(define (problem multirobot_47_50%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1 r97
  v2 r158
  v3
  v4 r139
  v5
  v6
  v7 r173
  v8 r144
  v9
  v10
  v11 r146
  v12 r107
  v13
  v14 r128
  v15 r126
  v16 r93
  v17
  v18 r134
  v19 r121
  v20 r109
  v21 r168
  v22 r172
  v23
  v24 r156
  v25 r122
  v26 r112
  v27
  v28 r101
  v29
  v30
  v31 r113
  v32
  v33
  v34
  v35
  v36
  v37
  v38
  v39
  v40
  v41 r162
  v42
  v43 r163
  v44 r89
  v45 r166
  v46
  v47 r108
  v48 r130
  v49
  v50 r148
  v51 r95
  v52 r131
  v53 r106
  v54
  v55
  v56
  v57
  v58
  v59 r161
  v60 r143
  v61 r114
  v62
  v63
  v64
  v65
  v66
  v67
  v68 r149
  v69 r120
  v70
  v71 r152
  v72
  v73 r127
  v74
  v75 r164
  v76
  v77 r154
  v78 r151
  v79 r137
  v80 r141
  v81 r165
  v82
  v83
  v84
  v85
  v86 r123
  v87
  v88
  v89 r140
  v90 r147
  v91 r170
  v92
  v93
  v94
  v95 r116
  v96
  v97 r117
  v98
  v99 r91
  v100 r98
  v101 r145
  v102 r102
  v103
  v104 r132
  v105
  v106
  v107
  v108 r88
  v109
  v110
  v111 r115
  v112 r169
  v113
  v114 r119
  v115
  v116 r135
  v117 r124
  v118
  v119
  v120
  v121 r99
  v122 r150
  v123
  v124
  v125
  v126
  v127 r125
  v128
  v129 r142
  v130 r100
  v131 r138
  v132 r159
  v133
  v134
  v135 r104
  v136 r153
  v137 r167
  v138
  v139 r111
  v140
  v141 r155
  v142
  v143
  v144 r157
  v145
  v146 r105
  v147
  v148 r133
  v149
  v150 r129
  v151 r160
  v152
  v153
  v154
  v155
  v156
  v157
  v158
  v159 r171
  v160 r90
  v161
  v162
  v163 r110
  v164 r118
  v165
  v166
  v167
  v168 r94
  v169 r92
  v170
  v171 r103
  v172 r96
  v173 r136
 )
 (:init
  (free v0)
  (at r97 v1)
  (at r158 v2)
  (free v3)
  (at r139 v4)
  (free v5)
  (free v6)
  (at r173 v7)
  (at r144 v8)
  (free v9)
  (free v10)
  (at r146 v11)
  (at r107 v12)
  (free v13)
  (at r128 v14)
  (at r126 v15)
  (at r93 v16)
  (free v17)
  (at r134 v18)
  (at r121 v19)
  (at r109 v20)
  (at r168 v21)
  (at r172 v22)
  (free v23)
  (at r156 v24)
  (at r122 v25)
  (at r112 v26)
  (free v27)
  (at r101 v28)
  (free v29)
  (free v30)
  (at r113 v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r162 v41)
  (free v42)
  (at r163 v43)
  (at r89 v44)
  (at r166 v45)
  (free v46)
  (at r108 v47)
  (at r130 v48)
  (free v49)
  (at r148 v50)
  (at r95 v51)
  (at r131 v52)
  (at r106 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r161 v59)
  (at r143 v60)
  (at r114 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r149 v68)
  (at r120 v69)
  (free v70)
  (at r152 v71)
  (free v72)
  (at r127 v73)
  (free v74)
  (at r164 v75)
  (free v76)
  (at r154 v77)
  (at r151 v78)
  (at r137 v79)
  (at r141 v80)
  (at r165 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (at r123 v86)
  (free v87)
  (free v88)
  (at r140 v89)
  (at r147 v90)
  (at r170 v91)
  (free v92)
  (free v93)
  (free v94)
  (at r116 v95)
  (free v96)
  (at r117 v97)
  (free v98)
  (at r91 v99)
  (at r98 v100)
  (at r145 v101)
  (at r102 v102)
  (free v103)
  (at r132 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r88 v108)
  (free v109)
  (free v110)
  (at r115 v111)
  (at r169 v112)
  (free v113)
  (at r119 v114)
  (free v115)
  (at r135 v116)
  (at r124 v117)
  (free v118)
  (free v119)
  (free v120)
  (at r99 v121)
  (at r150 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r125 v127)
  (free v128)
  (at r142 v129)
  (at r100 v130)
  (at r138 v131)
  (at r159 v132)
  (free v133)
  (free v134)
  (at r104 v135)
  (at r153 v136)
  (at r167 v137)
  (free v138)
  (at r111 v139)
  (free v140)
  (at r155 v141)
  (free v142)
  (free v143)
  (at r157 v144)
  (free v145)
  (at r105 v146)
  (free v147)
  (at r133 v148)
  (free v149)
  (at r129 v150)
  (at r160 v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (at r171 v159)
  (at r90 v160)
  (free v161)
  (free v162)
  (at r110 v163)
  (at r118 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r94 v168)
  (at r92 v169)
  (free v170)
  (at r103 v171)
  (at r96 v172)
  (at r136 v173)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v9)
  (adjacent v0 v13)
  (adjacent v0 v14)
  (adjacent v0 v20)
  (adjacent v0 v66)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v11)
  (adjacent v1 v53)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v19)
  (adjacent v2 v54)
  (adjacent v2 v81)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v82)
  (adjacent v4 v64)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v5 v24)
  (adjacent v5 v27)
  (adjacent v5 v172)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v100)
  (adjacent v8 v14)
  (adjacent v8 v28)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v15)
  (adjacent v9 v26)
  (adjacent v10 v11)
  (adjacent v10 v35)
  (adjacent v10 v77)
  (adjacent v10 v154)
  (adjacent v11 v72)
  (adjacent v11 v105)
  (adjacent v12 v141)
  (adjacent v13 v23)
  (adjacent v13 v46)
  (adjacent v15 v16)
  (adjacent v15 v133)
  (adjacent v16 v17)
  (adjacent v16 v87)
  (adjacent v17 v18)
  (adjacent v17 v29)
