(define (problem multirobot_47_50%_c8)
 (:domain multirobot)
 (:objects
  v0 r99
  v1
  v2
  v3 r167
  v4
  v5 r103
  v6 r149
  v7
  v8
  v9
  v10 r147
  v11 r124
  v12 r158
  v13
  v14
  v15 r177
  v16 r154
  v17
  v18
  v19
  v20
  v21 r131
  v22
  v23
  v24
  v25
  v26 r92
  v27
  v28 r96
  v29
  v30
  v31 r119
  v32 r110
  v33
  v34
  v35
  v36
  v37 r169
  v38 r150
  v39 r146
  v40 r107
  v41
  v42
  v43
  v44 r136
  v45 r168
  v46 r121
  v47 r122
  v48 r163
  v49
  v50 r141
  v51 r166
  v52 r135
  v53
  v54
  v55 r95
  v56
  v57 r123
  v58 r93
  v59 r165
  v60
  v61
  v62
  v63 r160
  v64
  v65
  v66 r161
  v67
  v68 r164
  v69 r159
  v70 r116
  v71
  v72 r126
  v73
  v74 r98
  v75
  v76
  v77 r173
  v78 r133
  v79
  v80 r171
  v81 r105
  v82 r179
  v83
  v84 r137
  v85 r113
  v86
  v87 r151
  v88
  v89 r120
  v90 r117
  v91 r94
  v92 r130
  v93 r153
  v94
  v95
  v96 r87
  v97
  v98 r97
  v99 r114
  v100 r139
  v101
  v102
  v103
  v104
  v105 r128
  v106
  v107
  v108 r88
  v109
  v110
  v111 r157
  v112 r176
  v113 r104
  v114 r174
  v115
  v116
  v117
  v118 r148
  v119
  v120 r108
  v121 r106
  v122
  v123 r115
  v124 r180
  v125
  v126 r109
  v127
  v128
  v129 r132
  v130 r91
  v131
  v132 r90
  v133
  v134 r175
  v135
  v136 r142
  v137 r100
  v138
  v139 r118
  v140
  v141 r152
  v142
  v143 r143
  v144
  v145 r170
  v146
  v147
  v148
  v149
  v150 r102
  v151
  v152 r125
  v153
  v154 r145
  v155 r156
  v156 r144
  v157
  v158
  v159
  v160 r140
  v161 r178
  v162 r111
  v163 r129
  v164 r101
  v165 r127
  v166
  v167
  v168
  v169 r112
  v170
  v171 r162
  v172 r155
  v173
  v174
  v175 r172
  v176 r89
  v177 r134
  v178
  v179 r138
  v180
 )
 (:init
  (at r99 v0)
  (free v1)
  (free v2)
  (at r167 v3)
  (free v4)
  (at r103 v5)
  (at r149 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r147 v10)
  (at r124 v11)
  (at r158 v12)
  (free v13)
  (free v14)
  (at r177 v15)
  (at r154 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r131 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r92 v26)
  (free v27)
  (at r96 v28)
  (free v29)
  (free v30)
  (at r119 v31)
  (at r110 v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (at r169 v37)
  (at r150 v38)
  (at r146 v39)
  (at r107 v40)
  (free v41)
  (free v42)
  (free v43)
  (at r136 v44)
  (at r168 v45)
  (at r121 v46)
  (at r122 v47)
  (at r163 v48)
  (free v49)
  (at r141 v50)
  (at r166 v51)
  (at r135 v52)
  (free v53)
  (free v54)
  (at r95 v55)
  (free v56)
  (at r123 v57)
  (at r93 v58)
  (at r165 v59)
  (free v60)
  (free v61)
  (free v62)
  (at r160 v63)
  (free v64)
  (free v65)
  (at r161 v66)
  (free v67)
  (at r164 v68)
  (at r159 v69)
  (at r116 v70)
  (free v71)
  (at r126 v72)
  (free v73)
  (at r98 v74)
  (free v75)
  (free v76)
  (at r173 v77)
  (at r133 v78)
  (free v79)
  (at r171 v80)
  (at r105 v81)
  (at r179 v82)
  (free v83)
  (at r137 v84)
  (at r113 v85)
  (free v86)
  (at r151 v87)
  (free v88)
  (at r120 v89)
  (at r117 v90)
  (at r94 v91)
  (at r130 v92)
  (at r153 v93)
  (free v94)
  (free v95)
  (at r87 v96)
  (free v97)
  (at r97 v98)
  (at r114 v99)
  (at r139 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r128 v105)
  (free v106)
  (free v107)
  (at r88 v108)
  (free v109)
  (free v110)
  (at r157 v111)
  (at r176 v112)
  (at r104 v113)
  (at r174 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r148 v118)
  (free v119)
  (at r108 v120)
  (at r106 v121)
  (free v122)
  (at r115 v123)
  (at r180 v124)
  (free v125)
  (at r109 v126)
  (free v127)
