(define (problem multirobot_45_50%_c5)
 (:domain multirobot)
 (:objects
  v0 r157
  v1
  v2
  v3 r126
  v4 r96
  v5 r123
  v6 r134
  v7 r107
  v8
  v9
  v10 r110
  v11 r124
  v12 r154
  v13
  v14
  v15 r112
  v16
  v17 r145
  v18 r130
  v19 r152
  v20
  v21 r129
  v22 r91
  v23
  v24
  v25
  v26 r136
  v27 r147
  v28
  v29 r143
  v30
  v31 r105
  v32 r127
  v33
  v34 r108
  v35 r98
  v36
  v37 r120
  v38 r92
  v39 r142
  v40 r153
  v41 r159
  v42
  v43 r135
  v44
  v45
  v46
  v47
  v48
  v49 r156
  v50
  v51 r149
  v52
  v53 r148
  v54
  v55
  v56
  v57
  v58 r114
  v59 r116
  v60
  v61
  v62
  v63
  v64
  v65
  v66
  v67
  v68 r100
  v69 r133
  v70 r104
  v71
  v72 r138
  v73
  v74
  v75
  v76
  v77
  v78 r146
  v79
  v80 r122
  v81 r121
  v82 r87
  v83
  v84
  v85 r119
  v86
  v87
  v88
  v89
  v90 r139
  v91 r150
  v92
  v93
  v94 r95
  v95 r111
  v96
  v97
  v98
  v99
  v100 r85
  v101 r97
  v102 r86
  v103 r118
  v104 r115
  v105 r101
  v106
  v107 r109
  v108
  v109
  v110
  v111
  v112 r141
  v113
  v114
  v115 r103
  v116
  v117
  v118 r88
  v119
  v120
  v121
  v122
  v123 r151
  v124 r99
  v125
  v126 r131
  v127
  v128
  v129 r89
  v130 r102
  v131
  v132
  v133
  v134 r113
  v135
  v136
  v137 r106
  v138 r94
  v139
  v140 r160
  v141
  v142
  v143
  v144 r140
  v145 r117
  v146
  v147
  v148 r132
  v149 r155
  v150
  v151 r137
  v152 r93
  v153 r158
  v154
  v155 r128
  v156 r144
  v157 r125
  v158
  v159 r90
  v160
 )
 (:init
  (at r157 v0)
  (free v1)
  (free v2)
  (at r126 v3)
  (at r96 v4)
  (at r123 v5)
  (at r134 v6)
  (at r107 v7)
  (free v8)
  (free v9)
  (at r110 v10)
  (at r124 v11)
  (at r154 v12)
  (free v13)
  (free v14)
  (at r112 v15)
  (free v16)
  (at r145 v17)
  (at r130 v18)
  (at r152 v19)
  (free v20)
  (at r129 v21)
  (at r91 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r136 v26)
  (at r147 v27)
  (free v28)
  (at r143 v29)
  (free v30)
  (at r105 v31)
  (at r127 v32)
  (free v33)
  (at r108 v34)
  (at r98 v35)
  (free v36)
  (at r120 v37)
  (at r92 v38)
  (at r142 v39)
  (at r153 v40)
  (at r159 v41)
  (free v42)
  (at r135 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r156 v49)
  (free v50)
  (at r149 v51)
  (free v52)
  (at r148 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r114 v58)
  (at r116 v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r100 v68)
  (at r133 v69)
  (at r104 v70)
  (free v71)
  (at r138 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (at r146 v78)
  (free v79)
  (at r122 v80)
  (at r121 v81)
  (at r87 v82)
  (free v83)
  (free v84)
  (at r119 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r139 v90)
  (at r150 v91)
  (free v92)
  (free v93)
  (at r95 v94)
  (at r111 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (at r85 v100)
  (at r97 v101)
  (at r86 v102)
  (at r118 v103)
  (at r115 v104)
  (at r101 v105)
  (free v106)
  (at r109 v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (at r141 v112)
  (free v113)
  (free v114)
  (at r103 v115)
  (free v116)
  (free v117)
  (at r88 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r151 v123)
  (at r99 v124)
  (free v125)
  (at r131 v126)
  (free v127)
  (free v128)
  (at r89 v129)
  (at r102 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r113 v134)
  (free v135)
  (free v136)
  (at r106 v137)
  (at r94 v138)
  (free v139)
  (at r160 v140)
  (free v141)
  (free v142)
  (free v143)
  (at r140 v144)
  (at r117 v145)
  (free v146)
  (free v147)
  (at r132 v148)
  (at r155 v149)
  (free v150)
  (at r137 v151)
  (at r93 v152)
  (at r158 v153)
  (free v154)
  (at r128 v155)
  (at r144 v156)
  (at r125 v157)
  (free v158)
  (at r90 v159)
  (free v160)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v40)
  (adjacent v0 v96)
  (adjacent v0 v99)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v24)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v33)
  (adjacent v3 v4)
  (adjacent v3 v32)
  (adjacent v4 v23)
  (adjacent v4 v25)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v16)
  (adjacent v5 v66)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v131)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v9 v15)
  (adjacent v9 v46)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v94)
  (adjacent v12 v13)
  (adjacent v12 v28)
  (adjacent v12 v97)
  (adjacent v12 v121)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v13 v102)
  (adjacent v14 v126)
  (adjacent v15 v16)
  (adjacent v15 v103)
  (adjacent v16 v32)
  (adjacent v16 v36)
  (adjacent v16 v39)
  (adjacent v17 v18)
  (adjacent v17 v44)
  (adjacent v18 v19)
  (adjacent v18 v69)
  (adjacent v19 v20)
  (adjacent v19 v45)
  (adjacent v19 v56)
  (adjacent v20 v21)
