(define (problem multirobot_43_50%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4 r166
  v5 r131
  v6 r153
  v7
  v8
  v9 r74
  v10 r109
  v11 r115
  v12 r96
  v13 r118
  v14
  v15 r107
  v16 r104
  v17 r160
  v18 r70
  v19
  v20 r164
  v21 r93
  v22 r122
  v23 r86
  v24
  v25 r101
  v26
  v27
  v28
  v29 r102
  v30 r85
  v31 r130
  v32 r126
  v33 r121
  v34
  v35 r76
  v36 r120
  v37
  v38 r146
  v39 r133
  v40 r154
  v41 r136
  v42
  v43 r144
  v44 r89
  v45 r150
  v46
  v47
  v48
  v49 r88
  v50
  v51 r73
  v52
  v53 r158
  v54
  v55 r116
  v56 r80
  v57 r138
  v58
  v59
  v60 r124
  v61
  v62 r142
  v63 r78
  v64
  v65 r106
  v66 r98
  v67
  v68 r167
  v69 r129
  v70 r161
  v71 r135
  v72 r152
  v73 r84
  v74
  v75 r105
  v76
  v77 r95
  v78 r148
  v79
  v80 r82
  v81 r114
  v82 r99
  v83
  v84 r155
  v85
  v86 r151
  v87 r117
  v88 r108
  v89
  v90
  v91 r110
  v92 r103
  v93 r87
  v94
  v95
  v96
  v97 r128
  v98
  v99 r112
  v100
  v101
  v102
  v103
  v104
  v105 r125
  v106 r165
  v107 r79
  v108
  v109 r75
  v110
  v111 r145
  v112 r113
  v113 r77
  v114 r83
  v115
  v116 r92
  v117
  v118 r100
  v119
  v120 r90
  v121 r137
  v122 r140
  v123 r81
  v124
  v125
  v126 r139
  v127 r127
  v128
  v129
  v130 r134
  v131
  v132 r97
  v133 r94
  v134
  v135 r69
  v136
  v137 r111
  v138 r163
  v139
  v140
  v141 r72
  v142 r147
  v143
  v144
  v145
  v146 r157
  v147
  v148 r143
  v149
  v150 r159
  v151 r162
  v152 r132
  v153
  v154 r156
  v155 r67
  v156 r68
  v157
  v158
  v159 r123
  v160
  v161 r71
  v162 r119
  v163
  v164 r141
  v165 r91
  v166
  v167 r149
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (at r166 v4)
  (at r131 v5)
  (at r153 v6)
  (free v7)
  (free v8)
  (at r74 v9)
  (at r109 v10)
  (at r115 v11)
  (at r96 v12)
  (at r118 v13)
  (free v14)
  (at r107 v15)
  (at r104 v16)
  (at r160 v17)
  (at r70 v18)
  (free v19)
  (at r164 v20)
  (at r93 v21)
  (at r122 v22)
  (at r86 v23)
  (free v24)
  (at r101 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r102 v29)
  (at r85 v30)
  (at r130 v31)
  (at r126 v32)
  (at r121 v33)
  (free v34)
  (at r76 v35)
  (at r120 v36)
  (free v37)
  (at r146 v38)
  (at r133 v39)
  (at r154 v40)
  (at r136 v41)
  (free v42)
  (at r144 v43)
  (at r89 v44)
  (at r150 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r88 v49)
  (free v50)
  (at r73 v51)
  (free v52)
  (at r158 v53)
  (free v54)
  (at r116 v55)
  (at r80 v56)
  (at r138 v57)
  (free v58)
  (free v59)
  (at r124 v60)
  (free v61)
  (at r142 v62)
  (at r78 v63)
  (free v64)
  (at r106 v65)
  (at r98 v66)
  (free v67)
  (at r167 v68)
  (at r129 v69)
  (at r161 v70)
  (at r135 v71)
  (at r152 v72)
  (at r84 v73)
  (free v74)
  (at r105 v75)
  (free v76)
  (at r95 v77)
  (at r148 v78)
  (free v79)
  (at r82 v80)
  (at r114 v81)
  (at r99 v82)
  (free v83)
  (at r155 v84)
  (free v85)
  (at r151 v86)
  (at r117 v87)
  (at r108 v88)
  (free v89)
  (free v90)
  (at r110 v91)
  (at r103 v92)
  (at r87 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r128 v97)
  (free v98)
  (at r112 v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r125 v105)
  (at r165 v106)
  (at r79 v107)
  (free v108)
  (at r75 v109)
  (free v110)
  (at r145 v111)
  (at r113 v112)
  (at r77 v113)
