(define (problem multirobot_44_50%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r145
  v4
  v5 r160
  v6 r125
  v7
  v8 r139
  v9 r108
  v10
  v11 r100
  v12 r166
  v13 r78
  v14 r111
  v15 r156
  v16
  v17
  v18
  v19
  v20 r170
  v21
  v22
  v23 r107
  v24
  v25
  v26 r141
  v27 r161
  v28
  v29 r129
  v30 r120
  v31 r79
  v32
  v33
  v34 r123
  v35 r135
  v36 r89
  v37
  v38 r132
  v39 r81
  v40
  v41 r149
  v42
  v43 r115
  v44
  v45
  v46 r102
  v47
  v48 r158
  v49 r88
  v50
  v51
  v52 r144
  v53 r92
  v54 r93
  v55 r80
  v56 r94
  v57
  v58
  v59 r82
  v60 r134
  v61 r163
  v62 r143
  v63
  v64 r159
  v65 r83
  v66
  v67 r95
  v68
  v69 r109
  v70 r85
  v71 r112
  v72 r122
  v73
  v74 r91
  v75
  v76 r165
  v77
  v78 r101
  v79
  v80 r157
  v81 r99
  v82
  v83 r164
  v84 r162
  v85
  v86
  v87
  v88 r87
  v89
  v90 r173
  v91
  v92 r137
  v93
  v94
  v95
  v96 r136
  v97 r90
  v98 r155
  v99
  v100
  v101
  v102 r118
  v103 r133
  v104 r151
  v105
  v106 r105
  v107
  v108
  v109 r110
  v110 r168
  v111
  v112 r84
  v113
  v114 r148
  v115 r126
  v116
  v117 r96
  v118
  v119 r124
  v120 r113
  v121 r106
  v122
  v123
  v124 r142
  v125
  v126 r150
  v127
  v128
  v129 r128
  v130 r119
  v131
  v132
  v133 r114
  v134 r103
  v135 r152
  v136
  v137
  v138 r121
  v139
  v140
  v141
  v142
  v143
  v144 r104
  v145 r147
  v146 r117
  v147
  v148 r169
  v149 r130
  v150
  v151 r146
  v152 r172
  v153
  v154 r131
  v155
  v156 r174
  v157 r138
  v158 r86
  v159 r154
  v160
  v161
  v162 r153
  v163
  v164
  v165 r98
  v166 r127
  v167 r171
  v168
  v169 r167
  v170 r97
  v171 r140
  v172
  v173
  v174 r116
  v175 r175
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r145 v3)
  (free v4)
  (at r160 v5)
  (at r125 v6)
  (free v7)
  (at r139 v8)
  (at r108 v9)
  (free v10)
  (at r100 v11)
  (at r166 v12)
  (at r78 v13)
  (at r111 v14)
  (at r156 v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (at r170 v20)
  (free v21)
  (free v22)
  (at r107 v23)
  (free v24)
  (free v25)
  (at r141 v26)
  (at r161 v27)
  (free v28)
  (at r129 v29)
  (at r120 v30)
  (at r79 v31)
  (free v32)
  (free v33)
  (at r123 v34)
  (at r135 v35)
  (at r89 v36)
  (free v37)
  (at r132 v38)
  (at r81 v39)
  (free v40)
  (at r149 v41)
  (free v42)
  (at r115 v43)
  (free v44)
  (free v45)
  (at r102 v46)
  (free v47)
  (at r158 v48)
  (at r88 v49)
  (free v50)
  (free v51)
  (at r144 v52)
  (at r92 v53)
  (at r93 v54)
  (at r80 v55)
  (at r94 v56)
  (free v57)
  (free v58)
  (at r82 v59)
  (at r134 v60)
  (at r163 v61)
  (at r143 v62)
  (free v63)
  (at r159 v64)
  (at r83 v65)
  (free v66)
  (at r95 v67)
  (free v68)
  (at r109 v69)
  (at r85 v70)
  (at r112 v71)
  (at r122 v72)
  (free v73)
  (at r91 v74)
  (free v75)
  (at r165 v76)
  (free v77)
  (at r101 v78)
  (free v79)
  (at r157 v80)
  (at r99 v81)
  (free v82)
  (at r164 v83)
  (at r162 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r87 v88)
  (free v89)
  (at r173 v90)
  (free v91)
  (at r137 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r136 v96)
  (at r90 v97)
  (at r155 v98)
  (free v99)
  (free v100)
  (free v101)
  (at r118 v102)
  (at r133 v103)
  (at r151 v104)
  (free v105)
  (at r105 v106)
  (free v107)
  (free v108)
  (at r110 v109)
  (at r168 v110)
  (free v111)
  (at r84 v112)
  (free v113)
  (at r148 v114)
  (at r126 v115)
  (free v116)
  (at r96 v117)
