(define (problem multirobot_48_50%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1 r108
  v2
  v3 r107
  v4 r100
  v5 r176
  v6
  v7
  v8 r139
  v9
  v10 r142
  v11
  v12 r174
  v13 r149
  v14 r137
  v15 r126
  v16 r104
  v17 r167
  v18 r127
  v19
  v20 r112
  v21
  v22
  v23
  v24
  v25 r147
  v26 r155
  v27 r101
  v28
  v29 r159
  v30
  v31
  v32
  v33
  v34
  v35
  v36 r140
  v37 r146
  v38 r103
  v39 r93
  v40 r141
  v41 r102
  v42
  v43
  v44
  v45
  v46 r143
  v47
  v48
  v49 r138
  v50
  v51
  v52 r94
  v53
  v54
  v55 r172
  v56
  v57
  v58 r120
  v59 r123
  v60 r134
  v61 r109
  v62 r91
  v63 r116
  v64
  v65 r133
  v66 r148
  v67
  v68 r110
  v69
  v70 r165
  v71
  v72 r136
  v73 r131
  v74 r95
  v75 r96
  v76 r89
  v77
  v78
  v79 r170
  v80
  v81
  v82 r162
  v83
  v84
  v85
  v86
  v87
  v88
  v89 r90
  v90
  v91
  v92 r157
  v93 r132
  v94 r173
  v95
  v96
  v97
  v98 r113
  v99 r152
  v100 r177
  v101 r97
  v102
  v103 r175
  v104
  v105 r161
  v106
  v107
  v108
  v109
  v110 r171
  v111
  v112 r98
  v113 r129
  v114
  v115 r105
  v116 r151
  v117
  v118 r166
  v119 r118
  v120 r135
  v121 r169
  v122 r92
  v123
  v124
  v125
  v126 r122
  v127 r106
  v128 r124
  v129 r153
  v130 r156
  v131
  v132
  v133 r145
  v134 r114
  v135 r168
  v136
  v137 r119
  v138
  v139 r144
  v140
  v141
  v142
  v143 r158
  v144
  v145
  v146
  v147 r128
  v148
  v149 r178
  v150
  v151 r111
  v152 r154
  v153
  v154 r99
  v155
  v156
  v157 r121
  v158 r130
  v159
  v160
  v161
  v162
  v163
  v164
  v165
  v166 r117
  v167 r125
  v168
  v169 r163
  v170 r164
  v171
  v172 r115
  v173
  v174 r160
  v175 r150
  v176
  v177
  v178
 )
 (:init
  (free v0)
  (at r108 v1)
  (free v2)
  (at r107 v3)
  (at r100 v4)
  (at r176 v5)
  (free v6)
  (free v7)
  (at r139 v8)
  (free v9)
  (at r142 v10)
  (free v11)
  (at r174 v12)
  (at r149 v13)
  (at r137 v14)
  (at r126 v15)
  (at r104 v16)
  (at r167 v17)
  (at r127 v18)
  (free v19)
  (at r112 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (at r147 v25)
  (at r155 v26)
  (at r101 v27)
  (free v28)
  (at r159 v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (at r140 v36)
  (at r146 v37)
  (at r103 v38)
  (at r93 v39)
  (at r141 v40)
  (at r102 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (at r143 v46)
  (free v47)
  (free v48)
  (at r138 v49)
  (free v50)
  (free v51)
  (at r94 v52)
  (free v53)
  (free v54)
  (at r172 v55)
  (free v56)
  (free v57)
  (at r120 v58)
  (at r123 v59)
  (at r134 v60)
  (at r109 v61)
  (at r91 v62)
  (at r116 v63)
  (free v64)
  (at r133 v65)
  (at r148 v66)
  (free v67)
  (at r110 v68)
  (free v69)
  (at r165 v70)
  (free v71)
  (at r136 v72)
  (at r131 v73)
  (at r95 v74)
  (at r96 v75)
  (at r89 v76)
  (free v77)
  (free v78)
  (at r170 v79)
  (free v80)
  (free v81)
  (at r162 v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (at r90 v89)
  (free v90)
  (free v91)
  (at r157 v92)
  (at r132 v93)
  (at r173 v94)
  (free v95)
  (free v96)
  (free v97)
  (at r113 v98)
  (at r152 v99)
  (at r177 v100)
  (at r97 v101)
  (free v102)
  (at r175 v103)
  (free v104)
  (at r161 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r171 v110)
  (free v111)
  (at r98 v112)
  (at r129 v113)
  (free v114)
  (at r105 v115)
  (at r151 v116)
  (free v117)
  (at r166 v118)
  (at r118 v119)
  (at r135 v120)
  (at r169 v121)