  (free v128)
  (at r132 v129)
  (at r91 v130)
  (free v131)
  (at r90 v132)
  (free v133)
  (at r175 v134)
  (free v135)
  (at r142 v136)
  (at r100 v137)
  (free v138)
  (at r118 v139)
  (free v140)
  (at r152 v141)
  (free v142)
  (at r143 v143)
  (free v144)
  (at r170 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (at r102 v150)
  (free v151)
  (at r125 v152)
  (free v153)
  (at r145 v154)
  (at r156 v155)
  (at r144 v156)
  (free v157)
  (free v158)
  (free v159)
  (at r140 v160)
  (at r178 v161)
  (at r111 v162)
  (at r129 v163)
  (at r101 v164)
  (at r127 v165)
  (free v166)
  (free v167)
  (free v168)
  (at r112 v169)
  (free v170)
  (at r162 v171)
  (at r155 v172)
  (free v173)
  (free v174)
  (at r172 v175)
  (at r89 v176)
  (at r134 v177)
  (free v178)
  (at r138 v179)
  (free v180)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v84)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v11)
  (adjacent v2 v17)
  (adjacent v2 v30)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v4 v128)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v174)
  (adjacent v6 v7)
  (adjacent v6 v22)
  (adjacent v7 v8)
  (adjacent v7 v23)
  (adjacent v7 v75)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v8 v28)
  (adjacent v8 v53)
  (adjacent v8 v113)
  (adjacent v9 v10)
  (adjacent v9 v83)
  (adjacent v10 v72)
  (adjacent v11 v44)
  (adjacent v11 v139)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v43)
  (adjacent v13 v125)
  (adjacent v13 v174)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v36)
  (adjacent v15 v16)
  (adjacent v15 v151)
  (adjacent v16 v43)
  (adjacent v17 v18)
  (adjacent v17 v24)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v27)
  (adjacent v19 v54)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v65)
  (adjacent v22 v112)
  (adjacent v22 v167)
  (adjacent v23 v29)
  (adjacent v23 v95)
  (adjacent v23 v108)
  (adjacent v23 v173)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v73)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v28 v50)
  (adjacent v29 v126)
  (adjacent v30 v31)
  (adjacent v30 v119)
  (adjacent v31 v32)
  (adjacent v31 v51)
  (adjacent v31 v107)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v42)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v60)
  (adjacent v37 v135)
  (adjacent v38 v39)
  (adjacent v38 v101)
  (adjacent v39 v40)
  (adjacent v39 v76)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v145)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v66)
  (adjacent v45 v127)
  (adjacent v46 v47)
  (adjacent v46 v61)
  (adjacent v46 v118)
  (adjacent v47 v48)
  (adjacent v47 v139)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v113)
  (adjacent v51 v52)
  (adjacent v51 v82)
  (adjacent v51 v100)
  (adjacent v51 v170)
  (adjacent v52 v53)
  (adjacent v52 v81)
  (adjacent v53 v94)
  (adjacent v54 v55)
  (adjacent v54 v114)
  (adjacent v55 v56)
  (adjacent v55 v114)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v136)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v150)
  (adjacent v60 v119)
  (adjacent v61 v62)
  (adjacent v61 v149)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v98)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v146)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v73 v129)
  (adjacent v74 v75)
  (adjacent v74 v105)
  (adjacent v76 v77)
  (adjacent v76 v97)
  (adjacent v76 v131)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v155)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v154)
  (adjacent v82 v83)
  (adjacent v82 v106)