  (free v118)
  (at r124 v119)
  (at r113 v120)
  (at r106 v121)
  (free v122)
  (free v123)
  (at r142 v124)
  (free v125)
  (at r150 v126)
  (free v127)
  (free v128)
  (at r128 v129)
  (at r119 v130)
  (free v131)
  (free v132)
  (at r114 v133)
  (at r103 v134)
  (at r152 v135)
  (free v136)
  (free v137)
  (at r121 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r104 v144)
  (at r147 v145)
  (at r117 v146)
  (free v147)
  (at r169 v148)
  (at r130 v149)
  (free v150)
  (at r146 v151)
  (at r172 v152)
  (free v153)
  (at r131 v154)
  (free v155)
  (at r174 v156)
  (at r138 v157)
  (at r86 v158)
  (at r154 v159)
  (free v160)
  (free v161)
  (at r153 v162)
  (free v163)
  (free v164)
  (at r98 v165)
  (at r127 v166)
  (at r171 v167)
  (free v168)
  (at r167 v169)
  (at r97 v170)
  (at r140 v171)
  (free v172)
  (free v173)
  (at r116 v174)
  (at r175 v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v1 v2)
  (adjacent v1 v18)
  (adjacent v1 v84)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v14)
  (adjacent v2 v19)
  (adjacent v2 v24)
  (adjacent v2 v68)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v15)
  (adjacent v4 v13)
  (adjacent v4 v42)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v6 v30)
  (adjacent v6 v54)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v85)
  (adjacent v8 v137)
  (adjacent v8 v160)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v115)
  (adjacent v10 v11)
  (adjacent v11 v16)
  (adjacent v12 v13)
  (adjacent v12 v23)
  (adjacent v12 v99)
  (adjacent v13 v14)
  (adjacent v16 v17)
  (adjacent v16 v110)
  (adjacent v17 v18)
  (adjacent v19 v20)
  (adjacent v19 v48)
  (adjacent v20 v21)
  (adjacent v20 v86)
  (adjacent v20 v132)
  (adjacent v21 v22)
  (adjacent v21 v24)
  (adjacent v21 v25)
  (adjacent v22 v23)
  (adjacent v22 v139)
  (adjacent v23 v55)
  (adjacent v24 v98)
  (adjacent v25 v26)
  (adjacent v25 v92)
  (adjacent v25 v103)
  (adjacent v25 v109)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v36)
  (adjacent v27 v66)
  (adjacent v27 v131)
  (adjacent v28 v29)
  (adjacent v28 v31)
  (adjacent v28 v100)
  (adjacent v29 v30)
  (adjacent v30 v60)
  (adjacent v31 v32)
  (adjacent v31 v37)
  (adjacent v31 v43)
  (adjacent v32 v33)
  (adjacent v32 v131)
  (adjacent v33 v34)
  (adjacent v33 v49)
  (adjacent v33 v67)
  (adjacent v33 v76)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v140)
  (adjacent v37 v38)
  (adjacent v37 v75)
  (adjacent v38 v39)
  (adjacent v38 v69)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v114)
  (adjacent v47 v48)
  (adjacent v47 v175)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v49 v77)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v61)
  (adjacent v52 v53)
  (adjacent v52 v68)
  (adjacent v53 v54)
  (adjacent v54 v76)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v85)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v100)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v82)
  (adjacent v63 v93)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v77)
  (adjacent v66 v138)
  (adjacent v67 v144)
  (adjacent v69 v70)
  (adjacent v69 v83)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v104)
  (adjacent v73 v150)
  (adjacent v74 v75)
  (adjacent v75 v78)
  (adjacent v76 v99)
  (adjacent v76 v125)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v120)
