(define (problem multirobot_54_50%_c3)
 (:domain multirobot)
 (:objects
  v0 r138
  v1
  v2
  v3 r123
  v4
  v5
  v6 r135
  v7
  v8 r182
  v9
  v10
  v11 r92
  v12 r97
  v13
  v14 r144
  v15 r146
  v16
  v17 r134
  v18
  v19
  v20
  v21
  v22
  v23 r128
  v24 r132
  v25
  v26 r160
  v27 r165
  v28 r114
  v29 r163
  v30 r149
  v31
  v32 r102
  v33 r152
  v34
  v35
  v36
  v37
  v38 r125
  v39 r172
  v40
  v41
  v42 r158
  v43
  v44
  v45 r129
  v46
  v47
  v48 r131
  v49 r166
  v50
  v51
  v52 r147
  v53 r105
  v54 r139
  v55 r175
  v56 r168
  v57 r94
  v58
  v59
  v60 r121
  v61 r116
  v62 r164
  v63
  v64
  v65
  v66 r142
  v67 r183
  v68 r113
  v69 r122
  v70 r173
  v71
  v72
  v73
  v74 r143
  v75 r170
  v76 r133
  v77
  v78 r141
  v79
  v80 r145
  v81 r154
  v82
  v83 r99
  v84
  v85 r156
  v86
  v87 r98
  v88 r112
  v89
  v90
  v91
  v92
  v93
  v94 r119
  v95 r126
  v96
  v97
  v98 r140
  v99
  v100 r150
  v101
  v102
  v103
  v104 r127
  v105
  v106 r111
  v107 r124
  v108 r107
  v109 r95
  v110
  v111
  v112 r148
  v113 r110
  v114 r117
  v115
  v116
  v117 r167
  v118
  v119 r108
  v120
  v121
  v122
  v123
  v124
  v125
  v126 r93
  v127 r162
  v128 r177
  v129
  v130
  v131
  v132 r118
  v133 r120
  v134
  v135 r106
  v136 r151
  v137
  v138
  v139 r130
  v140
  v141 r180
  v142 r136
  v143 r155
  v144 r176
  v145 r101
  v146
  v147
  v148 r104
  v149
  v150
  v151
  v152 r159
  v153 r161
  v154
  v155 r109
  v156
  v157
  v158
  v159
  v160
  v161 r103
  v162 r100
  v163
  v164
  v165
  v166 r181
  v167 r169
  v168 r174
  v169
  v170 r171
  v171
  v172
  v173
  v174
  v175 r137
  v176 r179
  v177
  v178 r96
  v179 r178
  v180 r153
  v181 r157
  v182
  v183 r115
 )
 (:init
  (at r138 v0)
  (free v1)
  (free v2)
  (at r123 v3)
  (free v4)
  (free v5)
  (at r135 v6)
  (free v7)
  (at r182 v8)
  (free v9)
  (free v10)
  (at r92 v11)
  (at r97 v12)
  (free v13)
  (at r144 v14)
  (at r146 v15)
  (free v16)
  (at r134 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r128 v23)
  (at r132 v24)
  (free v25)
  (at r160 v26)
  (at r165 v27)
  (at r114 v28)
  (at r163 v29)
  (at r149 v30)
  (free v31)
  (at r102 v32)
  (at r152 v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (at r125 v38)
  (at r172 v39)
  (free v40)
  (free v41)
  (at r158 v42)
  (free v43)
  (free v44)
  (at r129 v45)
  (free v46)
  (free v47)
  (at r131 v48)
  (at r166 v49)
  (free v50)
  (free v51)
  (at r147 v52)
  (at r105 v53)
  (at r139 v54)
  (at r175 v55)
  (at r168 v56)
  (at r94 v57)
  (free v58)
  (free v59)
  (at r121 v60)
  (at r116 v61)
  (at r164 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r142 v66)
  (at r183 v67)
  (at r113 v68)
  (at r122 v69)
  (at r173 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r143 v74)
  (at r170 v75)
  (at r133 v76)
  (free v77)
  (at r141 v78)
  (free v79)
  (at r145 v80)
  (at r154 v81)
  (free v82)
  (at r99 v83)
  (free v84)
  (at r156 v85)
  (free v86)
  (at r98 v87)
  (at r112 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r119 v94)
  (at r126 v95)
  (free v96)
  (free v97)
  (at r140 v98)
  (free v99)
  (at r150 v100)
  (free v101)
  (free v102)
  (free v103)
  (at r127 v104)
  (free v105)
  (at r111 v106)
  (at r124 v107)
  (at r107 v108)
  (at r95 v109)
  (free v110)
  (free v111)
  (at r148 v112)
