(define (problem multirobot_53_50%_c4)
 (:domain multirobot)
 (:objects
  v0 r109
  v1
  v2 r161
  v3
  v4 r171
  v5 r131
  v6 r158
  v7
  v8 r106
  v9 r129
  v10 r103
  v11 r170
  v12
  v13 r125
  v14
  v15
  v16 r112
  v17
  v18 r107
  v19 r166
  v20 r164
  v21 r160
  v22
  v23
  v24 r108
  v25
  v26 r154
  v27
  v28 r137
  v29
  v30
  v31
  v32 r151
  v33
  v34 r113
  v35
  v36
  v37 r119
  v38
  v39 r174
  v40 r152
  v41 r143
  v42 r127
  v43 r145
  v44
  v45
  v46
  v47
  v48 r132
  v49 r120
  v50 r104
  v51
  v52
  v53
  v54 r136
  v55 r142
  v56
  v57 r149
  v58
  v59
  v60
  v61
  v62 r134
  v63
  v64
  v65
  v66
  v67
  v68 r165
  v69 r175
  v70 r157
  v71 r111
  v72
  v73
  v74
  v75
  v76
  v77
  v78
  v79
  v80
  v81 r141
  v82 r124
  v83
  v84 r138
  v85
  v86
  v87
  v88 r147
  v89
  v90 r122
  v91
  v92
  v93
  v94 r123
  v95 r117
  v96
  v97
  v98
  v99 r126
  v100 r115
  v101 r105
  v102 r150
  v103
  v104
  v105 r128
  v106
  v107
  v108 r177
  v109 r153
  v110
  v111
  v112
  v113
  v114 r167
  v115
  v116
  v117 r130
  v118
  v119 r173
  v120
  v121 r116
  v122
  v123 r110
  v124
  v125
  v126
  v127
  v128 r163
  v129 r156
  v130
  v131
  v132 r114
  v133 r101
  v134
  v135
  v136
  v137
  v138
  v139
  v140
  v141
  v142
  v143
  v144 r168
  v145 r176
  v146
  v147 r159
  v148 r140
  v149 r135
  v150 r172
  v151 r133
  v152
  v153 r118
  v154 r100
  v155
  v156
  v157 r178
  v158
  v159
  v160
  v161
  v162 r102
  v163
  v164 r148
  v165 r155
  v166
  v167
  v168
  v169
  v170 r121
  v171
  v172 r162
  v173 r144
  v174 r169
  v175
  v176 r139
  v177 r146
  v178
 )
 (:init
  (at r109 v0)
  (free v1)
  (at r161 v2)
  (free v3)
  (at r171 v4)
  (at r131 v5)
  (at r158 v6)
  (free v7)
  (at r106 v8)
  (at r129 v9)
  (at r103 v10)
  (at r170 v11)
  (free v12)
  (at r125 v13)
  (free v14)
  (free v15)
  (at r112 v16)
  (free v17)
  (at r107 v18)
  (at r166 v19)
  (at r164 v20)
  (at r160 v21)
  (free v22)
  (free v23)
  (at r108 v24)
  (free v25)
  (at r154 v26)
  (free v27)
  (at r137 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r151 v32)
  (free v33)
  (at r113 v34)
  (free v35)
  (free v36)
  (at r119 v37)
  (free v38)
  (at r174 v39)
  (at r152 v40)
  (at r143 v41)
  (at r127 v42)
  (at r145 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (at r132 v48)
  (at r120 v49)
  (at r104 v50)
  (free v51)
  (free v52)
  (free v53)
  (at r136 v54)
  (at r142 v55)
  (free v56)
  (at r149 v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r134 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r165 v68)
  (at r175 v69)
  (at r157 v70)
  (at r111 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r141 v81)
  (at r124 v82)
  (free v83)
  (at r138 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r147 v88)
  (free v89)
  (at r122 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r123 v94)
  (at r117 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r126 v99)
  (at r115 v100)
  (at r105 v101)
  (at r150 v102)
  (free v103)
  (free v104)
  (at r128 v105)
  (free v106)
  (free v107)
  (at r177 v108)
  (at r153 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (at r167 v114)
  (free v115)
  (free v116)
  (at r130 v117)
  (free v118)
  (at r173 v119)
  (free v120)
  (at r116 v121)
  (free v122)
  (at r110 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (at r163 v128)
  (at r156 v129)
  (free v130)
  (free v131)
  (at r114 v132)
  (at r101 v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r168 v144)
  (at r176 v145)
  (free v146)
  (at r159 v147)
