(define (problem multirobot_45_50%_c3)
 (:domain multirobot)
 (:objects
  v0 r89
  v1
  v2
  v3
  v4
  v5 r104
  v6
  v7 r102
  v8 r152
  v9
  v10 r95
  v11
  v12 r157
  v13
  v14 r139
  v15 r137
  v16 r122
  v17
  v18 r116
  v19
  v20
  v21 r108
  v22 r144
  v23 r114
  v24
  v25 r85
  v26 r138
  v27 r126
  v28
  v29 r110
  v30
  v31
  v32 r99
  v33
  v34 r146
  v35 r131
  v36
  v37 r119
  v38
  v39 r135
  v40 r145
  v41 r142
  v42
  v43
  v44 r117
  v45
  v46 r109
  v47
  v48 r86
  v49 r94
  v50 r128
  v51
  v52 r115
  v53 r106
  v54 r129
  v55 r88
  v56
  v57 r83
  v58
  v59
  v60
  v61
  v62
  v63 r127
  v64
  v65
  v66
  v67 r156
  v68 r136
  v69
  v70 r151
  v71
  v72
  v73 r147
  v74
  v75 r153
  v76
  v77 r87
  v78 r150
  v79
  v80 r100
  v81 r132
  v82
  v83 r84
  v84
  v85
  v86 r103
  v87 r154
  v88
  v89 r143
  v90 r118
  v91
  v92 r91
  v93 r97
  v94 r148
  v95
  v96 r120
  v97
  v98 r140
  v99 r141
  v100
  v101
  v102
  v103
  v104 r111
  v105
  v106
  v107
  v108
  v109
  v110
  v111 r98
  v112 r96
  v113 r101
  v114
  v115
  v116
  v117
  v118 r81
  v119
  v120 r107
  v121
  v122
  v123 r112
  v124
  v125 r130
  v126
  v127
  v128
  v129
  v130
  v131
  v132
  v133
  v134 r82
  v135
  v136 r92
  v137 r134
  v138 r93
  v139 r123
  v140 r124
  v141
  v142 r158
  v143
  v144 r105
  v145
  v146
  v147 r113
  v148 r121
  v149
  v150
  v151 r90
  v152
  v153
  v154
  v155 r133
  v156 r149
  v157 r155
  v158 r125
 )
 (:init
  (at r89 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r104 v5)
  (free v6)
  (at r102 v7)
  (at r152 v8)
  (free v9)
  (at r95 v10)
  (free v11)
  (at r157 v12)
  (free v13)
  (at r139 v14)
  (at r137 v15)
  (at r122 v16)
  (free v17)
  (at r116 v18)
  (free v19)
  (free v20)
  (at r108 v21)
  (at r144 v22)
  (at r114 v23)
  (free v24)
  (at r85 v25)
  (at r138 v26)
  (at r126 v27)
  (free v28)
  (at r110 v29)
  (free v30)
  (free v31)
  (at r99 v32)
  (free v33)
  (at r146 v34)
  (at r131 v35)
  (free v36)
  (at r119 v37)
  (free v38)
  (at r135 v39)
  (at r145 v40)
  (at r142 v41)
  (free v42)
  (free v43)
  (at r117 v44)
  (free v45)
  (at r109 v46)
  (free v47)
  (at r86 v48)
  (at r94 v49)
  (at r128 v50)
  (free v51)
  (at r115 v52)
  (at r106 v53)
  (at r129 v54)
  (at r88 v55)
  (free v56)
  (at r83 v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r127 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r156 v67)
  (at r136 v68)
  (free v69)
  (at r151 v70)
  (free v71)
  (free v72)
  (at r147 v73)
  (free v74)
  (at r153 v75)
  (free v76)
  (at r87 v77)
  (at r150 v78)
  (free v79)
  (at r100 v80)
  (at r132 v81)
  (free v82)
  (at r84 v83)
  (free v84)
  (free v85)
  (at r103 v86)
  (at r154 v87)
  (free v88)
  (at r143 v89)
  (at r118 v90)
  (free v91)
  (at r91 v92)
  (at r97 v93)
  (at r148 v94)
  (free v95)
  (at r120 v96)
  (free v97)
  (at r140 v98)
  (at r141 v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (at r111 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (at r98 v111)
  (at r96 v112)
  (at r101 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r81 v118)
  (free v119)
  (at r107 v120)
  (free v121)
  (free v122)
  (at r112 v123)
  (free v124)
  (at r130 v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (at r82 v134)
  (free v135)
  (at r92 v136)
  (at r134 v137)
  (at r93 v138)
  (at r123 v139)
  (at r124 v140)
  (free v141)
  (at r158 v142)
  (free v143)
  (at r105 v144)
  (free v145)
  (free v146)
  (at r113 v147)
  (at r121 v148)
  (free v149)
  (free v150)
  (at r90 v151)
  (free v152)
  (free v153)
  (free v154)
  (at r133 v155)
  (at r149 v156)
  (at r155 v157)
  (at r125 v158)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v15)
  (adjacent v0 v106)
  (adjacent v1 v2)
  (adjacent v1 v30)
  (adjacent v1 v70)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v14)
  (adjacent v3 v4)
  (adjacent v4 v10)
  (adjacent v4 v83)
  (adjacent v4 v136)
  (adjacent v4 v147)
  (adjacent v5 v6)
  (adjacent v5 v50)
  (adjacent v5 v135)
  (adjacent v5 v138)
  (adjacent v6 v7)
  (adjacent v6 v45)
  (adjacent v6 v99)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v25)
  (adjacent v9 v98)
  (adjacent v9 v99)
  (adjacent v10 v11)
  (adjacent v10 v18)
  (adjacent v10 v39)
  (adjacent v10 v40)
  (adjacent v10 v52)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v12 v13)
  (adjacent v12 v60)
  (adjacent v13 v14)
  (adjacent v14 v24)
  (adjacent v14 v35)
  (adjacent v15 v16)
  (adjacent v15 v36)
  (adjacent v15 v40)
  (adjacent v15 v128)
  (adjacent v15 v146)
  (adjacent v16 v17)
  (adjacent v16 v141)
  (adjacent v17 v18)
  (adjacent v18 v36)
  (adjacent v18 v127)
  (adjacent v19 v20)
  (adjacent v19 v93)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v29)