  (adjacent v17 v94)
  (adjacent v18 v19)
  (adjacent v18 v42)
  (adjacent v19 v71)
  (adjacent v20 v21)
  (adjacent v20 v106)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v101)
  (adjacent v24 v25)
  (adjacent v24 v42)
  (adjacent v24 v57)
  (adjacent v25 v26)
  (adjacent v26 v41)
  (adjacent v26 v80)
  (adjacent v27 v28)
  (adjacent v27 v36)
  (adjacent v29 v30)
  (adjacent v29 v140)
  (adjacent v30 v31)
  (adjacent v30 v144)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v78)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v106)
  (adjacent v34 v130)
  (adjacent v35 v47)
  (adjacent v36 v37)
  (adjacent v36 v159)
  (adjacent v37 v38)
  (adjacent v37 v86)
  (adjacent v37 v156)
  (adjacent v38 v39)
  (adjacent v38 v58)
  (adjacent v39 v40)
  (adjacent v39 v171)
  (adjacent v40 v41)
  (adjacent v40 v155)
  (adjacent v41 v105)
  (adjacent v42 v43)
  (adjacent v42 v63)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v173)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v114)
  (adjacent v58 v115)
  (adjacent v58 v121)
  (adjacent v58 v122)
  (adjacent v58 v158)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v116)
  (adjacent v61 v62)
  (adjacent v61 v131)
  (adjacent v62 v63)
  (adjacent v62 v67)
  (adjacent v63 v104)
  (adjacent v64 v65)
  (adjacent v64 v83)
  (adjacent v65 v66)
  (adjacent v65 v152)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v115)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v150)
  (adjacent v77 v155)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v107)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v126)
  (adjacent v85 v86)
  (adjacent v86 v93)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v94 v166)
  (adjacent v95 v96)
  (adjacent v95 v114)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v151)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v101 v134)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v113)
  (adjacent v106 v157)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v153)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v125)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v165)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v158)
  (adjacent v130 v143)
  (adjacent v131 v132)
  (adjacent v131 v143)
  (adjacent v132 v133)
  (adjacent v133 v142)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v156 v157)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v172 v173)
 )
 (:goal
  (and
  (at r163 v0)
  (at r158 v1)
  (at r129 v2)
  (at r145 v3)
  (free v4)
  (free v5)
  (at r102 v6)
  (at r94 v7)
  (free v8)
  (at r131 v9)
  (at r154 v10)
  (free v11)
  (free v12)
  (at r169 v13)
  (at r166 v14)
  (free v15)
  (free v16)
  (at r120 v17)
  (free v18)
  (at r90 v19)
  (free v20)
  (at r137 v21)
  (free v22)
  (free v23)
  (at r125 v24)
  (free v25)
  (at r152 v26)
  (free v27)
  (at r139 v28)
  (at r141 v29)
  (at r115 v30)
  (at r121 v31)
  (at r110 v32)
  (at r142 v33)
  (at r144 v34)
  (free v35)
  (at r165 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r117 v44)
  (at r170 v45)
  (free v46)
  (free v47)
  (at r119 v48)
  (at r100 v49)
  (free v50)
  (free v51)
  (at r113 v52)
  (free v53)
  (at r172 v54)
  (at r148 v55)
  (at r89 v56)
  (free v57)
  (free v58)
  (free v59)
  (at r112 v60)
  (at r159 v61)
  (at r104 v62)
  (free v63)
  (at r116 v64)
  (at r173 v65)
  (free v66)
  (free v67)
  (at r111 v68)
  (at r88 v69)
  (free v70)
  (at r147 v71)
  (free v72)
  (at r168 v73)
  (at r164 v74)
  (free v75)
  (at r136 v76)
  (at r109 v77)
  (at r122 v78)
  (at r97 v79)
  (at r167 v80)
  (free v81)
  (at r160 v82)
  (at r138 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r150 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r126 v91)
  (at r134 v92)
  (free v93)
  (at r130 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r108 v98)
  (free v99)
  (at r132 v100)
  (free v101)
  (free v102)
  (at r118 v103)
  (at r99 v104)
  (at r143 v105)
  (free v106)
  (free v107)
  (free v108)
  (at r127 v109)
  (at r128 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r153 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r91 v119)
  (free v120)
  (free v121)
  (at r101 v122)
  (at r156 v123)
  (at r155 v124)
  (at r161 v125)
  (free v126)
  (at r123 v127)
  (free v128)
  (free v129)
  (at r171 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r146 v134)
  (free v135)
  (free v136)
  (at r98 v137)
  (free v138)
  (free v139)
  (at r157 v140)
  (at r135 v141)
  (free v142)
  (free v143)
  (at r133 v144)
  (at r103 v145)
  (at r149 v146)
  (at r96 v147)
  (free v148)
  (at r107 v149)
  (free v150)
  (free v151)
  (free v152)
  (at r106 v153)
  (at r151 v154)
  (free v155)
  (free v156)
  (free v157)
  (at r92 v158)
  (free v159)
  (at r124 v160)
  (at r140 v161)
  (free v162)
  (at r114 v163)
  (at r95 v164)
  (at r162 v165)
  (at r93 v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (at r105 v171)
  (free v172)
  (free v173)
  )
 )
)