(define (problem multirobot_46_50%_c7)
 (:domain multirobot)
 (:objects
  v0 r105
  v1 r90
  v2 r156
  v3 r97
  v4
  v5
  v6 r104
  v7 r157
  v8 r125
  v9
  v10
  v11
  v12
  v13
  v14 r150
  v15 r152
  v16
  v17
  v18 r142
  v19 r87
  v20
  v21 r85
  v22
  v23
  v24
  v25 r96
  v26
  v27
  v28 r171
  v29 r133
  v30 r160
  v31
  v32 r88
  v33 r111
  v34 r120
  v35 r116
  v36
  v37
  v38
  v39
  v40
  v41 r149
  v42
  v43 r129
  v44 r159
  v45 r118
  v46
  v47
  v48 r139
  v49 r119
  v50 r112
  v51 r93
  v52
  v53
  v54 r101
  v55
  v56
  v57
  v58 r92
  v59 r128
  v60 r168
  v61 r138
  v62 r174
  v63 r89
  v64 r107
  v65 r164
  v66
  v67
  v68
  v69 r91
  v70 r147
  v71
  v72
  v73 r143
  v74 r114
  v75 r103
  v76
  v77
  v78 r170
  v79
  v80 r144
  v81
  v82 r154
  v83
  v84 r122
  v85
  v86 r146
  v87
  v88 r95
  v89
  v90
  v91
  v92
  v93 r124
  v94
  v95
  v96
  v97
  v98
  v99
  v100
  v101 r106
  v102 r169
  v103 r117
  v104
  v105
  v106
  v107 r113
  v108 r136
  v109
  v110 r172
  v111
  v112
  v113
  v114 r148
  v115 r166
  v116
  v117
  v118
  v119
  v120 r121
  v121 r94
  v122
  v123
  v124
  v125 r175
  v126 r115
  v127
  v128
  v129 r167
  v130
  v131 r130
  v132 r137
  v133
  v134
  v135
  v136 r155
  v137 r162
  v138 r99
  v139 r127
  v140 r123
  v141 r110
  v142
  v143
  v144 r158
  v145 r161
  v146 r132
  v147 r140
  v148 r173
  v149 r165
  v150
  v151
  v152 r153
  v153 r98
  v154
  v155 r126
  v156 r134
  v157 r109
  v158
  v159 r151
  v160
  v161
  v162 r141
  v163 r108
  v164 r102
  v165 r145
  v166
  v167 r131
  v168 r135
  v169
  v170 r86
  v171 r163
  v172
  v173
  v174
  v175 r100
 )
 (:init
  (at r105 v0)
  (at r90 v1)
  (at r156 v2)
  (at r97 v3)
  (free v4)
  (free v5)
  (at r104 v6)
  (at r157 v7)
  (at r125 v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r150 v14)
  (at r152 v15)
  (free v16)
  (free v17)
  (at r142 v18)
  (at r87 v19)
  (free v20)
  (at r85 v21)
  (free v22)
  (free v23)
  (free v24)
  (at r96 v25)
  (free v26)
  (free v27)
  (at r171 v28)
  (at r133 v29)
  (at r160 v30)
  (free v31)
  (at r88 v32)
  (at r111 v33)
  (at r120 v34)
  (at r116 v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r149 v41)
  (free v42)
  (at r129 v43)
  (at r159 v44)
  (at r118 v45)
  (free v46)
  (free v47)
  (at r139 v48)
  (at r119 v49)
  (at r112 v50)
  (at r93 v51)
  (free v52)
  (free v53)
  (at r101 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r92 v58)
  (at r128 v59)
  (at r168 v60)
  (at r138 v61)
  (at r174 v62)
  (at r89 v63)
  (at r107 v64)
  (at r164 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r91 v69)
  (at r147 v70)
  (free v71)
  (free v72)
  (at r143 v73)
  (at r114 v74)
  (at r103 v75)
  (free v76)
  (free v77)
  (at r170 v78)
  (free v79)
  (at r144 v80)
  (free v81)
  (at r154 v82)
  (free v83)
  (at r122 v84)
  (free v85)
  (at r146 v86)
  (free v87)
  (at r95 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r124 v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r106 v101)
  (at r169 v102)
  (at r117 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r113 v107)
  (at r136 v108)
  (free v109)
  (at r172 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r148 v114)
  (at r166 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r121 v120)
  (at r94 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r175 v125)
  (at r115 v126)
  (free v127)
  (free v128)
  (at r167 v129)
  (free v130)
  (at r130 v131)
  (at r137 v132)
  (free v133)
  (free v134)
  (free v135)
  (at r155 v136)
  (at r162 v137)
  (at r99 v138)
  (at r127 v139)
  (at r123 v140)
  (at r110 v141)
  (free v142)
  (free v143)
  (at r158 v144)
  (at r161 v145)
  (at r132 v146)
  (at r140 v147)
  (at r173 v148)
  (at r165 v149)
  (free v150)
  (free v151)
  (at r153 v152)
  (at r98 v153)
  (free v154)
  (at r126 v155)
  (at r134 v156)
  (at r109 v157)
  (free v158)
  (at r151 v159)
  (free v160)
  (free v161)
  (at r141 v162)
  (at r108 v163)
  (at r102 v164)
  (at r145 v165)
  (free v166)
  (at r131 v167)
  (at r135 v168)
  (free v169)
  (at r86 v170)
  (at r163 v171)
  (free v172)
  (free v173)
  (free v174)
  (at r100 v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v138)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v30)
  (adjacent v2 v31)
  (adjacent v2 v53)
  (adjacent v3 v4)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v48)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v58)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v23)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v69)
  (adjacent v10 v109)
  (adjacent v10 v131)
  (adjacent v11 v12)
  (adjacent v11 v37)
  (adjacent v11 v94)
  (adjacent v11 v150)
  (adjacent v12 v13)
  (adjacent v12 v43)
  (adjacent v12 v59)
  (adjacent v13 v14)
  (adjacent v13 v22)
  (adjacent v13 v36)
  (adjacent v13 v139)
  (adjacent v14 v15)
  (adjacent v14 v76)
  (adjacent v15 v16)
  (adjacent v15 v99)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v26)
  (adjacent v19 v86)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v64)
  (adjacent v21 v114)
  (adjacent v21 v119)