  (adjacent v20 v31)
  (adjacent v21 v22)
  (adjacent v21 v29)
  (adjacent v21 v37)
  (adjacent v23 v24)
  (adjacent v24 v43)
  (adjacent v25 v26)
  (adjacent v25 v60)
  (adjacent v25 v125)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v120)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v52)
  (adjacent v31 v35)
  (adjacent v31 v51)
  (adjacent v33 v34)
  (adjacent v33 v36)
  (adjacent v34 v35)
  (adjacent v35 v108)
  (adjacent v35 v123)
  (adjacent v36 v104)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v158)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v67)
  (adjacent v42 v43)
  (adjacent v43 v50)
  (adjacent v44 v45)
  (adjacent v45 v61)
  (adjacent v46 v47)
  (adjacent v46 v129)
  (adjacent v47 v48)
  (adjacent v47 v68)
  (adjacent v47 v160)
  (adjacent v48 v49)
  (adjacent v48 v98)
  (adjacent v49 v50)
  (adjacent v49 v154)
  (adjacent v50 v55)
  (adjacent v50 v155)
  (adjacent v51 v52)
  (adjacent v51 v53)
  (adjacent v51 v80)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v149)
  (adjacent v55 v86)
  (adjacent v55 v127)
  (adjacent v55 v141)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v78)
  (adjacent v57 v159)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v93)
  (adjacent v61 v62)
  (adjacent v61 v75)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v81)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v74)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v77)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v87)
  (adjacent v81 v82)
  (adjacent v81 v124)
  (adjacent v82 v83)
  (adjacent v82 v111)
  (adjacent v83 v84)
  (adjacent v83 v147)
  (adjacent v84 v85)
  (adjacent v84 v116)
  (adjacent v85 v86)
  (adjacent v85 v103)
  (adjacent v86 v150)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v148)
  (adjacent v89 v90)
  (adjacent v89 v130)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v115)
  (adjacent v92 v93)
  (adjacent v93 v112)
  (adjacent v93 v134)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v109)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v130)
  (adjacent v101 v102)
  (adjacent v102 v124)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v135)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v159)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v135 v142)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v160)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
 )
 (:goal
  (and
  (at r142 v0)
  (free v1)
  (at r93 v2)
  (free v3)
  (free v4)
  (at r138 v5)
  (at r104 v6)
  (free v7)
  (at r123 v8)
  (free v9)
  (at r94 v10)
  (at r148 v11)
  (at r128 v12)
  (at r157 v13)
  (at r124 v14)
  (at r153 v15)
  (free v16)
  (at r111 v17)
  (at r95 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r151 v23)
  (at r118 v24)
  (at r98 v25)
  (at r130 v26)
  (at r117 v27)
  (at r141 v28)
  (free v29)
  (at r85 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r125 v34)
  (free v35)
  (at r87 v36)
  (at r136 v37)
  (free v38)
  (free v39)
  (at r143 v40)
  (at r101 v41)
  (free v42)
  (at r89 v43)
  (at r152 v44)
  (at r96 v45)
  (free v46)
  (at r112 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r140 v51)
  (free v52)
  (at r103 v53)
  (free v54)
  (free v55)
  (free v56)
  (at r97 v57)
  (at r146 v58)
  (at r134 v59)
  (free v60)
  (free v61)
  (free v62)
  (at r132 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r106 v67)
  (at r121 v68)
  (free v69)
  (at r105 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r102 v74)
  (at r119 v75)
  (at r150 v76)
  (at r149 v77)
  (free v78)
  (at r120 v79)
  (free v80)
  (free v81)
  (at r139 v82)
  (at r91 v83)
  (free v84)
  (free v85)
  (at r147 v86)
  (free v87)
  (at r145 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r107 v93)
  (at r144 v94)
  (at r129 v95)
  (at r110 v96)
  (free v97)
  (free v98)
  (free v99)
  (at r133 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r122 v105)
  (free v106)
  (at r115 v107)
  (free v108)
  (free v109)
  (at r135 v110)
  (at r155 v111)
  (at r108 v112)
  (free v113)
  (at r92 v114)
  (free v115)
  (at r86 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r113 v122)
  (free v123)
  (free v124)
  (free v125)
  (at r159 v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (at r158 v131)
  (at r90 v132)
  (at r137 v133)
  (free v134)
  (at r114 v135)
  (free v136)
  (free v137)
  (at r127 v138)
  (at r109 v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r99 v144)
  (at r156 v145)
  (free v146)
  (free v147)
  (at r131 v148)
  (at r116 v149)
  (at r100 v150)
  (at r154 v151)
  (at r160 v152)
  (at r126 v153)
  (at r88 v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  )
 )
)