(define (problem multirobot_42_50%_c9)
 (:domain multirobot)
 (:objects
  v0
  v1 r82
  v2 r138
  v3 r118
  v4 r114
  v5
  v6
  v7
  v8 r112
  v9
  v10 r119
  v11 r100
  v12
  v13 r143
  v14
  v15 r127
  v16
  v17 r132
  v18 r158
  v19
  v20
  v21 r148
  v22
  v23 r102
  v24 r85
  v25 r75
  v26
  v27
  v28 r142
  v29 r98
  v30 r93
  v31
  v32 r116
  v33 r111
  v34
  v35
  v36 r81
  v37 r117
  v38
  v39 r88
  v40
  v41 r136
  v42 r72
  v43 r104
  v44 r149
  v45
  v46
  v47 r154
  v48
  v49 r155
  v50 r145
  v51 r144
  v52 r146
  v53
  v54
  v55 r108
  v56 r156
  v57
  v58
  v59 r147
  v60 r124
  v61
  v62 r135
  v63 r99
  v64 r105
  v65
  v66 r150
  v67
  v68
  v69 r131
  v70 r125
  v71 r152
  v72
  v73
  v74 r126
  v75 r115
  v76 r103
  v77
  v78 r97
  v79
  v80
  v81
  v82
  v83 r74
  v84 r80
  v85
  v86
  v87
  v88
  v89 r123
  v90 r84
  v91
  v92
  v93 r106
  v94 r151
  v95 r157
  v96 r107
  v97 r95
  v98 r73
  v99 r89
  v100 r86
  v101 r128
  v102
  v103
  v104 r153
  v105
  v106 r91
  v107
  v108
  v109
  v110 r92
  v111
  v112
  v113
  v114
  v115 r79
  v116
  v117
  v118
  v119
  v120
  v121
  v122 r122
  v123
  v124 r101
  v125 r137
  v126 r109
  v127
  v128 r90
  v129
  v130 r120
  v131
  v132
  v133
  v134 r129
  v135 r83
  v136 r140
  v137 r94
  v138 r121
  v139 r139
  v140
  v141
  v142 r77
  v143
  v144 r110
  v145
  v146
  v147
  v148
  v149 r76
  v150 r133
  v151 r134
  v152 r96
  v153 r141
  v154 r130
  v155 r87
  v156 r78
  v157 r113
  v158
 )
 (:init
  (free v0)
  (at r82 v1)
  (at r138 v2)
  (at r118 v3)
  (at r114 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r112 v8)
  (free v9)
  (at r119 v10)
  (at r100 v11)
  (free v12)
  (at r143 v13)
  (free v14)
  (at r127 v15)
  (free v16)
  (at r132 v17)
  (at r158 v18)
  (free v19)
  (free v20)
  (at r148 v21)
  (free v22)
  (at r102 v23)
  (at r85 v24)
  (at r75 v25)
  (free v26)
  (free v27)
  (at r142 v28)
  (at r98 v29)
  (at r93 v30)
  (free v31)
  (at r116 v32)
  (at r111 v33)
  (free v34)
  (free v35)
  (at r81 v36)
  (at r117 v37)
  (free v38)
  (at r88 v39)
  (free v40)
  (at r136 v41)
  (at r72 v42)
  (at r104 v43)
  (at r149 v44)
  (free v45)
  (free v46)
  (at r154 v47)
  (free v48)
  (at r155 v49)
  (at r145 v50)
  (at r144 v51)
  (at r146 v52)
  (free v53)
  (free v54)
  (at r108 v55)
  (at r156 v56)
  (free v57)
  (free v58)
  (at r147 v59)
  (at r124 v60)
  (free v61)
  (at r135 v62)
  (at r99 v63)
  (at r105 v64)
  (free v65)
  (at r150 v66)
  (free v67)
  (free v68)
  (at r131 v69)
  (at r125 v70)
  (at r152 v71)
  (free v72)
  (free v73)
  (at r126 v74)
  (at r115 v75)
  (at r103 v76)
  (free v77)
  (at r97 v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (at r74 v83)
  (at r80 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (at r123 v89)
  (at r84 v90)
  (free v91)
  (free v92)
  (at r106 v93)
  (at r151 v94)
  (at r157 v95)
  (at r107 v96)
  (at r95 v97)
  (at r73 v98)
  (at r89 v99)
  (at r86 v100)
  (at r128 v101)
  (free v102)
  (free v103)
  (at r153 v104)
  (free v105)
  (at r91 v106)
  (free v107)
  (free v108)
  (free v109)
  (at r92 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r79 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r122 v122)
  (free v123)
  (at r101 v124)
  (at r137 v125)
  (at r109 v126)
  (free v127)
  (at r90 v128)
  (free v129)
  (at r120 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r129 v134)
  (at r83 v135)
  (at r140 v136)
  (at r94 v137)
  (at r121 v138)
  (at r139 v139)
  (free v140)
  (free v141)
  (at r77 v142)
  (free v143)
  (at r110 v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (at r76 v149)
  (at r133 v150)
  (at r134 v151)
  (at r96 v152)
  (at r141 v153)
  (at r130 v154)
  (at r87 v155)
  (at r78 v156)
  (at r113 v157)
  (free v158)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v11)
  (adjacent v0 v59)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v17)
  (adjacent v1 v24)
  (adjacent v1 v101)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v63)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v50)
  (adjacent v3 v78)
  (adjacent v4 v5)
  (adjacent v4 v74)
  (adjacent v5 v28)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v23)
  (adjacent v7 v13)
  (adjacent v7 v134)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v8 v64)
  (adjacent v9 v10)
  (adjacent v9 v49)
  (adjacent v10 v11)
  (adjacent v10 v35)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v12 v34)
  (adjacent v12 v51)
  (adjacent v12 v63)
  (adjacent v13 v60)
  (adjacent v14 v15)
  (adjacent v14 v66)
  (adjacent v14 v90)
  (adjacent v15 v16)
  (adjacent v15 v39)
