  (at r155 v71)
  (free v72)
  (at r166 v73)
  (free v74)
  (at r92 v75)
  (at r163 v76)
  (free v77)
  (at r85 v78)
  (at r100 v79)
  (at r133 v80)
  (free v81)
  (free v82)
  (free v83)
  (at r156 v84)
  (at r110 v85)
  (at r148 v86)
  (at r142 v87)
  (at r129 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r157 v92)
  (free v93)
  (at r96 v94)
  (at r104 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r170 v99)
  (free v100)
  (at r116 v101)
  (at r128 v102)
  (free v103)
  (free v104)
  (at r144 v105)
  (at r137 v106)
  (free v107)
  (free v108)
  (at r154 v109)
  (at r79 v110)
  (at r169 v111)
  (free v112)
  (at r99 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r108 v118)
  (at r168 v119)
  (free v120)
  (free v121)
  (at r90 v122)
  (at r114 v123)
  (at r117 v124)
  (free v125)
  (at r81 v126)
  (at r121 v127)
  (free v128)
  (free v129)
  (free v130)
  (at r136 v131)
  (at r102 v132)
  (at r84 v133)
  (at r107 v134)
  (free v135)
  (at r86 v136)
  (at r83 v137)
  (at r119 v138)
  (at r89 v139)
  (free v140)
  (free v141)
  (at r101 v142)
  (at r91 v143)
  (at r118 v144)
  (free v145)
  (free v146)
  (at r131 v147)
  (at r109 v148)
  (free v149)
  (at r151 v150)
  (at r132 v151)
  (free v152)
  (at r152 v153)
  (at r140 v154)
  (at r146 v155)
  (at r105 v156)
  (free v157)
  (at r113 v158)
  (at r126 v159)
  (at r97 v160)
  (free v161)
  (free v162)
  (at r111 v163)
  (free v164)
  (at r130 v165)
  (at r98 v166)
  (at r80 v167)
  (free v168)
  (free v169)
  (at r145 v170)
  (free v171)
  (at r150 v172)
  (free v173)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v70)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v30)
  (adjacent v3 v33)
  (adjacent v3 v62)
  (adjacent v4 v25)
  (adjacent v4 v33)
  (adjacent v4 v48)
  (adjacent v5 v6)
  (adjacent v5 v17)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v24)
  (adjacent v6 v32)
  (adjacent v7 v8)
  (adjacent v7 v52)
  (adjacent v8 v9)
  (adjacent v8 v34)
  (adjacent v9 v10)
  (adjacent v9 v75)
  (adjacent v9 v109)
  (adjacent v10 v11)
  (adjacent v12 v13)
  (adjacent v12 v39)
  (adjacent v13 v14)
  (adjacent v13 v42)
  (adjacent v14 v15)
  (adjacent v14 v18)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v40)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v146)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v22 v60)
  (adjacent v22 v61)
  (adjacent v22 v76)
  (adjacent v23 v24)
  (adjacent v24 v84)
  (adjacent v24 v98)
  (adjacent v25 v26)
  (adjacent v25 v49)
  (adjacent v25 v166)
  (adjacent v26 v27)
  (adjacent v26 v78)
  (adjacent v26 v138)
  (adjacent v27 v28)
  (adjacent v27 v81)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v69)
  (adjacent v31 v32)
  (adjacent v32 v41)
  (adjacent v33 v121)
  (adjacent v33 v136)
  (adjacent v34 v35)
  (adjacent v34 v74)
  (adjacent v34 v135)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v63)
  (adjacent v36 v147)
  (adjacent v36 v151)
  (adjacent v37 v38)
  (adjacent v37 v145)
  (adjacent v38 v39)
  (adjacent v40 v41)
  (adjacent v41 v150)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v128)
  (adjacent v44 v45)
  (adjacent v44 v59)
  (adjacent v44 v127)
  (adjacent v45 v46)
  (adjacent v45 v130)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v53)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v60)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v153)
  (adjacent v57 v58)
  (adjacent v57 v129)
  (adjacent v58 v59)
  (adjacent v58 v79)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v115)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v77)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v85)
  (adjacent v68 v151)
  (adjacent v68 v160)
  (adjacent v70 v71)
  (adjacent v70 v80)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v99)
