(define (problem multirobot_53_50%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4
  v5
  v6
  v7
  v8 r110
  v9 r135
  v10
  v11 r130
  v12
  v13
  v14 r119
  v15 r152
  v16 r147
  v17
  v18 r131
  v19
  v20
  v21 r166
  v22
  v23
  v24
  v25
  v26
  v27
  v28
  v29 r144
  v30 r100
  v31
  v32 r122
  v33 r161
  v34 r118
  v35 r154
  v36 r103
  v37 r157
  v38
  v39
  v40 r134
  v41 r111
  v42 r102
  v43
  v44
  v45 r164
  v46
  v47 r146
  v48
  v49
  v50
  v51
  v52
  v53 r163
  v54 r133
  v55
  v56
  v57
  v58
  v59
  v60
  v61
  v62 r113
  v63 r143
  v64 r140
  v65 r142
  v66
  v67
  v68
  v69 r167
  v70
  v71
  v72
  v73
  v74 r101
  v75 r128
  v76
  v77
  v78 r104
  v79
  v80 r150
  v81
  v82
  v83 r127
  v84
  v85
  v86 r99
  v87 r108
  v88
  v89
  v90
  v91 r106
  v92 r155
  v93
  v94
  v95
  v96
  v97
  v98
  v99 r148
  v100 r117
  v101
  v102 r159
  v103
  v104
  v105 r105
  v106
  v107
  v108
  v109
  v110
  v111 r121
  v112
  v113
  v114
  v115
  v116 r141
  v117 r132
  v118
  v119 r136
  v120
  v121
  v122 r126
  v123
  v124 r115
  v125
  v126
  v127
  v128 r137
  v129 r145
  v130 r138
  v131 r112
  v132
  v133
  v134 r120
  v135 r114
  v136 r139
  v137 r109
  v138
  v139 r168
  v140
  v141 r107
  v142 r116
  v143
  v144 r156
  v145
  v146
  v147 r162
  v148
  v149
  v150 r153
  v151 r129
  v152
  v153
  v154 r151
  v155
  v156 r125
  v157 r158
  v158 r123
  v159 r165
  v160
  v161
  v162 r149
  v163
  v164 r124
  v165
  v166 r160
  v167
  v168
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r110 v8)
  (at r135 v9)
  (free v10)
  (at r130 v11)
  (free v12)
  (free v13)
  (at r119 v14)
  (at r152 v15)
  (at r147 v16)
  (free v17)
  (at r131 v18)
  (free v19)
  (free v20)
  (at r166 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r144 v29)
  (at r100 v30)
  (free v31)
  (at r122 v32)
  (at r161 v33)
  (at r118 v34)
  (at r154 v35)
  (at r103 v36)
  (at r157 v37)
  (free v38)
  (free v39)
  (at r134 v40)
  (at r111 v41)
  (at r102 v42)
  (free v43)
  (free v44)
  (at r164 v45)
  (free v46)
  (at r146 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r163 v53)
  (at r133 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r113 v62)
  (at r143 v63)
  (at r140 v64)
  (at r142 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r167 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r101 v74)
  (at r128 v75)
  (free v76)
  (free v77)
  (at r104 v78)
  (free v79)
  (at r150 v80)
  (free v81)
  (free v82)
  (at r127 v83)
  (free v84)
  (free v85)
  (at r99 v86)
  (at r108 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r106 v91)
  (at r155 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (at r148 v99)
  (at r117 v100)
  (free v101)
  (at r159 v102)
  (free v103)
  (free v104)
  (at r105 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (at r121 v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r141 v116)
  (at r132 v117)
  (free v118)
  (at r136 v119)
  (free v120)
  (free v121)
  (at r126 v122)
  (free v123)
  (at r115 v124)
  (free v125)
  (free v126)
  (free v127)
  (at r137 v128)
  (at r145 v129)
  (at r138 v130)
  (at r112 v131)
  (free v132)
  (free v133)
  (at r120 v134)
  (at r114 v135)
  (at r139 v136)
  (at r109 v137)
  (free v138)
  (at r168 v139)
  (free v140)
  (at r107 v141)
  (at r116 v142)
  (free v143)
  (at r156 v144)
  (free v145)
  (free v146)
  (at r162 v147)
  (free v148)
  (free v149)
  (at r153 v150)
  (at r129 v151)
  (free v152)
  (free v153)
  (at r151 v154)
  (free v155)
  (at r125 v156)
  (at r158 v157)
  (at r123 v158)
  (at r165 v159)
  (free v160)
  (free v161)
  (at r149 v162)
  (free v163)
  (at r124 v164)
  (free v165)
  (at r160 v166)
  (free v167)
  (free v168)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v30)
  (adjacent v0 v93)
  (adjacent v0 v132)
  (adjacent v1 v2)
  (adjacent v1 v30)
  (adjacent v2 v3)
  (adjacent v2 v16)
  (adjacent v2 v24)
  (adjacent v2 v31)
  (adjacent v2 v38)
  (adjacent v2 v52)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v20)
  (adjacent v3 v94)
  (adjacent v4 v9)
  (adjacent v4 v10)
  (adjacent v4 v14)
  (adjacent v4 v29)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v17)
  (adjacent v5 v29)
  (adjacent v5 v49)
  (adjacent v5 v85)
  (adjacent v5 v88)
  (adjacent v5 v117)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v6 v21)
  (adjacent v6 v48)
  (adjacent v7 v8)
  (adjacent v7 v23)
  (adjacent v7 v32)
  (adjacent v7 v81)
  (adjacent v8 v9)
  (adjacent v10 v25)
  (adjacent v11 v12)
  (adjacent v11 v46)
  (adjacent v12 v13)
  (adjacent v12 v39)
  (adjacent v12 v58)
  (adjacent v12 v70)
  (adjacent v12 v110)
  (adjacent v13 v14)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v17 v22)
  (adjacent v17 v153)
  (adjacent v18 v19)
  (adjacent v18 v136)