  (adjacent v16 v17)
  (adjacent v16 v18)
  (adjacent v17 v29)
  (adjacent v17 v85)
  (adjacent v18 v19)
  (adjacent v18 v108)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v38)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v44)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v43)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v37)
  (adjacent v33 v62)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v52)
  (adjacent v37 v140)
  (adjacent v37 v152)
  (adjacent v38 v50)
  (adjacent v38 v94)
  (adjacent v39 v40)
  (adjacent v39 v151)
  (adjacent v40 v41)
  (adjacent v40 v132)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v67)
  (adjacent v43 v147)
  (adjacent v43 v154)
  (adjacent v44 v45)
  (adjacent v44 v73)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v53)
  (adjacent v48 v49)
  (adjacent v48 v116)
  (adjacent v48 v141)
  (adjacent v48 v142)
  (adjacent v49 v101)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v60 v154)
  (adjacent v61 v62)
  (adjacent v63 v131)
  (adjacent v64 v65)
  (adjacent v64 v93)
  (adjacent v65 v66)
  (adjacent v65 v77)
  (adjacent v65 v148)
  (adjacent v67 v68)
  (adjacent v67 v122)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v91)
  (adjacent v69 v127)
  (adjacent v70 v71)
  (adjacent v70 v84)
  (adjacent v71 v72)
  (adjacent v71 v121)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v74 v100)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v102)
  (adjacent v77 v135)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v85)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v136)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v98)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v99)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v115)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v141)
  (adjacent v99 v100)
  (adjacent v101 v126)
  (adjacent v102 v103)
  (adjacent v102 v135)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v109)
  (adjacent v107 v108)
  (adjacent v107 v158)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (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 v133 v155)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v149 v153)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
 )
 (:goal
  (and
  (free v0)
  (at r73 v1)
  (at r104 v2)
  (at r83 v3)
  (free v4)
  (at r149 v5)
  (at r122 v6)
  (free v7)
  (at r150 v8)
  (free v9)
  (at r90 v10)
  (free v11)
  (at r84 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (at r125 v17)
  (at r96 v18)
  (free v19)
  (at r158 v20)
  (at r111 v21)
  (free v22)
  (at r143 v23)
  (at r127 v24)
  (free v25)
  (free v26)
  (at r86 v27)
  (free v28)
  (at r132 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r114 v33)
  (free v34)
  (at r130 v35)
  (at r97 v36)
  (at r113 v37)
  (at r155 v38)
  (at r157 v39)
  (free v40)
  (free v41)
  (at r101 v42)
  (free v43)
  (at r93 v44)
  (free v45)
  (at r95 v46)
  (free v47)
  (at r145 v48)
  (at r80 v49)
  (free v50)
  (at r99 v51)
  (free v52)
  (at r77 v53)
  (free v54)
  (free v55)
  (at r139 v56)
  (at r72 v57)
  (free v58)
  (at r123 v59)
  (free v60)
  (free v61)
  (at r117 v62)
  (at r74 v63)
  (at r116 v64)
  (at r129 v65)
  (at r126 v66)
  (at r133 v67)
  (at r118 v68)
  (at r98 v69)
  (at r79 v70)
  (free v71)
  (at r153 v72)
  (at r152 v73)
  (at r81 v74)
  (free v75)
  (at r148 v76)
  (free v77)
  (at r136 v78)
  (free v79)
  (at r119 v80)
  (free v81)
  (at r147 v82)
  (at r87 v83)
  (free v84)
  (free v85)
  (at r146 v86)
  (at r82 v87)
  (at r138 v88)
  (at r154 v89)
  (at r103 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r137 v94)
  (free v95)
  (at r109 v96)
  (free v97)
  (at r89 v98)
  (at r112 v99)
  (free v100)
  (at r75 v101)
  (free v102)
  (free v103)
  (at r124 v104)
  (free v105)
  (free v106)
  (at r144 v107)
  (free v108)
  (free v109)
  (at r135 v110)
  (at r141 v111)
  (at r151 v112)
  (at r120 v113)
  (free v114)
  (at r85 v115)
  (free v116)
  (at r94 v117)
  (free v118)
  (at r76 v119)
  (free v120)
  (free v121)
  (at r156 v122)
  (free v123)
  (at r128 v124)
  (at r88 v125)
  (free v126)
  (at r108 v127)
  (at r115 v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (at r140 v133)
  (free v134)
  (at r107 v135)
  (free v136)
  (free v137)
  (at r134 v138)
  (free v139)
  (at r91 v140)
  (free v141)
  (at r100 v142)
  (at r102 v143)
  (free v144)
  (at r110 v145)
  (at r131 v146)
  (at r106 v147)
  (free v148)
  (at r121 v149)
  (at r92 v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (at r105 v155)
  (free v156)
  (at r142 v157)
  (at r78 v158)
  )
 )
)