(define (problem multirobot_43_50%_c3)
 (:domain multirobot)
 (:objects
  v0
  v1 r170
  v2 r93
  v3
  v4
  v5
  v6
  v7
  v8
  v9 r114
  v10
  v11 r167
  v12 r122
  v13 r160
  v14
  v15
  v16 r139
  v17 r175
  v18
  v19 r99
  v20
  v21
  v22 r118
  v23
  v24 r183
  v25
  v26
  v27
  v28
  v29 r144
  v30
  v31 r136
  v32
  v33
  v34 r172
  v35 r135
  v36
  v37
  v38 r168
  v39 r112
  v40 r176
  v41 r125
  v42 r89
  v43 r134
  v44
  v45 r103
  v46 r96
  v47 r163
  v48 r92
  v49
  v50 r100
  v51 r88
  v52 r154
  v53 r106
  v54 r180
  v55 r181
  v56 r161
  v57 r104
  v58 r173
  v59
  v60 r115
  v61 r178
  v62 r164
  v63
  v64
  v65 r132
  v66 r126
  v67 r95
  v68
  v69
  v70 r129
  v71 r130
  v72
  v73 r150
  v74 r146
  v75 r123
  v76 r169
  v77 r155
  v78
  v79
  v80 r110
  v81 r174
  v82
  v83 r156
  v84
  v85
  v86
  v87 r141
  v88
  v89
  v90 r165
  v91 r151
  v92 r105
  v93 r138
  v94
  v95
  v96 r137
  v97 r84
  v98 r148
  v99 r153
  v100 r171
  v101 r152
  v102 r98
  v103 r107
  v104 r102
  v105 r116
  v106
  v107
  v108 r149
  v109
  v110
  v111
  v112 r117
  v113
  v114 r147
  v115
  v116
  v117
  v118 r87
  v119
  v120
  v121
  v122
  v123
  v124 r97
  v125
  v126
  v127
  v128
  v129 r121
  v130
  v131 r140
  v132 r143
  v133 r157
  v134
  v135 r159
  v136
  v137
  v138
  v139 r166
  v140
  v141 r182
  v142 r127
  v143 r90
  v144
  v145 r131
  v146 r85
  v147 r101
  v148 r91
  v149 r128
  v150 r177
  v151 r111
  v152 r120
  v153
  v154 r145
  v155
  v156 r109
  v157 r113
  v158 r133
  v159 r158
  v160
  v161 r142
  v162 r119
  v163 r108
  v164
  v165 r124
  v166 r86
  v167
  v168 r94
  v169
  v170
  v171
  v172
  v173
  v174 r179
  v175
  v176
  v177
  v178
  v179
  v180
  v181
  v182 r162
  v183
 )
 (:init
  (free v0)
  (at r170 v1)
  (at r93 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (at r114 v9)
  (free v10)
  (at r167 v11)
  (at r122 v12)
  (at r160 v13)
  (free v14)
  (free v15)
  (at r139 v16)
  (at r175 v17)
  (free v18)
  (at r99 v19)
  (free v20)
  (free v21)
  (at r118 v22)
  (free v23)
  (at r183 v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r144 v29)
  (free v30)
  (at r136 v31)
  (free v32)
  (free v33)
  (at r172 v34)
  (at r135 v35)
  (free v36)
  (free v37)
  (at r168 v38)
  (at r112 v39)
  (at r176 v40)
  (at r125 v41)
  (at r89 v42)
  (at r134 v43)
  (free v44)
  (at r103 v45)
  (at r96 v46)
  (at r163 v47)
  (at r92 v48)
  (free v49)
  (at r100 v50)
  (at r88 v51)
  (at r154 v52)
  (at r106 v53)
  (at r180 v54)
  (at r181 v55)
  (at r161 v56)
  (at r104 v57)
  (at r173 v58)
  (free v59)
  (at r115 v60)
  (at r178 v61)
  (at r164 v62)
  (free v63)
  (free v64)
  (at r132 v65)
  (at r126 v66)
  (at r95 v67)
  (free v68)
  (free v69)
  (at r129 v70)
  (at r130 v71)
  (free v72)
  (at r150 v73)
  (at r146 v74)
  (at r123 v75)
  (at r169 v76)
  (at r155 v77)
  (free v78)
  (free v79)
  (at r110 v80)
  (at r174 v81)
  (free v82)
  (at r156 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r141 v87)
  (free v88)
  (free v89)
  (at r165 v90)
  (at r151 v91)
  (at r105 v92)
  (at r138 v93)
  (free v94)
  (free v95)
  (at r137 v96)
  (at r84 v97)
  (at r148 v98)
  (at r153 v99)
  (at r171 v100)
  (at r152 v101)
  (at r98 v102)
  (at r107 v103)
  (at r102 v104)
  (at r116 v105)
  (free v106)
  (free v107)
  (at r149 v108)
  (free v109)
  (free v110)
  (free v111)
  (at r117 v112)
  (free v113)
  (at r147 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r87 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r97 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r121 v129)
