(define (problem multirobot_48_50%_c7)
 (:domain multirobot)
 (:objects
  v0 r151
  v1 r127
  v2 r163
  v3
  v4 r101
  v5
  v6
  v7 r160
  v8
  v9
  v10
  v11
  v12
  v13 r164
  v14 r111
  v15
  v16
  v17
  v18
  v19
  v20
  v21
  v22 r123
  v23 r122
  v24
  v25
  v26 r138
  v27 r112
  v28
  v29
  v30
  v31
  v32 r155
  v33 r86
  v34
  v35
  v36 r105
  v37 r89
  v38
  v39 r142
  v40 r130
  v41 r145
  v42
  v43 r116
  v44
  v45
  v46
  v47 r137
  v48 r92
  v49
  v50
  v51
  v52 r144
  v53 r153
  v54 r91
  v55 r146
  v56 r96
  v57 r109
  v58 r133
  v59 r140
  v60 r129
  v61
  v62
  v63
  v64 r82
  v65 r143
  v66
  v67 r84
  v68 r113
  v69
  v70
  v71
  v72
  v73
  v74
  v75
  v76 r120
  v77
  v78
  v79 r106
  v80
  v81 r99
  v82
  v83
  v84
  v85
  v86 r128
  v87 r157
  v88
  v89 r102
  v90 r87
  v91
  v92 r115
  v93 r114
  v94 r158
  v95
  v96
  v97 r134
  v98
  v99 r108
  v100 r148
  v101 r136
  v102 r117
  v103
  v104 r126
  v105
  v106
  v107
  v108
  v109
  v110 r85
  v111 r98
  v112
  v113 r95
  v114 r97
  v115
  v116 r103
  v117
  v118
  v119
  v120
  v121 r150
  v122 r154
  v123 r90
  v124
  v125
  v126 r139
  v127
  v128
  v129 r83
  v130 r124
  v131 r156
  v132
  v133
  v134 r149
  v135
  v136 r119
  v137 r135
  v138
  v139 r141
  v140 r94
  v141 r159
  v142
  v143
  v144 r93
  v145 r132
  v146 r165
  v147 r131
  v148
  v149 r107
  v150 r162
  v151
  v152 r110
  v153 r161
  v154
  v155
  v156
  v157 r104
  v158 r88
  v159 r152
  v160 r121
  v161 r100
  v162 r125
  v163 r147
  v164 r118
  v165
 )
 (:init
  (at r151 v0)
  (at r127 v1)
  (at r163 v2)
  (free v3)
  (at r101 v4)
  (free v5)
  (free v6)
  (at r160 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (at r164 v13)
  (at r111 v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r123 v22)
  (at r122 v23)
  (free v24)
  (free v25)
  (at r138 v26)
  (at r112 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r155 v32)
  (at r86 v33)
  (free v34)
  (free v35)
  (at r105 v36)
  (at r89 v37)
  (free v38)
  (at r142 v39)
  (at r130 v40)
  (at r145 v41)
  (free v42)
  (at r116 v43)
  (free v44)
  (free v45)
  (free v46)
  (at r137 v47)
  (at r92 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r144 v52)
  (at r153 v53)
  (at r91 v54)
  (at r146 v55)
  (at r96 v56)
  (at r109 v57)
  (at r133 v58)
  (at r140 v59)
  (at r129 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r82 v64)
  (at r143 v65)
  (free v66)
  (at r84 v67)
  (at r113 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r120 v76)
  (free v77)
  (free v78)
  (at r106 v79)
  (free v80)
  (at r99 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (at r128 v86)
  (at r157 v87)
  (free v88)
  (at r102 v89)
  (at r87 v90)
  (free v91)
  (at r115 v92)
  (at r114 v93)
  (at r158 v94)
  (free v95)
  (free v96)
  (at r134 v97)
  (free v98)
  (at r108 v99)
  (at r148 v100)
  (at r136 v101)
  (at r117 v102)
  (free v103)
  (at r126 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r85 v110)
  (at r98 v111)
  (free v112)
  (at r95 v113)
  (at r97 v114)
  (free v115)
  (at r103 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (at r150 v121)
  (at r154 v122)
  (at r90 v123)
  (free v124)
  (free v125)
  (at r139 v126)
  (free v127)
  (free v128)
  (at r83 v129)
  (at r124 v130)
  (at r156 v131)
  (free v132)
  (free v133)
  (at r149 v134)
  (free v135)
  (at r119 v136)
  (at r135 v137)
  (free v138)
  (at r141 v139)
  (at r94 v140)
  (at r159 v141)
  (free v142)
  (free v143)
  (at r93 v144)
  (at r132 v145)
  (at r165 v146)
  (at r131 v147)
  (free v148)
  (at r107 v149)
  (at r162 v150)
  (free v151)
  (at r110 v152)
  (at r161 v153)
  (free v154)
  (free v155)
  (free v156)
  (at r104 v157)
  (at r88 v158)
  (at r152 v159)
  (at r121 v160)
  (at r100 v161)
  (at r125 v162)
  (at r147 v163)
  (at r118 v164)
  (free v165)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v21)
  (adjacent v1 v2)
  (adjacent v1 v19)
  (adjacent v1 v37)
  (adjacent v1 v43)
  (adjacent v1 v118)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v97)
  (adjacent v2 v138)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v31)
  (adjacent v3 v97)
  (adjacent v4 v59)
  (adjacent v5 v6)
  (adjacent v5 v70)
  (adjacent v6 v7)
  (adjacent v6 v22)
  (adjacent v6 v60)
  (adjacent v6 v64)
  (adjacent v7 v8)
  (adjacent v7 v23)
  (adjacent v7 v58)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v8 v20)
  (adjacent v8 v89)
  (adjacent v8 v108)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v10 v30)
  (adjacent v10 v84)
  (adjacent v10 v114)
  (adjacent v10 v133)
  (adjacent v11 v12)
  (adjacent v11 v47)
  (adjacent v12 v13)
  (adjacent v12 v52)
  (adjacent v12 v130)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v132)
  (adjacent v20 v59)