  (adjacent v79 v126)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v130)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v152)
  (adjacent v91 v92)
  (adjacent v91 v121)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v101)
  (adjacent v97 v98)
  (adjacent v99 v138)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v153)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v159)
  (adjacent v108 v109)
  (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 v164)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v163)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v126 v170)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v139)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v148 v151)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v166 v171)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
 )
 (:goal
  (and
  (at r87 v0)
  (free v1)
  (at r127 v2)
  (at r93 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r128 v7)
  (at r86 v8)
  (at r78 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r100 v14)
  (at r92 v15)
  (at r157 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r83 v21)
  (free v22)
  (free v23)
  (free v24)
  (at r166 v25)
  (free v26)
  (at r174 v27)
  (at r137 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r109 v33)
  (at r172 v34)
  (at r88 v35)
  (at r124 v36)
  (at r173 v37)
  (at r120 v38)
  (free v39)
  (at r130 v40)
  (at r139 v41)
  (free v42)
  (free v43)
  (free v44)
  (at r145 v45)
  (at r91 v46)
  (free v47)
  (free v48)
  (at r79 v49)
  (at r153 v50)
  (at r171 v51)
  (at r114 v52)
  (at r134 v53)
  (at r175 v54)
  (free v55)
  (at r101 v56)
  (free v57)
  (free v58)
  (at r113 v59)
  (at r144 v60)
  (at r141 v61)
  (free v62)
  (at r131 v63)
  (free v64)
  (at r156 v65)
  (at r129 v66)
  (at r147 v67)
  (free v68)
  (at r96 v69)
  (at r162 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r80 v75)
  (at r94 v76)
  (free v77)
  (free v78)
  (at r108 v79)
  (free v80)
  (at r138 v81)
  (free v82)
  (at r136 v83)
  (free v84)
  (at r104 v85)
  (at r160 v86)
  (at r135 v87)
  (at r150 v88)
  (at r122 v89)
  (at r165 v90)
  (at r115 v91)
  (at r142 v92)
  (at r89 v93)
  (free v94)
  (at r107 v95)
  (free v96)
  (at r90 v97)
  (at r119 v98)
  (at r98 v99)
  (free v100)
  (free v101)
  (at r106 v102)
  (at r143 v103)
  (at r103 v104)
  (free v105)
  (at r81 v106)
  (free v107)
  (at r170 v108)
  (free v109)
  (free v110)
  (at r149 v111)
  (at r132 v112)
  (free v113)
  (free v114)
  (free v115)
  (at r155 v116)
  (free v117)
  (free v118)
  (at r148 v119)
  (at r110 v120)
  (at r85 v121)
  (at r82 v122)
  (at r99 v123)
  (at r167 v124)
  (free v125)
  (at r123 v126)
  (free v127)
  (free v128)
  (at r126 v129)
  (at r146 v130)
  (at r117 v131)
  (free v132)
  (free v133)
  (at r154 v134)
  (at r168 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r163 v140)
  (at r112 v141)
  (at r164 v142)
  (at r140 v143)
  (free v144)
  (at r121 v145)
  (at r125 v146)
  (free v147)
  (free v148)
  (at r118 v149)
  (free v150)
  (free v151)
  (free v152)
  (at r116 v153)
  (at r102 v154)
  (free v155)
  (at r151 v156)
  (free v157)
  (at r84 v158)
  (free v159)
  (at r105 v160)
  (at r152 v161)
  (at r159 v162)
  (at r161 v163)
  (at r97 v164)
  (at r158 v165)
  (free v166)
  (free v167)
  (at r95 v168)
  (at r111 v169)
  (at r133 v170)
  (at r169 v171)
  (free v172)
  (free v173)
  (free v174)
  (free v175)
  )
 )
)