(define (problem multirobot_44_50%_c6)
 (:domain multirobot)
 (:objects
  v0 r119
  v1 r139
  v2
  v3
  v4
  v5
  v6 r150
  v7 r123
  v8 r137
  v9 r97
  v10
  v11
  v12
  v13 r149
  v14
  v15
  v16
  v17
  v18
  v19 r129
  v20 r143
  v21
  v22
  v23 r144
  v24 r88
  v25
  v26
  v27 r125
  v28 r126
  v29
  v30
  v31 r109
  v32
  v33
  v34
  v35 r100
  v36 r101
  v37 r153
  v38
  v39
  v40 r91
  v41 r86
  v42
  v43
  v44 r113
  v45 r160
  v46
  v47
  v48 r93
  v49 r102
  v50 r124
  v51
  v52 r134
  v53 r116
  v54
  v55 r140
  v56 r132
  v57 r94
  v58 r103
  v59
  v60 r156
  v61
  v62
  v63
  v64 r118
  v65 r110
  v66 r130
  v67
  v68 r106
  v69
  v70
  v71
  v72
  v73 r92
  v74 r95
  v75
  v76
  v77 r158
  v78
  v79
  v80 r98
  v81
  v82 r147
  v83
  v84 r146
  v85
  v86
  v87
  v88
  v89 r135
  v90 r89
  v91
  v92
  v93 r141
  v94 r133
  v95
  v96 r157
  v97
  v98
  v99
  v100 r90
  v101
  v102 r148
  v103 r112
  v104 r151
  v105 r111
  v106
  v107
  v108 r155
  v109 r131
  v110
  v111 r145
  v112 r136
  v113
  v114 r114
  v115
  v116 r138
  v117
  v118 r154
  v119
  v120 r120
  v121 r159
  v122
  v123
  v124 r96
  v125 r122
  v126
  v127 r87
  v128
  v129 r128
  v130
  v131 r127
  v132
  v133
  v134
  v135
  v136
  v137 r104
  v138 r117
  v139 r99
  v140
  v141 r161
  v142
  v143
  v144
  v145 r105
  v146
  v147
  v148
  v149
  v150 r152
  v151 r115
  v152
  v153 r121
  v154
  v155
  v156
  v157
  v158 r107
  v159 r108
  v160
  v161 r142
 )
 (:init
  (at r119 v0)
  (at r139 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r150 v6)
  (at r123 v7)
  (at r137 v8)
  (at r97 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r149 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (at r129 v19)
  (at r143 v20)
  (free v21)
  (free v22)
  (at r144 v23)
  (at r88 v24)
  (free v25)
  (free v26)
  (at r125 v27)
  (at r126 v28)
  (free v29)
  (free v30)
  (at r109 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r100 v35)
  (at r101 v36)
  (at r153 v37)
  (free v38)
  (free v39)
  (at r91 v40)
  (at r86 v41)
  (free v42)
  (free v43)
  (at r113 v44)
  (at r160 v45)
  (free v46)
  (free v47)
  (at r93 v48)
  (at r102 v49)
  (at r124 v50)
  (free v51)
  (at r134 v52)
  (at r116 v53)
  (free v54)
  (at r140 v55)
  (at r132 v56)
  (at r94 v57)
  (at r103 v58)
  (free v59)
  (at r156 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r118 v64)
  (at r110 v65)
  (at r130 v66)
  (free v67)
  (at r106 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r92 v73)
  (at r95 v74)
  (free v75)
  (free v76)
  (at r158 v77)
  (free v78)
  (free v79)
  (at r98 v80)
  (free v81)
  (at r147 v82)
  (free v83)
  (at r146 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (at r135 v89)
  (at r89 v90)
  (free v91)
  (free v92)
  (at r141 v93)
  (at r133 v94)
  (free v95)
  (at r157 v96)
  (free v97)
  (free v98)
  (free v99)
  (at r90 v100)
  (free v101)
  (at r148 v102)
  (at r112 v103)
  (at r151 v104)
  (at r111 v105)
  (free v106)
  (free v107)
  (at r155 v108)
  (at r131 v109)
  (free v110)
  (at r145 v111)
  (at r136 v112)
  (free v113)
  (at r114 v114)
  (free v115)
  (at r138 v116)
  (free v117)
  (at r154 v118)
  (free v119)
  (at r120 v120)
  (at r159 v121)
  (free v122)
  (free v123)
  (at r96 v124)
  (at r122 v125)
  (free v126)
  (at r87 v127)
  (free v128)
  (at r128 v129)
  (free v130)
  (at r127 v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r104 v137)
  (at r117 v138)
  (at r99 v139)
  (free v140)
  (at r161 v141)
  (free v142)
  (free v143)
  (free v144)
  (at r105 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (at r152 v150)
  (at r115 v151)
  (free v152)
  (at r121 v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (at r107 v158)
  (at r108 v159)
  (free v160)
  (at r142 v161)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v86)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v12)
  (adjacent v1 v111)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v35)
  (adjacent v4 v92)
  (adjacent v5 v6)
  (adjacent v5 v28)
  (adjacent v5 v155)
  (adjacent v6 v7)
  (adjacent v6 v36)
  (adjacent v7 v8)
  (adjacent v7 v25)
  (adjacent v7 v107)
  (adjacent v8 v9)
  (adjacent v8 v41)
  (adjacent v8 v48)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v127)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v117)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v20)
  (adjacent v16 v29)
  (adjacent v16 v80)
  (adjacent v17 v18)
  (adjacent v17 v24)
  (adjacent v17 v42)
  (adjacent v18 v19)
  (adjacent v18 v26)
  (adjacent v18 v72)
  (adjacent v19 v25)
