(define (problem multirobot_49_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r168
  v3 r147
  v4 r113
  v5
  v6 r154
  v7 r142
  v8
  v9
  v10 r164
  v11 r117
  v12
  v13
  v14
  v15 r119
  v16 r111
  v17 r143
  v18
  v19
  v20
  v21 r138
  v22 r166
  v23 r114
  v24 r123
  v25 r186
  v26 r167
  v27
  v28
  v29
  v30 r165
  v31 r155
  v32 r141
  v33
  v34
  v35 r175
  v36
  v37 r157
  v38 r163
  v39
  v40 r148
  v41 r127
  v42
  v43 r116
  v44
  v45
  v46
  v47
  v48
  v49 r121
  v50 r137
  v51 r187
  v52
  v53
  v54 r131
  v55
  v56
  v57 r152
  v58
  v59
  v60
  v61 r170
  v62 r180
  v63 r179
  v64 r177
  v65
  v66
  v67
  v68 r188
  v69
  v70
  v71
  v72
  v73 r122
  v74
  v75 r112
  v76 r184
  v77 r126
  v78
  v79 r144
  v80
  v81 r140
  v82 r146
  v83 r183
  v84
  v85 r134
  v86 r132
  v87
  v88
  v89 r115
  v90 r171
  v91
  v92
  v93
  v94
  v95 r153
  v96 r185
  v97 r161
  v98
  v99 r125
  v100
  v101
  v102 r129
  v103 r162
  v104
  v105
  v106 r150
  v107
  v108 r176
  v109
  v110
  v111 r173
  v112
  v113
  v114
  v115
  v116
  v117 r133
  v118
  v119
  v120
  v121
  v122 r151
  v123 r182
  v124 r160
  v125 r178
  v126 r109
  v127
  v128 r181
  v129 r124
  v130
  v131
  v132
  v133
  v134
  v135
  v136
  v137
  v138 r145
  v139
  v140
  v141
  v142
  v143 r174
  v144
  v145
  v146
  v147
  v148 r172
  v149 r159
  v150 r169
  v151
  v152
  v153
  v154 r136
  v155
  v156
  v157
  v158
  v159 r110
  v160
  v161 r128
  v162
  v163
  v164
  v165 r149
  v166 r139
  v167 r158
  v168
  v169 r135
  v170
  v171
  v172
  v173
  v174 r118
  v175
  v176
  v177
  v178 r156
  v179
  v180 r130
  v181
  v182
  v183
  v184
  v185
  v186
  v187
  v188 r120
 )
 (:init
  (free v0)
  (free v1)
  (at r168 v2)
  (at r147 v3)
  (at r113 v4)
  (free v5)
  (at r154 v6)
  (at r142 v7)
  (free v8)
  (free v9)
  (at r164 v10)
  (at r117 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r119 v15)
  (at r111 v16)
  (at r143 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r138 v21)
  (at r166 v22)
  (at r114 v23)
  (at r123 v24)
  (at r186 v25)
  (at r167 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r165 v30)
  (at r155 v31)
  (at r141 v32)
  (free v33)
  (free v34)
  (at r175 v35)
  (free v36)
  (at r157 v37)
  (at r163 v38)
  (free v39)
  (at r148 v40)
  (at r127 v41)
  (free v42)
  (at r116 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r121 v49)
  (at r137 v50)
  (at r187 v51)
  (free v52)
  (free v53)
  (at r131 v54)
  (free v55)
  (free v56)
  (at r152 v57)
  (free v58)
  (free v59)
  (free v60)
  (at r170 v61)
  (at r180 v62)
  (at r179 v63)
  (at r177 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r188 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r122 v73)
  (free v74)
  (at r112 v75)
  (at r184 v76)
  (at r126 v77)
  (free v78)
  (at r144 v79)
  (free v80)
  (at r140 v81)
  (at r146 v82)
  (at r183 v83)
  (free v84)
  (at r134 v85)
  (at r132 v86)
  (free v87)
  (free v88)
  (at r115 v89)
  (at r171 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r153 v95)
  (at r185 v96)
  (at r161 v97)
  (free v98)
  (at r125 v99)
  (free v100)
  (free v101)
  (at r129 v102)
  (at r162 v103)
  (free v104)
  (free v105)
  (at r150 v106)
  (free v107)
  (at r176 v108)
  (free v109)
  (free v110)
  (at r173 v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r133 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r151 v122)
  (at r182 v123)
  (at r160 v124)
  (at r178 v125)
  (at r109 v126)
  (free v127)
  (at r181 v128)