  (free v130)
  (at r140 v131)
  (at r143 v132)
  (at r157 v133)
  (free v134)
  (at r159 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r166 v139)
  (free v140)
  (at r182 v141)
  (at r127 v142)
  (at r90 v143)
  (free v144)
  (at r131 v145)
  (at r85 v146)
  (at r101 v147)
  (at r91 v148)
  (at r128 v149)
  (at r177 v150)
  (at r111 v151)
  (at r120 v152)
  (free v153)
  (at r145 v154)
  (free v155)
  (at r109 v156)
  (at r113 v157)
  (at r133 v158)
  (at r158 v159)
  (free v160)
  (at r142 v161)
  (at r119 v162)
  (at r108 v163)
  (free v164)
  (at r124 v165)
  (at r86 v166)
  (free v167)
  (at r94 v168)
  (free v169)
  (free v170)
  (free v171)
  (free v172)
  (free v173)
  (at r179 v174)
  (free v175)
  (free v176)
  (free v177)
  (free v178)
  (free v179)
  (free v180)
  (free v181)
  (at r162 v182)
  (free v183)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v62)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v27)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v10)
  (adjacent v2 v14)
  (adjacent v2 v120)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v13)
  (adjacent v3 v18)
  (adjacent v3 v26)
  (adjacent v4 v81)
  (adjacent v5 v11)
  (adjacent v5 v19)
  (adjacent v6 v7)
  (adjacent v6 v54)
  (adjacent v7 v8)
  (adjacent v7 v14)
  (adjacent v7 v21)
  (adjacent v7 v88)
  (adjacent v8 v9)
  (adjacent v8 v114)
  (adjacent v8 v125)
  (adjacent v9 v10)
  (adjacent v9 v31)
  (adjacent v10 v15)
  (adjacent v11 v12)
  (adjacent v11 v179)
  (adjacent v12 v13)
  (adjacent v13 v20)
  (adjacent v13 v133)
  (adjacent v15 v16)
  (adjacent v15 v32)
  (adjacent v15 v54)
  (adjacent v15 v93)
  (adjacent v16 v17)
  (adjacent v16 v53)
  (adjacent v17 v18)
  (adjacent v17 v178)
  (adjacent v18 v50)
  (adjacent v19 v20)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v87)
  (adjacent v23 v24)
  (adjacent v23 v115)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v82)
  (adjacent v25 v171)
  (adjacent v26 v67)
  (adjacent v27 v28)
  (adjacent v27 v61)
  (adjacent v27 v168)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v136)
  (adjacent v30 v31)
  (adjacent v31 v38)
  (adjacent v32 v33)
  (adjacent v32 v75)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v103)
  (adjacent v35 v36)
  (adjacent v35 v45)
  (adjacent v35 v46)
  (adjacent v35 v102)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v74)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v94)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v49)
  (adjacent v43 v135)
  (adjacent v44 v45)
  (adjacent v44 v160)
  (adjacent v46 v47)
  (adjacent v46 v96)
  (adjacent v46 v168)
  (adjacent v47 v48)
  (adjacent v47 v98)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v55)
  (adjacent v52 v93)
  (adjacent v53 v152)
  (adjacent v54 v146)
  (adjacent v54 v154)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v68)
  (adjacent v58 v59)
  (adjacent v58 v121)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v126)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v171)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v108)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v140)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v92)
  (adjacent v85 v153)
  (adjacent v86 v87)
  (adjacent v86 v170)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v137)
  (adjacent v90 v91)
  (adjacent v90 v97)
  (adjacent v90 v107)
  (adjacent v90 v124)
  (adjacent v91 v92)
  (adjacent v92 v136)