  (adjacent v83 v87)
  (adjacent v84 v85)
  (adjacent v84 v124)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v88)
  (adjacent v86 v120)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v130)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v98 v150)
  (adjacent v98 v162)
  (adjacent v99 v100)
  (adjacent v100 v115)
  (adjacent v101 v102)
  (adjacent v101 v128)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v125)
  (adjacent v114 v171)
  (adjacent v115 v116)
  (adjacent v115 v140)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v180)
  (adjacent v120 v121)
  (adjacent v120 v166)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v138)
  (adjacent v126 v127)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v161)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v147 v175)
  (adjacent v148 v149)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
 )
 (:goal
  (and
  (at r116 v0)
  (at r97 v1)
  (free v2)
  (at r135 v3)
  (free v4)
  (at r168 v5)
  (at r92 v6)
  (free v7)
  (free v8)
  (at r146 v9)
  (free v10)
  (at r143 v11)
  (free v12)
  (at r94 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r112 v17)
  (at r160 v18)
  (at r107 v19)
  (at r93 v20)
  (free v21)
  (free v22)
  (at r138 v23)
  (at r128 v24)
  (free v25)
  (at r162 v26)
  (at r140 v27)
  (at r113 v28)
  (at r158 v29)
  (free v30)
  (free v31)
  (at r106 v32)
  (free v33)
  (free v34)
  (at r108 v35)
  (at r139 v36)
  (at r95 v37)
  (at r179 v38)
  (at r173 v39)
  (free v40)
  (at r171 v41)
  (at r165 v42)
  (free v43)
  (at r178 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r157 v49)
  (free v50)
  (at r118 v51)
  (free v52)
  (at r133 v53)
  (free v54)
  (at r155 v55)
  (at r134 v56)
  (at r177 v57)
  (at r120 v58)
  (free v59)
  (free v60)
  (free v61)
  (at r121 v62)
  (at r109 v63)
  (at r137 v64)
  (at r167 v65)
  (free v66)
  (at r151 v67)
  (at r150 v68)
  (at r123 v69)
  (at r172 v70)
  (free v71)
  (at r161 v72)
  (at r114 v73)
  (free v74)
  (at r125 v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r99 v81)
  (free v82)
  (free v83)
  (at r96 v84)
  (free v85)
  (at r90 v86)
  (free v87)
  (free v88)
  (at r148 v89)
  (free v90)
  (at r141 v91)
  (free v92)
  (free v93)
  (at r130 v94)
  (at r170 v95)
  (at r153 v96)
  (at r147 v97)
  (free v98)
  (at r87 v99)
  (free v100)
  (at r159 v101)
  (free v102)
  (at r101 v103)
  (at r91 v104)
  (at r102 v105)
  (at r110 v106)
  (free v107)
  (at r142 v108)
  (at r100 v109)
  (free v110)
  (free v111)
  (free v112)
  (at r174 v113)
  (free v114)
  (at r169 v115)
  (at r98 v116)
  (at r104 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r176 v122)
  (free v123)
  (free v124)
  (at r131 v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (at r117 v130)
  (at r154 v131)
  (at r164 v132)
  (free v133)
  (at r124 v134)
  (free v135)
  (at r115 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r163 v141)
  (at r156 v142)
  (free v143)
  (at r89 v144)
  (free v145)
  (at r111 v146)
  (free v147)
  (at r132 v148)
  (free v149)
  (at r180 v150)
  (free v151)
  (free v152)
  (free v153)
  (at r149 v154)
  (free v155)
  (at r175 v156)
  (at r129 v157)
  (at r127 v158)
  (at r166 v159)
  (at r136 v160)
  (free v161)
  (free v162)
  (free v163)
  (at r105 v164)
  (at r122 v165)
  (at r88 v166)
  (free v167)
  (at r152 v168)
  (at r103 v169)
  (at r144 v170)
  (free v171)
  (free v172)
  (at r145 v173)
  (free v174)
  (free v175)
  (free v176)
  (free v177)
  (at r119 v178)
  (free v179)
  (at r126 v180)
  )
 )
)