  (at r124 v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (at r145 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r174 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r172 v148)
  (at r159 v149)
  (at r169 v150)
  (free v151)
  (free v152)
  (free v153)
  (at r136 v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (at r110 v159)
  (free v160)
  (at r128 v161)
  (free v162)
  (free v163)
  (free v164)
  (at r149 v165)
  (at r139 v166)
  (at r158 v167)
  (free v168)
  (at r135 v169)
  (free v170)
  (free v171)
  (free v172)
  (free v173)
  (at r118 v174)
  (free v175)
  (free v176)
  (free v177)
  (at r156 v178)
  (free v179)
  (at r130 v180)
  (free v181)
  (free v182)
  (free v183)
  (free v184)
  (free v185)
  (free v186)
  (free v187)
  (at r120 v188)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v18)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v13)
  (adjacent v1 v37)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v4 v11)
  (adjacent v5 v6)
  (adjacent v5 v32)
  (adjacent v5 v85)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v98)
  (adjacent v8 v9)
  (adjacent v8 v55)
  (adjacent v8 v66)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v9 v17)
  (adjacent v10 v14)
  (adjacent v10 v26)
  (adjacent v10 v167)
  (adjacent v11 v12)
  (adjacent v11 v31)
  (adjacent v12 v13)
  (adjacent v13 v52)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v15 v23)
  (adjacent v15 v35)
  (adjacent v16 v111)
  (adjacent v17 v25)
  (adjacent v17 v91)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v24)
  (adjacent v21 v56)
  (adjacent v22 v23)
  (adjacent v22 v51)
  (adjacent v22 v63)
  (adjacent v22 v72)
  (adjacent v23 v67)
  (adjacent v24 v25)
  (adjacent v24 v30)
  (adjacent v24 v62)
  (adjacent v24 v112)
  (adjacent v24 v181)
  (adjacent v25 v113)
  (adjacent v26 v27)
  (adjacent v26 v172)
  (adjacent v27 v28)
  (adjacent v27 v86)
  (adjacent v28 v29)
  (adjacent v28 v38)
  (adjacent v29 v30)
  (adjacent v29 v31)
  (adjacent v29 v92)
  (adjacent v29 v161)
  (adjacent v31 v137)
  (adjacent v31 v148)
  (adjacent v32 v33)
  (adjacent v32 v36)
  (adjacent v33 v34)
  (adjacent v33 v106)
  (adjacent v34 v35)
  (adjacent v34 v44)
  (adjacent v35 v161)
  (adjacent v36 v37)
  (adjacent v37 v78)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v73)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v138)
  (adjacent v47 v48)
  (adjacent v47 v124)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v132)
  (adjacent v51 v165)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v166)
  (adjacent v56 v57)
  (adjacent v56 v155)
  (adjacent v57 v58)
  (adjacent v57 v131)
  (adjacent v57 v160)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v110)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v175)
  (adjacent v63 v64)
  (adjacent v63 v117)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v79)
  (adjacent v69 v137)
  (adjacent v69 v142)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v141)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v99)
  (adjacent v80 v147)
  (adjacent v80 v171)
  (adjacent v81 v82)
  (adjacent v81 v167)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v147)
  (adjacent v89 v148)
  (adjacent v90 v91)
  (adjacent v91 v170)
  (adjacent v92 v93)
  (adjacent v92 v105)
  (adjacent v93 v94)
  (adjacent v93 v111)
  (adjacent v94 v95)
  (adjacent v94 v182)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v129)
  (adjacent v98 v171)
  (adjacent v99 v100)
  (adjacent v99 v136)
  (adjacent v100 v101)