  (at r140 v148)
  (at r135 v149)
  (at r172 v150)
  (at r133 v151)
  (free v152)
  (at r118 v153)
  (at r100 v154)
  (free v155)
  (free v156)
  (at r178 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (at r102 v162)
  (free v163)
  (at r148 v164)
  (at r155 v165)
  (free v166)
  (free v167)
  (free v168)
  (free v169)
  (at r121 v170)
  (free v171)
  (at r162 v172)
  (at r144 v173)
  (at r169 v174)
  (free v175)
  (at r139 v176)
  (at r146 v177)
  (free v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v16)
  (adjacent v1 v43)
  (adjacent v1 v95)
  (adjacent v2 v3)
  (adjacent v2 v57)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v142)
  (adjacent v4 v103)
  (adjacent v5 v6)
  (adjacent v5 v144)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v7 v8)
  (adjacent v7 v28)
  (adjacent v8 v9)
  (adjacent v8 v17)
  (adjacent v9 v10)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v11 v158)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v138)
  (adjacent v13 v143)
  (adjacent v14 v15)
  (adjacent v14 v27)
  (adjacent v14 v88)
  (adjacent v15 v16)
  (adjacent v15 v68)
  (adjacent v16 v21)
  (adjacent v16 v106)
  (adjacent v16 v114)
  (adjacent v17 v18)
  (adjacent v17 v32)
  (adjacent v17 v139)
  (adjacent v18 v19)
  (adjacent v18 v31)
  (adjacent v18 v48)
  (adjacent v19 v20)
  (adjacent v19 v142)
  (adjacent v21 v22)
  (adjacent v21 v36)
  (adjacent v21 v70)
  (adjacent v21 v72)
  (adjacent v22 v23)
  (adjacent v22 v162)
  (adjacent v23 v24)
  (adjacent v23 v35)
  (adjacent v23 v74)
  (adjacent v24 v25)
  (adjacent v24 v144)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v53)
  (adjacent v26 v72)
  (adjacent v26 v91)
  (adjacent v28 v29)
  (adjacent v28 v43)
  (adjacent v28 v44)
  (adjacent v29 v30)
  (adjacent v29 v99)
  (adjacent v30 v31)
  (adjacent v30 v42)
  (adjacent v32 v33)
  (adjacent v32 v161)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v54)
  (adjacent v35 v137)
  (adjacent v35 v153)
  (adjacent v36 v37)
  (adjacent v36 v126)
  (adjacent v36 v159)
  (adjacent v37 v38)
  (adjacent v37 v81)
  (adjacent v38 v39)
  (adjacent v38 v49)
  (adjacent v39 v40)
  (adjacent v39 v73)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v118)
  (adjacent v42 v125)
  (adjacent v43 v71)
  (adjacent v43 v178)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v64)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v87)
  (adjacent v49 v50)
  (adjacent v49 v82)
  (adjacent v49 v119)
  (adjacent v50 v51)
  (adjacent v50 v75)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v65)
  (adjacent v54 v55)
  (adjacent v54 v58)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v91)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v136)
  (adjacent v60 v61)
  (adjacent v60 v90)
  (adjacent v61 v62)
  (adjacent v61 v71)
  (adjacent v61 v176)
  (adjacent v62 v63)
  (adjacent v62 v96)
  (adjacent v63 v64)
  (adjacent v63 v107)
  (adjacent v65 v66)
  (adjacent v65 v69)
  (adjacent v65 v168)
  (adjacent v66 v67)
  (adjacent v66 v135)
  (adjacent v66 v137)
  (adjacent v67 v68)
  (adjacent v68 v177)
  (adjacent v69 v70)
  (adjacent v69 v145)
  (adjacent v71 v92)
  (adjacent v73 v74)
  (adjacent v74 v138)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v98)
  (adjacent v80 v81)
  (adjacent v80 v102)
  (adjacent v82 v83)
  (adjacent v82 v136)
  (adjacent v83 v84)
  (adjacent v83 v112)
  (adjacent v83 v169)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v115)
  (adjacent v87 v163)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v160)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v113)
