(define (problem multirobot_45_50%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r92
  v4
  v5 r125
  v6
  v7
  v8
  v9 r107
  v10 r99
  v11 r124
  v12 r98
  v13 r105
  v14
  v15
  v16 r161
  v17
  v18
  v19
  v20
  v21 r88
  v22 r121
  v23 r134
  v24
  v25
  v26 r116
  v27 r118
  v28 r159
  v29
  v30 r147
  v31
  v32 r157
  v33
  v34 r100
  v35
  v36 r117
  v37
  v38 r142
  v39
  v40
  v41 r150
  v42
  v43 r101
  v44 r95
  v45
  v46
  v47 r143
  v48 r126
  v49
  v50
  v51 r149
  v52
  v53
  v54 r112
  v55
  v56
  v57
  v58 r155
  v59
  v60
  v61 r131
  v62 r120
  v63
  v64 r89
  v65 r146
  v66
  v67
  v68 r158
  v69 r115
  v70
  v71
  v72 r111
  v73 r122
  v74 r148
  v75
  v76 r97
  v77 r96
  v78
  v79
  v80 r162
  v81 r139
  v82 r91
  v83 r152
  v84 r114
  v85 r153
  v86
  v87
  v88
  v89
  v90 r104
  v91
  v92 r160
  v93 r87
  v94 r110
  v95
  v96
  v97
  v98 r90
  v99
  v100
  v101 r133
  v102
  v103 r144
  v104
  v105 r135
  v106
  v107 r130
  v108
  v109
  v110
  v111
  v112
  v113 r129
  v114
  v115 r156
  v116
  v117 r94
  v118
  v119
  v120 r137
  v121
  v122
  v123 r138
  v124 r119
  v125 r109
  v126
  v127 r136
  v128 r127
  v129
  v130
  v131
  v132 r128
  v133 r141
  v134
  v135
  v136
  v137 r103
  v138
  v139
  v140
  v141 r113
  v142
  v143 r106
  v144
  v145
  v146 r140
  v147
  v148
  v149 r132
  v150 r102
  v151
  v152
  v153 r93
  v154
  v155 r151
  v156
  v157 r108
  v158
  v159 r123
  v160 r154
  v161
  v162 r145
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r92 v3)
  (free v4)
  (at r125 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r107 v9)
  (at r99 v10)
  (at r124 v11)
  (at r98 v12)
  (at r105 v13)
  (free v14)
  (free v15)
  (at r161 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r88 v21)
  (at r121 v22)
  (at r134 v23)
  (free v24)
  (free v25)
  (at r116 v26)
  (at r118 v27)
  (at r159 v28)
  (free v29)
  (at r147 v30)
  (free v31)
  (at r157 v32)
  (free v33)
  (at r100 v34)
  (free v35)
  (at r117 v36)
  (free v37)
  (at r142 v38)
  (free v39)
  (free v40)
  (at r150 v41)
  (free v42)
  (at r101 v43)
  (at r95 v44)
  (free v45)
  (free v46)
  (at r143 v47)
  (at r126 v48)
  (free v49)
  (free v50)
  (at r149 v51)
  (free v52)
  (free v53)
  (at r112 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r155 v58)
  (free v59)
  (free v60)
  (at r131 v61)
  (at r120 v62)
  (free v63)
  (at r89 v64)
  (at r146 v65)
  (free v66)
  (free v67)
  (at r158 v68)
  (at r115 v69)
  (free v70)
  (free v71)
  (at r111 v72)
  (at r122 v73)
  (at r148 v74)
  (free v75)
  (at r97 v76)
  (at r96 v77)
  (free v78)
  (free v79)
  (at r162 v80)
  (at r139 v81)
  (at r91 v82)
  (at r152 v83)
  (at r114 v84)
  (at r153 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r104 v90)
  (free v91)
  (at r160 v92)
  (at r87 v93)
  (at r110 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r90 v98)
  (free v99)
  (free v100)
  (at r133 v101)
  (free v102)
  (at r144 v103)
  (free v104)
  (at r135 v105)
  (free v106)
  (at r130 v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r129 v113)
  (free v114)
  (at r156 v115)
  (free v116)
  (at r94 v117)
  (free v118)
  (free v119)
  (at r137 v120)
  (free v121)
  (free v122)
  (at r138 v123)
  (at r119 v124)
  (at r109 v125)
  (free v126)
  (at r136 v127)
  (at r127 v128)
  (free v129)
  (free v130)
  (free v131)
  (at r128 v132)
  (at r141 v133)
  (free v134)
  (free v135)
  (free v136)
  (at r103 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r113 v141)
  (free v142)
  (at r106 v143)
  (free v144)
  (free v145)
  (at r140 v146)
  (free v147)
  (free v148)
  (at r132 v149)
  (at r102 v150)
  (free v151)
  (free v152)
  (at r93 v153)
  (free v154)
  (at r151 v155)
  (free v156)
  (at r108 v157)
  (free v158)
  (at r123 v159)
  (at r154 v160)
  (free v161)
  (at r145 v162)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v13)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v46)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v14)
  (adjacent v3 v112)
  (adjacent v4 v10)
  (adjacent v4 v29)
  (adjacent v5 v6)
  (adjacent v5 v25)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v25)
  (adjacent v9 v20)
  (adjacent v9 v24)
  (adjacent v9 v31)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v11 v12)
  (adjacent v11 v15)
  (adjacent v11 v32)
  (adjacent v11 v57)
  (adjacent v11 v68)
  (adjacent v12 v13)
  (adjacent v12 v16)
  (adjacent v12 v89)
  (adjacent v13 v86)
  (adjacent v14 v17)
  (adjacent v14 v150)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v15 v26)
  (adjacent v17 v18)
  (adjacent v17 v139)
  (adjacent v17 v144)
  (adjacent v18 v19)
  (adjacent v18 v143)
  (adjacent v19 v20)
  (adjacent v19 v123)