  (adjacent v100 v156)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v125)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v130)
  (adjacent v109 v110)
  (adjacent v109 v146)
  (adjacent v110 v112)
  (adjacent v110 v118)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v176)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v162)
  (adjacent v123 v124)
  (adjacent v123 v157)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v158)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v149)
  (adjacent v135 v136)
  (adjacent v135 v184)
  (adjacent v136 v180)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v152 v168)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v162 v163)
  (adjacent v162 v166)
  (adjacent v163 v164)
  (adjacent v163 v181)
  (adjacent v164 v165)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v188)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v183 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r162 v2)
  (free v3)
  (free v4)
  (at r148 v5)
  (free v6)
  (at r113 v7)
  (at r173 v8)
  (at r137 v9)
  (at r153 v10)
  (free v11)
  (free v12)
  (free v13)
  (at r129 v14)
  (at r122 v15)
  (at r165 v16)
  (at r181 v17)
  (free v18)
  (free v19)
  (at r146 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r143 v27)
  (at r154 v28)
  (free v29)
  (free v30)
  (at r161 v31)
  (free v32)
  (at r142 v33)
  (at r180 v34)
  (at r135 v35)
  (free v36)
  (free v37)
  (at r132 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r166 v42)
  (at r186 v43)
  (at r157 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r123 v49)
  (free v50)
  (free v51)
  (at r115 v52)
  (free v53)
  (free v54)
  (at r156 v55)
  (free v56)
  (free v57)
  (free v58)
  (at r125 v59)
  (at r163 v60)
  (at r130 v61)
  (at r164 v62)
  (free v63)
  (at r176 v64)
  (free v65)
  (at r187 v66)
  (free v67)
  (free v68)
  (at r150 v69)
  (free v70)
  (free v71)
  (free v72)
  (at r160 v73)
  (at r119 v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r170 v79)
  (free v80)
  (at r141 v81)
  (at r126 v82)
  (free v83)
  (free v84)
  (free v85)
  (at r120 v86)
  (free v87)
  (at r155 v88)
  (at r110 v89)
  (at r109 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (at r158 v99)
  (free v100)
  (free v101)
  (at r133 v102)
  (free v103)
  (at r127 v104)
  (free v105)
  (free v106)
  (at r168 v107)
  (free v108)
  (free v109)
  (at r134 v110)
  (at r112 v111)
  (free v112)
  (at r131 v113)
  (free v114)
  (free v115)
  (free v116)
  (at r144 v117)
  (free v118)
  (free v119)
  (at r172 v120)
  (at r114 v121)
  (at r151 v122)
  (free v123)
  (free v124)
  (at r139 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r178 v129)
  (at r159 v130)
  (at r152 v131)
  (free v132)
  (at r138 v133)
  (free v134)
  (at r185 v135)
  (free v136)
  (at r118 v137)
  (at r188 v138)
  (at r117 v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r116 v144)
  (free v145)
  (free v146)
  (at r128 v147)
  (free v148)
  (free v149)
  (at r111 v150)
  (free v151)
  (at r145 v152)
  (at r140 v153)
  (free v154)
  (at r179 v155)
  (at r174 v156)
  (at r175 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (at r177 v162)
  (free v163)
  (free v164)
  (at r124 v165)
  (free v166)
  (free v167)
  (free v168)
  (at r183 v169)
  (at r171 v170)
  (free v171)
  (at r147 v172)
  (at r184 v173)
  (free v174)
  (at r182 v175)
  (at r167 v176)
  (at r121 v177)
  (free v178)
  (at r136 v179)
  (free v180)
  (at r169 v181)
  (free v182)
  (free v183)
  (free v184)
  (free v185)
  (at r149 v186)
  (free v187)
  (free v188)
  )
 )
)