  (at r92 v122)
  (free v123)
  (free v124)
  (free v125)
  (at r122 v126)
  (at r106 v127)
  (at r124 v128)
  (at r153 v129)
  (at r156 v130)
  (free v131)
  (free v132)
  (at r145 v133)
  (at r114 v134)
  (at r168 v135)
  (free v136)
  (at r119 v137)
  (free v138)
  (at r144 v139)
  (free v140)
  (free v141)
  (free v142)
  (at r158 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r128 v147)
  (free v148)
  (at r178 v149)
  (free v150)
  (at r111 v151)
  (at r154 v152)
  (free v153)
  (at r99 v154)
  (free v155)
  (free v156)
  (at r121 v157)
  (at r130 v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (free v163)
  (free v164)
  (free v165)
  (at r117 v166)
  (at r125 v167)
  (free v168)
  (at r163 v169)
  (at r164 v170)
  (free v171)
  (at r115 v172)
  (free v173)
  (at r160 v174)
  (at r150 v175)
  (free v176)
  (free v177)
  (free v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v30)
  (adjacent v0 v79)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v114)
  (adjacent v2 v3)
  (adjacent v2 v74)
  (adjacent v2 v110)
  (adjacent v3 v4)
  (adjacent v3 v13)
  (adjacent v3 v22)
  (adjacent v3 v68)
  (adjacent v4 v8)
  (adjacent v4 v118)
  (adjacent v5 v6)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v27)
  (adjacent v6 v83)
  (adjacent v7 v18)
  (adjacent v7 v55)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v10 v113)
  (adjacent v11 v12)
  (adjacent v11 v47)
  (adjacent v11 v176)
  (adjacent v13 v14)
  (adjacent v13 v111)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v17 v35)
  (adjacent v17 v119)
  (adjacent v18 v19)
  (adjacent v18 v86)
  (adjacent v19 v20)
  (adjacent v19 v28)
  (adjacent v20 v21)
  (adjacent v20 v113)
  (adjacent v20 v131)
  (adjacent v20 v178)
  (adjacent v22 v23)
  (adjacent v22 v147)
  (adjacent v23 v24)
  (adjacent v23 v29)
  (adjacent v23 v97)
  (adjacent v23 v98)
  (adjacent v23 v107)
  (adjacent v24 v25)
  (adjacent v24 v48)
  (adjacent v24 v55)
  (adjacent v24 v80)
  (adjacent v24 v94)
  (adjacent v25 v26)
  (adjacent v25 v93)
  (adjacent v26 v27)
  (adjacent v26 v36)
  (adjacent v26 v63)
  (adjacent v26 v82)
  (adjacent v28 v29)
  (adjacent v28 v56)
  (adjacent v29 v49)
  (adjacent v29 v112)
  (adjacent v29 v126)
  (adjacent v30 v31)
  (adjacent v30 v40)
  (adjacent v30 v45)
  (adjacent v31 v32)
  (adjacent v31 v112)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v33 v127)
  (adjacent v34 v35)
  (adjacent v34 v62)
  (adjacent v34 v74)
  (adjacent v35 v103)
  (adjacent v35 v148)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v54)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v67)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v56)
  (adjacent v43 v92)
  (adjacent v44 v45)
  (adjacent v44 v48)
  (adjacent v45 v93)
  (adjacent v46 v47)
  (adjacent v49 v50)
  (adjacent v49 v73)
  (adjacent v50 v51)
  (adjacent v50 v141)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v109)
  (adjacent v54 v137)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v140)
  (adjacent v63 v64)
  (adjacent v63 v159)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v125)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v139)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v108)
  (adjacent v75 v126)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v109)
  (adjacent v77 v148)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v85)