  (adjacent v21 v165)
  (adjacent v22 v80)
  (adjacent v22 v96)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v27)
  (adjacent v24 v67)
  (adjacent v24 v154)
  (adjacent v25 v26)
  (adjacent v25 v42)
  (adjacent v25 v68)
  (adjacent v25 v164)
  (adjacent v26 v79)
  (adjacent v26 v125)
  (adjacent v27 v28)
  (adjacent v27 v160)
  (adjacent v28 v29)
  (adjacent v28 v87)
  (adjacent v29 v30)
  (adjacent v29 v65)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v71)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v72)
  (adjacent v43 v44)
  (adjacent v43 v57)
  (adjacent v43 v86)
  (adjacent v44 v45)
  (adjacent v44 v164)
  (adjacent v45 v46)
  (adjacent v45 v49)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v52)
  (adjacent v47 v95)
  (adjacent v49 v50)
  (adjacent v49 v87)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v56)
  (adjacent v52 v95)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v138)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v57 v124)
  (adjacent v59 v60)
  (adjacent v59 v70)
  (adjacent v60 v61)
  (adjacent v60 v77)
  (adjacent v61 v62)
  (adjacent v61 v88)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v151)
  (adjacent v64 v85)
  (adjacent v64 v145)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v72 v161)
  (adjacent v72 v175)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v113)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v169)
  (adjacent v82 v83)
  (adjacent v82 v127)
  (adjacent v83 v84)
  (adjacent v83 v98)
  (adjacent v84 v85)
  (adjacent v84 v104)
  (adjacent v84 v110)
  (adjacent v86 v118)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v150)
  (adjacent v94 v137)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v103)
  (adjacent v99 v100)
  (adjacent v99 v146)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v132)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v124)
  (adjacent v105 v106)
  (adjacent v105 v123)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v126)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v157)
  (adjacent v113 v170)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v145)
  (adjacent v124 v144)
  (adjacent v124 v149)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v171)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v172)
  (adjacent v136 v137)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v140 v153)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v156)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v163)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
 )
 (:goal
  (and
  (at r150 v0)
  (at r127 v1)
  (at r118 v2)
  (free v3)
  (free v4)
  (at r97 v5)
  (free v6)
  (at r125 v7)
  (at r94 v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r93 v16)
  (at r157 v17)
  (free v18)
  (free v19)
  (at r164 v20)
  (free v21)
  (free v22)
  (at r100 v23)
  (at r92 v24)
  (free v25)
  (free v26)
  (at r153 v27)
  (free v28)
  (at r168 v29)
  (at r172 v30)
  (free v31)
  (at r132 v32)
  (at r148 v33)
  (free v34)
  (at r139 v35)
  (at r117 v36)
  (at r170 v37)
  (free v38)
  (at r133 v39)
  (at r175 v40)
  (free v41)
  (free v42)
  (at r109 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r121 v49)
  (at r143 v50)
  (at r95 v51)
  (at r130 v52)
  (free v53)
  (at r86 v54)
  (at r169 v55)
  (at r99 v56)
  (at r138 v57)
  (at r144 v58)
  (free v59)
  (free v60)
  (at r129 v61)
  (free v62)
  (free v63)
  (at r89 v64)
  (at r113 v65)
  (free v66)
  (free v67)
  (at r87 v68)
  (at r146 v69)
  (free v70)
  (at r158 v71)
  (at r88 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r171 v77)
  (free v78)
  (at r104 v79)
  (free v80)
  (at r123 v81)
  (free v82)
  (free v83)
  (at r173 v84)
  (at r161 v85)
  (free v86)
  (at r140 v87)
  (at r124 v88)
  (at r136 v89)
  (at r159 v90)
  (free v91)
  (free v92)
  (at r91 v93)
  (free v94)
  (at r167 v95)
  (at r122 v96)
  (free v97)
  (free v98)
  (at r147 v99)
  (free v100)
  (free v101)
  (free v102)
  (at r142 v103)
  (at r116 v104)
  (at r134 v105)
  (at r102 v106)
  (at r165 v107)
  (free v108)
  (at r166 v109)
  (at r137 v110)
  (at r114 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r135 v115)
  (free v116)
  (at r111 v117)
  (at r103 v118)
  (free v119)
  (free v120)
  (free v121)
  (at r85 v122)
  (at r106 v123)
  (at r126 v124)
  (free v125)
  (at r149 v126)
  (free v127)
  (at r119 v128)
  (free v129)
  (at r154 v130)
  (at r105 v131)
  (free v132)
  (at r98 v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (at r90 v139)
  (at r101 v140)
  (at r115 v141)
  (at r108 v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (at r145 v147)
  (at r107 v148)
  (at r120 v149)
  (free v150)
  (at r174 v151)
  (at r96 v152)
  (at r112 v153)
  (at r141 v154)
  (free v155)
  (free v156)
  (at r156 v157)
  (free v158)
  (at r163 v159)
  (at r160 v160)
  (free v161)
  (free v162)
  (at r151 v163)
  (at r128 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r152 v168)
  (at r155 v169)
  (at r131 v170)
  (free v171)
  (at r110 v172)
  (free v173)
  (free v174)
  (at r162 v175)
  )
 )
)