  (at r83 v114)
  (free v115)
  (at r92 v116)
  (free v117)
  (at r100 v118)
  (free v119)
  (at r90 v120)
  (at r137 v121)
  (at r140 v122)
  (at r81 v123)
  (free v124)
  (free v125)
  (at r139 v126)
  (at r127 v127)
  (free v128)
  (free v129)
  (at r134 v130)
  (free v131)
  (at r97 v132)
  (at r94 v133)
  (free v134)
  (at r69 v135)
  (free v136)
  (at r111 v137)
  (at r163 v138)
  (free v139)
  (free v140)
  (at r72 v141)
  (at r147 v142)
  (free v143)
  (free v144)
  (free v145)
  (at r157 v146)
  (free v147)
  (at r143 v148)
  (free v149)
  (at r159 v150)
  (at r162 v151)
  (at r132 v152)
  (free v153)
  (at r156 v154)
  (at r67 v155)
  (at r68 v156)
  (free v157)
  (free v158)
  (at r123 v159)
  (free v160)
  (at r71 v161)
  (at r119 v162)
  (free v163)
  (at r141 v164)
  (at r91 v165)
  (free v166)
  (at r149 v167)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v17)
  (adjacent v0 v55)
  (adjacent v0 v147)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v18)
  (adjacent v1 v26)
  (adjacent v1 v85)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v22)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v25)
  (adjacent v3 v108)
  (adjacent v4 v68)
  (adjacent v5 v6)
  (adjacent v5 v23)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v33)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v9 v62)
  (adjacent v10 v60)
  (adjacent v11 v54)
  (adjacent v12 v13)
  (adjacent v12 v37)
  (adjacent v12 v58)
  (adjacent v12 v142)
  (adjacent v13 v14)
  (adjacent v13 v34)
  (adjacent v13 v97)
  (adjacent v13 v142)
  (adjacent v14 v15)
  (adjacent v14 v19)
  (adjacent v14 v54)
  (adjacent v15 v16)
  (adjacent v15 v39)
  (adjacent v16 v17)
  (adjacent v16 v45)
  (adjacent v16 v57)
  (adjacent v16 v136)
  (adjacent v18 v32)
  (adjacent v18 v73)
  (adjacent v19 v20)
  (adjacent v19 v46)
  (adjacent v19 v69)
  (adjacent v20 v21)
  (adjacent v20 v100)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v22 v23)
  (adjacent v22 v24)
  (adjacent v22 v33)
  (adjacent v23 v61)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v26 v156)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v30 v31)
  (adjacent v30 v51)
  (adjacent v30 v53)
  (adjacent v31 v32)
  (adjacent v31 v52)
  (adjacent v31 v114)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v77)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v39 v40)
  (adjacent v39 v135)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v123)
  (adjacent v42 v43)
  (adjacent v42 v46)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v47)
  (adjacent v47 v48)
  (adjacent v47 v101)
  (adjacent v48 v49)
  (adjacent v48 v76)
  (adjacent v49 v50)
  (adjacent v49 v72)
  (adjacent v49 v111)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v113)
  (adjacent v52 v161)
  (adjacent v54 v86)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v88)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v93)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v141)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v87)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v78)
  (adjacent v72 v92)
  (adjacent v73 v74)
  (adjacent v73 v79)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v79 v129)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v167)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v162)