  (adjacent v19 v78)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v88)
  (adjacent v22 v23)
  (adjacent v22 v126)
  (adjacent v23 v24)
  (adjacent v23 v66)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v36)
  (adjacent v27 v54)
  (adjacent v28 v118)
  (adjacent v28 v127)
  (adjacent v29 v30)
  (adjacent v29 v42)
  (adjacent v29 v95)
  (adjacent v29 v139)
  (adjacent v30 v31)
  (adjacent v30 v140)
  (adjacent v31 v32)
  (adjacent v31 v37)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v43)
  (adjacent v35 v79)
  (adjacent v35 v96)
  (adjacent v37 v38)
  (adjacent v37 v73)
  (adjacent v38 v39)
  (adjacent v38 v160)
  (adjacent v39 v40)
  (adjacent v39 v47)
  (adjacent v39 v62)
  (adjacent v40 v41)
  (adjacent v42 v106)
  (adjacent v43 v44)
  (adjacent v43 v85)
  (adjacent v44 v45)
  (adjacent v44 v114)
  (adjacent v45 v46)
  (adjacent v45 v61)
  (adjacent v45 v87)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v65)
  (adjacent v50 v119)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v150)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v101)
  (adjacent v61 v79)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v122)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v113)
  (adjacent v70 v71)
  (adjacent v70 v122)
  (adjacent v70 v153)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v93)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v144)
  (adjacent v80 v81)
  (adjacent v80 v154)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v131)
  (adjacent v82 v145)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v161)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v118)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v145)
  (adjacent v92 v102)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v161)
  (adjacent v96 v97)
  (adjacent v96 v151)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v128)
  (adjacent v100 v101)
  (adjacent v100 v140)
  (adjacent v101 v112)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v107 v150)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v121)
  (adjacent v110 v111)
  (adjacent v110 v123)
  (adjacent v111 v149)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v114 v156)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v135)
  (adjacent v120 v146)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v128 v129)
  (adjacent v128 v141)
  (adjacent v129 v130)
  (adjacent v129 v132)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
 )
 (:goal
  (and
  (at r93 v0)
  (free v1)
  (at r139 v2)
  (at r111 v3)
  (at r107 v4)
  (at r91 v5)
  (at r149 v6)
  (free v7)
  (at r109 v8)
  (at r115 v9)
  (at r88 v10)
  (at r152 v11)
  (free v12)
  (free v13)
  (at r100 v14)
  (at r142 v15)
  (free v16)
  (at r95 v17)
  (at r101 v18)
  (at r119 v19)
  (at r137 v20)
  (at r127 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r136 v27)
  (at r156 v28)
  (free v29)
  (free v30)
  (at r123 v31)
  (free v32)
  (free v33)
  (at r106 v34)
  (at r97 v35)
  (at r103 v36)
  (at r89 v37)
  (at r121 v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r129 v44)
  (free v45)
  (free v46)
  (at r116 v47)
  (free v48)
  (at r125 v49)
  (at r86 v50)
  (at r94 v51)
  (free v52)
  (at r145 v53)
  (free v54)
  (at r124 v55)
  (free v56)
  (at r135 v57)
  (at r150 v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (at r128 v64)
  (at r105 v65)
  (free v66)
  (at r161 v67)
  (at r108 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r92 v73)
  (at r160 v74)
  (at r133 v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r148 v81)
  (free v82)
  (at r117 v83)
  (free v84)
  (at r126 v85)
  (free v86)
  (at r87 v87)
  (at r99 v88)
  (at r134 v89)
  (at r140 v90)
  (at r158 v91)
  (free v92)
  (at r102 v93)
  (at r154 v94)
  (free v95)
  (free v96)
  (at r153 v97)
  (free v98)
  (at r155 v99)
  (at r146 v100)
  (free v101)
  (at r130 v102)
  (free v103)
  (free v104)
  (at r122 v105)
  (at r131 v106)
  (at r104 v107)
  (free v108)
  (at r147 v109)
  (free v110)
  (at r132 v111)
  (at r90 v112)
  (at r144 v113)
  (free v114)
  (at r141 v115)
  (free v116)
  (free v117)
  (at r143 v118)
  (free v119)
  (at r112 v120)
  (free v121)
  (free v122)
  (at r98 v123)
  (free v124)
  (at r157 v125)
  (at r110 v126)
  (free v127)
  (at r151 v128)
  (free v129)
  (at r113 v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r120 v137)
  (free v138)
  (at r138 v139)
  (free v140)
  (free v141)
  (at r118 v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (at r96 v150)
  (at r114 v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (at r159 v159)
  (free v160)
  (free v161)
  )
 )
)