  (adjacent v20 v76)
  (adjacent v21 v22)
  (adjacent v21 v24)
  (adjacent v21 v42)
  (adjacent v21 v129)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v51)
  (adjacent v28 v29)
  (adjacent v28 v38)
  (adjacent v28 v121)
  (adjacent v29 v30)
  (adjacent v29 v105)
  (adjacent v31 v32)
  (adjacent v31 v81)
  (adjacent v32 v33)
  (adjacent v32 v132)
  (adjacent v33 v34)
  (adjacent v33 v65)
  (adjacent v33 v77)
  (adjacent v33 v101)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v85)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v46)
  (adjacent v39 v106)
  (adjacent v39 v154)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v107)
  (adjacent v43 v44)
  (adjacent v43 v94)
  (adjacent v44 v45)
  (adjacent v44 v82)
  (adjacent v44 v120)
  (adjacent v45 v46)
  (adjacent v46 v60)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v83)
  (adjacent v48 v162)
  (adjacent v49 v50)
  (adjacent v49 v69)
  (adjacent v49 v117)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v80)
  (adjacent v52 v146)
  (adjacent v53 v54)
  (adjacent v53 v82)
  (adjacent v53 v90)
  (adjacent v53 v155)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v61)
  (adjacent v57 v58)
  (adjacent v57 v125)
  (adjacent v61 v62)
  (adjacent v61 v98)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v81)
  (adjacent v67 v68)
  (adjacent v67 v123)
  (adjacent v68 v69)
  (adjacent v69 v106)
  (adjacent v70 v71)
  (adjacent v70 v93)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v117)
  (adjacent v74 v75)
  (adjacent v74 v96)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v95)
  (adjacent v79 v115)
  (adjacent v81 v139)
  (adjacent v83 v84)
  (adjacent v83 v109)
  (adjacent v83 v110)
  (adjacent v83 v145)
  (adjacent v85 v86)
  (adjacent v85 v96)
  (adjacent v85 v131)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v109)
  (adjacent v94 v95)
  (adjacent v94 v126)
  (adjacent v96 v102)
  (adjacent v98 v99)
  (adjacent v98 v116)
  (adjacent v99 v100)
  (adjacent v99 v127)
  (adjacent v100 v101)
  (adjacent v100 v124)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v126)
  (adjacent v107 v108)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v152)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v155)
  (adjacent v121 v163)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v151)
  (adjacent v130 v131)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v165)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v156)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (at r97 v3)
  (at r105 v4)
  (at r144 v5)
  (free v6)
  (free v7)
  (at r109 v8)
  (free v9)
  (at r149 v10)
  (at r139 v11)
  (at r153 v12)
  (at r147 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r127 v17)
  (free v18)
  (free v19)
  (at r98 v20)
  (at r95 v21)
  (free v22)
  (free v23)
  (at r89 v24)
  (at r159 v25)
  (at r83 v26)
  (free v27)
  (at r93 v28)
  (at r106 v29)
  (at r155 v30)
  (free v31)
  (at r135 v32)
  (at r137 v33)
  (free v34)
  (at r163 v35)
  (at r165 v36)
  (at r148 v37)
  (free v38)
  (at r101 v39)
  (at r157 v40)
  (at r119 v41)
  (free v42)
  (at r134 v43)
  (at r143 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r128 v53)
  (at r86 v54)
  (at r107 v55)
  (at r152 v56)
  (at r82 v57)
  (at r88 v58)
  (at r141 v59)
  (free v60)
  (free v61)
  (at r90 v62)
  (free v63)
  (at r160 v64)
  (free v65)
  (free v66)
  (at r110 v67)
  (at r136 v68)
  (at r99 v69)
  (at r104 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r125 v79)
  (at r142 v80)
  (at r151 v81)
  (free v82)
  (at r115 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r108 v87)
  (free v88)
  (free v89)
  (at r150 v90)
  (at r118 v91)
  (at r138 v92)
  (free v93)
  (at r113 v94)
  (free v95)
  (free v96)
  (at r84 v97)
  (at r96 v98)
  (at r133 v99)
  (at r140 v100)
  (at r87 v101)
  (at r92 v102)
  (free v103)
  (at r91 v104)
  (free v105)
  (free v106)
  (at r100 v107)
  (at r111 v108)
  (free v109)
  (at r130 v110)
  (free v111)
  (at r103 v112)
  (at r121 v113)
  (free v114)
  (at r146 v115)
  (at r129 v116)
  (free v117)
  (at r123 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r114 v123)
  (at r162 v124)
  (at r126 v125)
  (at r117 v126)
  (free v127)
  (at r132 v128)
  (at r164 v129)
  (free v130)
  (free v131)
  (at r145 v132)
  (free v133)
  (free v134)
  (at r124 v135)
  (at r122 v136)
  (free v137)
  (free v138)
  (at r156 v139)
  (free v140)
  (at r94 v141)
  (at r120 v142)
  (at r131 v143)
  (at r112 v144)
  (at r158 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (at r102 v152)
  (free v153)
  (at r116 v154)
  (free v155)
  (free v156)
  (free v157)
  (at r85 v158)
  (free v159)
  (free v160)
  (free v161)
  (at r161 v162)
  (at r154 v163)
  (free v164)
  (free v165)
  )
 )
)