  (adjacent v93 v172)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v97)
  (adjacent v95 v139)
  (adjacent v97 v134)
  (adjacent v98 v99)
  (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 v183)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v161)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v125 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v176)
  (adjacent v130 v131)
  (adjacent v130 v145)
  (adjacent v130 v177)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v140 v151)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v155 v167)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v169)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v169 v170)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v177 v178)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
 )
 (:goal
  (and
  (free v0)
  (at r127 v1)
  (at r136 v2)
  (at r130 v3)
  (at r147 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r137 v8)
  (at r180 v9)
  (free v10)
  (free v11)
  (at r131 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r113 v18)
  (free v19)
  (at r108 v20)
  (at r128 v21)
  (at r84 v22)
  (free v23)
  (at r100 v24)
  (free v25)
  (at r115 v26)
  (free v27)
  (free v28)
  (at r140 v29)
  (at r150 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r90 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r96 v38)
  (at r111 v39)
  (at r144 v40)
  (at r171 v41)
  (at r107 v42)
  (at r87 v43)
  (free v44)
  (at r119 v45)
  (at r155 v46)
  (at r168 v47)
  (at r138 v48)
  (free v49)
  (free v50)
  (at r91 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r102 v58)
  (free v59)
  (free v60)
  (at r163 v61)
  (at r146 v62)
  (at r99 v63)
  (at r183 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r153 v68)
  (free v69)
  (at r129 v70)
  (free v71)
  (at r92 v72)
  (free v73)
  (at r176 v74)
  (at r145 v75)
  (free v76)
  (at r160 v77)
  (free v78)
  (free v79)
  (free v80)
  (at r148 v81)
  (at r85 v82)
  (at r167 v83)
  (at r88 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r164 v88)
  (at r106 v89)
  (at r158 v90)
  (at r112 v91)
  (free v92)
  (at r95 v93)
  (at r135 v94)
  (at r154 v95)
  (at r124 v96)
  (at r156 v97)
  (free v98)
  (free v99)
  (free v100)
  (at r104 v101)
  (free v102)
  (at r161 v103)
  (free v104)
  (at r162 v105)
  (at r174 v106)
  (at r141 v107)
  (free v108)
  (at r101 v109)
  (at r181 v110)
  (at r177 v111)
  (at r159 v112)
  (free v113)
  (at r103 v114)
  (at r134 v115)
  (at r89 v116)
  (free v117)
  (at r123 v118)
  (at r121 v119)
  (at r86 v120)
  (free v121)
  (at r110 v122)
  (at r105 v123)
  (free v124)
  (at r120 v125)
  (at r170 v126)
  (at r98 v127)
  (at r151 v128)
  (at r152 v129)
  (at r149 v130)
  (at r125 v131)
  (free v132)
  (at r157 v133)
  (at r165 v134)
  (free v135)
  (at r133 v136)
  (at r126 v137)
  (at r166 v138)
  (at r175 v139)
  (at r178 v140)
  (at r132 v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (at r142 v146)
  (at r97 v147)
  (at r169 v148)
  (at r172 v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (free v156)
  (at r122 v157)
  (free v158)
  (free v159)
  (at r93 v160)
  (at r179 v161)
  (at r173 v162)
  (at r182 v163)
  (at r117 v164)
  (free v165)
  (at r118 v166)
  (at r94 v167)
  (free v168)
  (at r143 v169)
  (free v170)
  (free v171)
  (at r139 v172)
  (free v173)
  (free v174)
  (free v175)
  (free v176)
  (at r109 v177)
  (free v178)
  (at r116 v179)
  (at r114 v180)
  (free v181)
  (free v182)
  (free v183)
  )
 )
)