  (adjacent v73 v74)
  (adjacent v73 v152)
  (adjacent v75 v76)
  (adjacent v75 v100)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v92)
  (adjacent v81 v82)
  (adjacent v81 v91)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v85 v106)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v101)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v160)
  (adjacent v95 v96)
  (adjacent v95 v105)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v110)
  (adjacent v99 v100)
  (adjacent v99 v116)
  (adjacent v99 v148)
  (adjacent v101 v102)
  (adjacent v101 v120)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v167)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v161)
  (adjacent v112 v113)
  (adjacent v112 v147)
  (adjacent v113 v114)
  (adjacent v113 v168)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v116 v170)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v152)
  (adjacent v120 v146)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v139)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v159)
  (adjacent v132 v133)
  (adjacent v132 v169)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v173)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v167)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r139 v2)
  (at r143 v3)
  (at r89 v4)
  (free v5)
  (at r170 v6)
  (at r151 v7)
  (at r150 v8)
  (at r97 v9)
  (at r121 v10)
  (free v11)
  (free v12)
  (at r93 v13)
  (free v14)
  (at r147 v15)
  (free v16)
  (at r149 v17)
  (free v18)
  (at r94 v19)
  (free v20)
  (free v21)
  (at r92 v22)
  (free v23)
  (free v24)
  (at r114 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r117 v29)
  (at r155 v30)
  (at r109 v31)
  (at r152 v32)
  (free v33)
  (free v34)
  (at r153 v35)
  (at r146 v36)
  (free v37)
  (at r98 v38)
  (at r90 v39)
  (at r124 v40)
  (free v41)
  (free v42)
  (free v43)
  (free v44)
  (at r167 v45)
  (free v46)
  (at r171 v47)
  (at r140 v48)
  (at r138 v49)
  (at r106 v50)
  (free v51)
  (at r96 v52)
  (free v53)
  (at r168 v54)
  (free v55)
  (free v56)
  (at r87 v57)
  (free v58)
  (at r156 v59)
  (free v60)
  (free v61)
  (free v62)
  (at r120 v63)
  (at r169 v64)
  (free v65)
  (at r110 v66)
  (free v67)
  (free v68)
  (at r86 v69)
  (at r141 v70)
  (at r99 v71)
  (at r111 v72)
  (at r130 v73)
  (free v74)
  (at r160 v75)
  (free v76)
  (at r173 v77)
  (at r83 v78)
  (at r136 v79)
  (free v80)
  (at r157 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r119 v85)
  (at r128 v86)
  (at r132 v87)
  (free v88)
  (at r102 v89)
  (at r118 v90)
  (at r113 v91)
  (at r148 v92)
  (free v93)
  (at r112 v94)
  (at r88 v95)
  (at r127 v96)
  (at r154 v97)
  (at r164 v98)
  (free v99)
  (at r131 v100)
  (at r172 v101)
  (free v102)
  (at r134 v103)
  (free v104)
  (at r122 v105)
  (at r125 v106)
  (at r100 v107)
  (free v108)
  (at r133 v109)
  (free v110)
  (at r158 v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r161 v118)
  (free v119)
  (at r104 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r115 v124)
  (at r82 v125)
  (at r108 v126)
  (free v127)
  (at r79 v128)
  (at r103 v129)
  (free v130)
  (at r91 v131)
  (free v132)
  (at r129 v133)
  (at r107 v134)
  (free v135)
  (at r95 v136)
  (at r144 v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (at r137 v142)
  (at r101 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r159 v147)
  (free v148)
  (at r80 v149)
  (free v150)
  (free v151)
  (at r166 v152)
  (free v153)
  (free v154)
  (at r105 v155)
  (at r162 v156)
  (at r145 v157)
  (free v158)
  (at r163 v159)
  (at r116 v160)
  (at r123 v161)
  (free v162)
  (free v163)
  (free v164)
  (free v165)
  (at r81 v166)
  (free v167)
  (at r126 v168)
  (at r142 v169)
  (at r135 v170)
  (at r84 v171)
  (at r165 v172)
  (at r85 v173)
  )
 )
)