  (adjacent v21 v138)
  (adjacent v22 v23)
  (adjacent v22 v49)
  (adjacent v22 v53)
  (adjacent v22 v80)
  (adjacent v22 v102)
  (adjacent v23 v24)
  (adjacent v23 v59)
  (adjacent v23 v64)
  (adjacent v24 v76)
  (adjacent v24 v139)
  (adjacent v25 v26)
  (adjacent v25 v100)
  (adjacent v26 v27)
  (adjacent v26 v46)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v63)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v63)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v147)
  (adjacent v37 v151)
  (adjacent v38 v39)
  (adjacent v38 v41)
  (adjacent v39 v94)
  (adjacent v41 v42)
  (adjacent v41 v116)
  (adjacent v42 v43)
  (adjacent v42 v122)
  (adjacent v43 v44)
  (adjacent v43 v58)
  (adjacent v44 v45)
  (adjacent v44 v89)
  (adjacent v45 v79)
  (adjacent v46 v47)
  (adjacent v46 v82)
  (adjacent v47 v48)
  (adjacent v47 v113)
  (adjacent v48 v49)
  (adjacent v48 v128)
  (adjacent v50 v51)
  (adjacent v50 v59)
  (adjacent v51 v52)
  (adjacent v52 v141)
  (adjacent v53 v54)
  (adjacent v53 v62)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v101)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v75)
  (adjacent v59 v107)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v71)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v142)
  (adjacent v69 v70)
  (adjacent v69 v123)
  (adjacent v71 v72)
  (adjacent v71 v157)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v115)
  (adjacent v74 v75)
  (adjacent v74 v117)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v135)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v134)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v150)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v90)
  (adjacent v88 v114)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v148)
  (adjacent v93 v116)
  (adjacent v93 v144)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v137)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v102 v140)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v107 v136)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v129)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v145)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v137)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v139 v140)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v149 v156)
  (adjacent v151 v152)
  (adjacent v151 v158)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
 )
 (:goal
  (and
  (free v0)
  (at r145 v1)
  (at r109 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r111 v8)
  (at r129 v9)
  (at r121 v10)
  (at r126 v11)
  (free v12)
  (at r130 v13)
  (at r140 v14)
  (free v15)
  (at r100 v16)
  (at r115 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r141 v21)
  (at r154 v22)
  (free v23)
  (at r89 v24)
  (free v25)
  (free v26)
  (at r114 v27)
  (free v28)
  (at r133 v29)
  (at r101 v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (at r137 v35)
  (free v36)
  (at r131 v37)
  (at r104 v38)
  (at r106 v39)
  (free v40)
  (at r135 v41)
  (free v42)
  (at r112 v43)
  (free v44)
  (at r153 v45)
  (at r87 v46)
  (at r81 v47)
  (at r95 v48)
  (free v49)
  (at r127 v50)
  (free v51)
  (free v52)
  (at r92 v53)
  (at r107 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r149 v59)
  (at r84 v60)
  (at r119 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r122 v65)
  (free v66)
  (at r123 v67)
  (free v68)
  (free v69)
  (at r124 v70)
  (at r157 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r138 v75)
  (free v76)
  (at r82 v77)
  (free v78)
  (at r120 v79)
  (free v80)
  (at r93 v81)
  (free v82)
  (at r88 v83)
  (at r158 v84)
  (free v85)
  (free v86)
  (at r102 v87)
  (at r105 v88)
  (at r146 v89)
  (free v90)
  (at r134 v91)
  (at r118 v92)
  (at r132 v93)
  (at r110 v94)
  (at r86 v95)
  (free v96)
  (at r136 v97)
  (free v98)
  (at r103 v99)
  (at r99 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (at r108 v106)
  (at r91 v107)
  (free v108)
  (free v109)
  (at r155 v110)
  (free v111)
  (free v112)
  (at r148 v113)
  (free v114)
  (at r142 v115)
  (free v116)
  (at r151 v117)
  (free v118)
  (at r90 v119)
  (at r139 v120)
  (free v121)
  (free v122)
  (at r150 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r98 v127)
  (free v128)
  (at r125 v129)
  (at r113 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r143 v134)
  (free v135)
  (at r144 v136)
  (at r96 v137)
  (at r97 v138)
  (free v139)
  (at r116 v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (at r147 v146)
  (at r83 v147)
  (free v148)
  (at r85 v149)
  (free v150)
  (at r152 v151)
  (at r156 v152)
  (free v153)
  (free v154)
  (at r117 v155)
  (free v156)
  (at r94 v157)
  (at r128 v158)
  )
 )
)