  (adjacent v94 v95)
  (adjacent v94 v154)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v172)
  (adjacent v105 v106)
  (adjacent v106 v141)
  (adjacent v106 v149)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v143)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v129)
  (adjacent v114 v140)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v173)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v145)
  (adjacent v124 v125)
  (adjacent v125 v128)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v159)
  (adjacent v127 v171)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v172)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v146)
  (adjacent v137 v148)
  (adjacent v139 v140)
  (adjacent v139 v141)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v147 v162)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v177)
  (adjacent v160 v161)
  (adjacent v163 v164)
  (adjacent v163 v178)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
 )
 (:goal
  (and
  (free v0)
  (at r143 v1)
  (at r160 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r138 v6)
  (free v7)
  (free v8)
  (at r134 v9)
  (at r106 v10)
  (at r153 v11)
  (at r136 v12)
  (at r173 v13)
  (at r156 v14)
  (free v15)
  (free v16)
  (free v17)
  (at r111 v18)
  (free v19)
  (at r167 v20)
  (free v21)
  (free v22)
  (at r170 v23)
  (at r116 v24)
  (at r133 v25)
  (free v26)
  (at r163 v27)
  (at r100 v28)
  (free v29)
  (at r118 v30)
  (at r174 v31)
  (free v32)
  (at r147 v33)
  (at r115 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r128 v38)
  (free v39)
  (free v40)
  (at r171 v41)
  (at r121 v42)
  (at r105 v43)
  (at r175 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r109 v50)
  (free v51)
  (at r159 v52)
  (free v53)
  (at r146 v54)
  (free v55)
  (free v56)
  (at r101 v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r127 v62)
  (free v63)
  (free v64)
  (at r168 v65)
  (free v66)
  (at r139 v67)
  (at r166 v68)
  (free v69)
  (free v70)
  (at r117 v71)
  (free v72)
  (at r135 v73)
  (free v74)
  (at r130 v75)
  (free v76)
  (free v77)
  (at r104 v78)
  (at r131 v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r137 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r114 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r178 v95)
  (free v96)
  (at r125 v97)
  (free v98)
  (at r119 v99)
  (free v100)
  (free v101)
  (free v102)
  (at r155 v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r107 v108)
  (free v109)
  (at r126 v110)
  (free v111)
  (free v112)
  (at r103 v113)
  (at r140 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r102 v120)
  (free v121)
  (at r162 v122)
  (at r169 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r161 v127)
  (free v128)
  (free v129)
  (at r165 v130)
  (at r142 v131)
  (at r124 v132)
  (free v133)
  (free v134)
  (free v135)
  (at r151 v136)
  (at r157 v137)
  (at r152 v138)
  (at r123 v139)
  (at r120 v140)
  (at r113 v141)
  (at r176 v142)
  (free v143)
  (at r150 v144)
  (free v145)
  (free v146)
  (at r112 v147)
  (at r145 v148)
  (free v149)
  (free v150)
  (at r158 v151)
  (at r122 v152)
  (at r132 v153)
  (free v154)
  (at r172 v155)
  (free v156)
  (at r108 v157)
  (free v158)
  (free v159)
  (free v160)
  (at r141 v161)
  (free v162)
  (free v163)
  (at r154 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r177 v168)
  (free v169)
  (at r129 v170)
  (at r144 v171)
  (free v172)
  (at r149 v173)
  (at r164 v174)
  (at r110 v175)
  (free v176)
  (free v177)
  (at r148 v178)
  )
 )
)