  (adjacent v19 v20)
  (adjacent v19 v160)
  (adjacent v21 v22)
  (adjacent v21 v63)
  (adjacent v21 v71)
  (adjacent v22 v53)
  (adjacent v22 v136)
  (adjacent v23 v24)
  (adjacent v23 v28)
  (adjacent v23 v103)
  (adjacent v24 v31)
  (adjacent v24 v82)
  (adjacent v24 v104)
  (adjacent v25 v26)
  (adjacent v25 v32)
  (adjacent v25 v48)
  (adjacent v25 v163)
  (adjacent v26 v27)
  (adjacent v26 v102)
  (adjacent v27 v28)
  (adjacent v29 v92)
  (adjacent v30 v51)
  (adjacent v30 v146)
  (adjacent v31 v33)
  (adjacent v32 v62)
  (adjacent v32 v64)
  (adjacent v32 v76)
  (adjacent v33 v34)
  (adjacent v33 v55)
  (adjacent v34 v35)
  (adjacent v34 v93)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v143)
  (adjacent v37 v38)
  (adjacent v37 v39)
  (adjacent v37 v112)
  (adjacent v38 v70)
  (adjacent v38 v145)
  (adjacent v39 v40)
  (adjacent v39 v47)
  (adjacent v39 v157)
  (adjacent v40 v41)
  (adjacent v40 v59)
  (adjacent v41 v42)
  (adjacent v41 v122)
  (adjacent v42 v43)
  (adjacent v42 v87)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v125)
  (adjacent v45 v46)
  (adjacent v45 v63)
  (adjacent v45 v101)
  (adjacent v46 v47)
  (adjacent v46 v56)
  (adjacent v48 v52)
  (adjacent v48 v98)
  (adjacent v49 v50)
  (adjacent v49 v69)
  (adjacent v49 v123)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v86)
  (adjacent v58 v151)
  (adjacent v59 v60)
  (adjacent v59 v147)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v64 v100)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v75)
  (adjacent v71 v72)
  (adjacent v71 v146)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v161)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v111)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v135)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v118)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v99)
  (adjacent v92 v99)
  (adjacent v92 v152)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v159)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v168)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v142)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v133)
  (adjacent v109 v110)
  (adjacent v110 v113)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v160)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v137)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v164)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v158)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v154)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
 )
 (:goal
  (and
  (at r161 v0)
  (free v1)
  (free v2)
  (at r150 v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r104 v8)
  (at r136 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r118 v13)
  (at r105 v14)
  (at r106 v15)
  (at r166 v16)
  (at r151 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r129 v21)
  (free v22)
  (free v23)
  (free v24)
  (at r115 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r146 v30)
  (at r116 v31)
  (at r101 v32)
  (at r141 v33)
  (at r147 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r110 v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r139 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r123 v50)
  (at r127 v51)
  (free v52)
  (at r128 v53)
  (free v54)
  (free v55)
  (at r158 v56)
  (at r108 v57)
  (at r125 v58)
  (free v59)
  (at r100 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r143 v70)
  (at r167 v71)
  (free v72)
  (free v73)
  (at r114 v74)
  (at r132 v75)
  (at r162 v76)
  (at r121 v77)
  (free v78)
  (at r99 v79)
  (at r102 v80)
  (free v81)
  (at r149 v82)
  (free v83)
  (at r160 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r122 v88)
  (at r157 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r168 v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (at r103 v100)
  (at r130 v101)
  (at r164 v102)
  (free v103)
  (free v104)
  (at r156 v105)
  (at r163 v106)
  (at r152 v107)
  (free v108)
  (at r126 v109)
  (free v110)
  (at r113 v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r131 v116)
  (at r112 v117)
  (free v118)
  (at r111 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r140 v127)
  (free v128)
  (free v129)
  (free v130)
  (at r124 v131)
  (free v132)
  (free v133)
  (at r145 v134)
  (free v135)
  (free v136)
  (at r153 v137)
  (free v138)
  (at r109 v139)
  (free v140)
  (at r137 v141)
  (free v142)
  (at r119 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r165 v148)
  (at r133 v149)
  (at r142 v150)
  (at r144 v151)
  (at r138 v152)
  (at r148 v153)
  (free v154)
  (at r154 v155)
  (free v156)
  (at r159 v157)
  (at r117 v158)
  (free v159)
  (at r155 v160)
  (free v161)
  (at r107 v162)
  (at r134 v163)
  (free v164)
  (free v165)
  (at r135 v166)
  (free v167)
  (at r120 v168)
  )
 )
)