  (adjacent v20 v47)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v21 v80)
  (adjacent v22 v23)
  (adjacent v22 v137)
  (adjacent v23 v24)
  (adjacent v23 v43)
  (adjacent v23 v65)
  (adjacent v23 v122)
  (adjacent v24 v28)
  (adjacent v26 v27)
  (adjacent v26 v146)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v131)
  (adjacent v30 v31)
  (adjacent v30 v107)
  (adjacent v31 v61)
  (adjacent v32 v33)
  (adjacent v32 v39)
  (adjacent v32 v58)
  (adjacent v32 v149)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v120)
  (adjacent v35 v36)
  (adjacent v35 v69)
  (adjacent v36 v37)
  (adjacent v36 v44)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v39 v80)
  (adjacent v39 v143)
  (adjacent v40 v41)
  (adjacent v40 v87)
  (adjacent v41 v42)
  (adjacent v41 v54)
  (adjacent v41 v118)
  (adjacent v42 v43)
  (adjacent v42 v60)
  (adjacent v42 v79)
  (adjacent v44 v45)
  (adjacent v44 v53)
  (adjacent v45 v46)
  (adjacent v46 v108)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v113)
  (adjacent v51 v52)
  (adjacent v51 v102)
  (adjacent v51 v119)
  (adjacent v52 v53)
  (adjacent v52 v95)
  (adjacent v52 v138)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v128)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v142)
  (adjacent v60 v66)
  (adjacent v60 v75)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v103)
  (adjacent v62 v117)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v76)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v109)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v90)
  (adjacent v81 v82)
  (adjacent v81 v156)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v117)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v87 v96)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v124)
  (adjacent v92 v93)
  (adjacent v92 v116)
  (adjacent v92 v129)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v123)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v103 v108)
  (adjacent v104 v105)
  (adjacent v104 v162)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v138)
  (adjacent v109 v110)
  (adjacent v109 v113)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v114)
  (adjacent v111 v129)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v148)
  (adjacent v117 v155)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v120 v149)
  (adjacent v121 v122)
  (adjacent v122 v147)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v130)
  (adjacent v128 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
 )
 (:goal
  (and
  (at r91 v0)
  (at r125 v1)
  (free v2)
  (at r95 v3)
  (free v4)
  (free v5)
  (at r138 v6)
  (free v7)
  (at r152 v8)
  (at r90 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r120 v18)
  (free v19)
  (at r98 v20)
  (at r100 v21)
  (free v22)
  (at r118 v23)
  (at r115 v24)
  (at r160 v25)
  (at r126 v26)
  (at r102 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r88 v32)
  (free v33)
  (free v34)
  (at r99 v35)
  (at r151 v36)
  (free v37)
  (at r97 v38)
  (free v39)
  (free v40)
  (at r145 v41)
  (at r96 v42)
  (at r144 v43)
  (at r94 v44)
  (free v45)
  (free v46)
  (free v47)
  (at r122 v48)
  (free v49)
  (at r106 v50)
  (at r89 v51)
  (at r127 v52)
  (at r135 v53)
  (at r139 v54)
  (free v55)
  (at r154 v56)
  (at r137 v57)
  (at r93 v58)
  (free v59)
  (at r107 v60)
  (at r116 v61)
  (at r103 v62)
  (at r129 v63)
  (free v64)
  (at r110 v65)
  (at r149 v66)
  (at r130 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (at r117 v72)
  (at r141 v73)
  (at r158 v74)
  (at r109 v75)
  (free v76)
  (free v77)
  (at r155 v78)
  (free v79)
  (at r92 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (at r153 v86)
  (at r148 v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r101 v92)
  (at r143 v93)
  (at r123 v94)
  (at r150 v95)
  (free v96)
  (free v97)
  (at r108 v98)
  (at r142 v99)
  (at r133 v100)
  (at r140 v101)
  (free v102)
  (at r134 v103)
  (at r87 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r119 v108)
  (free v109)
  (free v110)
  (at r104 v111)
  (free v112)
  (at r157 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r105 v118)
  (at r146 v119)
  (at r147 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (at r136 v126)
  (free v127)
  (free v128)
  (at r132 v129)
  (free v130)
  (at r128 v131)
  (free v132)
  (at r114 v133)
  (at r156 v134)
  (at r113 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r162 v140)
  (free v141)
  (at r112 v142)
  (at r131 v143)
  (free v144)
  (free v145)
  (at r124 v146)
  (free v147)
  (at r159 v148)
  (free v149)
  (free v150)
  (at r161 v151)
  (free v152)
  (free v153)
  (at r121 v154)
  (free v155)
  (free v156)
  (at r111 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  )
 )
)