  (adjacent v88 v89)
  (adjacent v88 v124)
  (adjacent v89 v90)
  (adjacent v89 v98)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v118)
  (adjacent v92 v110)
  (adjacent v93 v94)
  (adjacent v93 v107)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v117)
  (adjacent v100 v148)
  (adjacent v101 v102)
  (adjacent v101 v118)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v108 v152)
  (adjacent v108 v157)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v143)
  (adjacent v114 v115)
  (adjacent v114 v119)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v130)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v136 v153)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r115 v2)
  (at r150 v3)
  (free v4)
  (at r96 v5)
  (free v6)
  (at r155 v7)
  (at r77 v8)
  (free v9)
  (at r142 v10)
  (free v11)
  (at r94 v12)
  (free v13)
  (at r166 v14)
  (free v15)
  (at r121 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r90 v20)
  (at r102 v21)
  (at r141 v22)
  (at r92 v23)
  (at r129 v24)
  (at r161 v25)
  (free v26)
  (free v27)
  (at r147 v28)
  (at r159 v29)
  (at r146 v30)
  (free v31)
  (at r104 v32)
  (at r134 v33)
  (at r140 v34)
  (at r116 v35)
  (at r83 v36)
  (free v37)
  (free v38)
  (at r135 v39)
  (at r89 v40)
  (free v41)
  (at r119 v42)
  (at r156 v43)
  (at r144 v44)
  (at r139 v45)
  (free v46)
  (at r111 v47)
  (at r133 v48)
  (at r100 v49)
  (free v50)
  (at r163 v51)
  (at r112 v52)
  (free v53)
  (at r123 v54)
  (at r127 v55)
  (at r165 v56)
  (at r68 v57)
  (free v58)
  (at r93 v59)
  (free v60)
  (at r128 v61)
  (at r148 v62)
  (free v63)
  (free v64)
  (at r78 v65)
  (at r151 v66)
  (at r154 v67)
  (at r117 v68)
  (free v69)
  (at r153 v70)
  (at r122 v71)
  (at r107 v72)
  (at r103 v73)
  (at r105 v74)
  (at r74 v75)
  (at r113 v76)
  (free v77)
  (free v78)
  (at r167 v79)
  (free v80)
  (free v81)
  (at r160 v82)
  (free v83)
  (at r67 v84)
  (free v85)
  (free v86)
  (at r126 v87)
  (free v88)
  (free v89)
  (at r108 v90)
  (at r88 v91)
  (at r91 v92)
  (free v93)
  (at r106 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r76 v98)
  (free v99)
  (at r69 v100)
  (at r84 v101)
  (at r75 v102)
  (at r110 v103)
  (free v104)
  (free v105)
  (at r136 v106)
  (free v107)
  (free v108)
  (at r109 v109)
  (free v110)
  (at r132 v111)
  (at r157 v112)
  (at r99 v113)
  (at r131 v114)
  (at r101 v115)
  (at r149 v116)
  (at r95 v117)
  (at r162 v118)
  (free v119)
  (free v120)
  (at r120 v121)
  (at r79 v122)
  (free v123)
  (at r85 v124)
  (at r72 v125)
  (at r124 v126)
  (free v127)
  (at r118 v128)
  (free v129)
  (free v130)
  (free v131)
  (at r130 v132)
  (free v133)
  (free v134)
  (at r143 v135)
  (free v136)
  (at r114 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r152 v141)
  (free v142)
  (at r137 v143)
  (free v144)
  (at r71 v145)
  (at r145 v146)
  (free v147)
  (at r164 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r81 v152)
  (at r87 v153)
  (free v154)
  (at r98 v155)
  (at r125 v156)
  (free v157)
  (at r73 v158)
  (at r70 v159)
  (at r82 v160)
  (at r86 v161)
  (at r158 v162)
  (free v163)
  (free v164)
  (at r138 v165)
  (at r80 v166)
  (at r97 v167)
  )
 )
)