  (adjacent v81 v149)
  (adjacent v82 v122)
  (adjacent v83 v84)
  (adjacent v83 v107)
  (adjacent v83 v123)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v130)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v106)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v136)
  (adjacent v95 v168)
  (adjacent v96 v97)
  (adjacent v97 v169)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v108)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v153)
  (adjacent v109 v140)
  (adjacent v110 v111)
  (adjacent v110 v175)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v131 v160)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v137 v162)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v152)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v163)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (free v0)
  (at r132 v1)
  (at r138 v2)
  (at r158 v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r143 v8)
  (at r122 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r101 v13)
  (free v14)
  (at r160 v15)
  (at r161 v16)
  (free v17)
  (at r171 v18)
  (at r139 v19)
  (free v20)
  (at r175 v21)
  (at r89 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r93 v26)
  (free v27)
  (free v28)
  (at r135 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r163 v33)
  (at r176 v34)
  (free v35)
  (at r104 v36)
  (at r155 v37)
  (at r154 v38)
  (at r170 v39)
  (at r127 v40)
  (at r140 v41)
  (free v42)
  (at r113 v43)
  (at r108 v44)
  (at r153 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r123 v49)
  (at r126 v50)
  (free v51)
  (at r124 v52)
  (free v53)
  (at r178 v54)
  (at r129 v55)
  (at r115 v56)
  (free v57)
  (at r105 v58)
  (at r130 v59)
  (free v60)
  (at r145 v61)
  (at r150 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r99 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r111 v73)
  (free v74)
  (at r97 v75)
  (at r152 v76)
  (at r116 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (at r173 v85)
  (free v86)
  (at r157 v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r137 v92)
  (at r106 v93)
  (at r125 v94)
  (free v95)
  (at r146 v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r156 v101)
  (at r91 v102)
  (at r114 v103)
  (at r98 v104)
  (at r96 v105)
  (at r141 v106)
  (free v107)
  (free v108)
  (at r119 v109)
  (free v110)
  (at r118 v111)
  (at r94 v112)
  (at r134 v113)
  (free v114)
  (at r169 v115)
  (at r133 v116)
  (at r166 v117)
  (at r174 v118)
  (free v119)
  (free v120)
  (at r165 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r90 v125)
  (free v126)
  (at r92 v127)
  (at r148 v128)
  (at r151 v129)
  (at r147 v130)
  (at r95 v131)
  (at r112 v132)
  (at r109 v133)
  (at r102 v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (at r110 v139)
  (at r131 v140)
  (at r100 v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (at r167 v147)
  (at r159 v148)
  (free v149)
  (at r103 v150)
  (free v151)
  (at r162 v152)
  (free v153)
  (at r177 v154)
  (at r172 v155)
  (at r107 v156)
  (free v157)
  (free v158)
  (at r121 v159)
  (at r120 v160)
  (free v161)
  (free v162)
  (at r144 v163)
  (at r149 v164)
  (free v165)
  (at r168 v166)
  (at r142 v167)
  (free v168)
  (free v169)
  (at r164 v170)
  (free v171)
  (at r117 v172)
  (free v173)
  (free v174)
  (free v175)
  (free v176)
  (at r128 v177)
  (at r136 v178)
  )
 )
)