  (at r110 v113)
  (at r117 v114)
  (free v115)
  (free v116)
  (at r167 v117)
  (free v118)
  (at r108 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (at r93 v126)
  (at r162 v127)
  (at r177 v128)
  (free v129)
  (free v130)
  (free v131)
  (at r118 v132)
  (at r120 v133)
  (free v134)
  (at r106 v135)
  (at r151 v136)
  (free v137)
  (free v138)
  (at r130 v139)
  (free v140)
  (at r180 v141)
  (at r136 v142)
  (at r155 v143)
  (at r176 v144)
  (at r101 v145)
  (free v146)
  (free v147)
  (at r104 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r159 v152)
  (at r161 v153)
  (free v154)
  (at r109 v155)
  (free v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (at r103 v161)
  (at r100 v162)
  (free v163)
  (free v164)
  (free v165)
  (at r181 v166)
  (at r169 v167)
  (at r174 v168)
  (free v169)
  (at r171 v170)
  (free v171)
  (free v172)
  (free v173)
  (free v174)
  (at r137 v175)
  (at r179 v176)
  (free v177)
  (at r96 v178)
  (at r178 v179)
  (at r153 v180)
  (at r157 v181)
  (free v182)
  (at r115 v183)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v13)
  (adjacent v0 v18)
  (adjacent v0 v122)
  (adjacent v1 v2)
  (adjacent v1 v20)
  (adjacent v2 v3)
  (adjacent v2 v19)
  (adjacent v2 v61)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v155)
  (adjacent v4 v17)
  (adjacent v5 v6)
  (adjacent v5 v84)
  (adjacent v6 v7)
  (adjacent v6 v53)
  (adjacent v7 v8)
  (adjacent v7 v46)
  (adjacent v8 v9)
  (adjacent v8 v54)
  (adjacent v9 v10)
  (adjacent v9 v79)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v10 v29)
  (adjacent v10 v40)
  (adjacent v10 v46)
  (adjacent v10 v98)
  (adjacent v10 v156)
  (adjacent v11 v12)
  (adjacent v11 v65)
  (adjacent v12 v13)
  (adjacent v12 v107)
  (adjacent v13 v21)
  (adjacent v13 v62)
  (adjacent v14 v15)
  (adjacent v14 v51)
  (adjacent v14 v121)
  (adjacent v14 v160)
  (adjacent v15 v16)
  (adjacent v15 v28)
  (adjacent v15 v47)
  (adjacent v16 v17)
  (adjacent v16 v20)
  (adjacent v16 v50)
  (adjacent v17 v30)
  (adjacent v18 v19)
  (adjacent v20 v25)
  (adjacent v20 v49)
  (adjacent v20 v105)
  (adjacent v21 v22)
  (adjacent v21 v41)
  (adjacent v22 v23)
  (adjacent v22 v168)
  (adjacent v23 v24)
  (adjacent v23 v29)
  (adjacent v23 v90)
  (adjacent v23 v126)
  (adjacent v24 v25)
  (adjacent v24 v60)
  (adjacent v25 v26)
  (adjacent v25 v98)
  (adjacent v26 v27)
  (adjacent v26 v52)
  (adjacent v27 v28)
  (adjacent v27 v134)
  (adjacent v28 v36)
  (adjacent v28 v173)
  (adjacent v29 v37)
  (adjacent v29 v52)
  (adjacent v29 v74)
  (adjacent v29 v131)
  (adjacent v30 v31)
  (adjacent v30 v73)
  (adjacent v30 v80)
  (adjacent v30 v100)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v45)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v64)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v70)
  (adjacent v39 v97)
  (adjacent v40 v55)
  (adjacent v40 v181)
  (adjacent v41 v42)
  (adjacent v41 v99)
  (adjacent v41 v106)
  (adjacent v42 v43)
  (adjacent v42 v159)
  (adjacent v43 v44)
  (adjacent v43 v135)
  (adjacent v44 v45)
  (adjacent v45 v50)
  (adjacent v47 v48)
  (adjacent v47 v88)
  (adjacent v47 v94)
  (adjacent v47 v109)
  (adjacent v47 v120)
  (adjacent v48 v49)
  (adjacent v48 v51)
  (adjacent v48 v69)
  (adjacent v49 v140)
  (adjacent v53 v54)
  (adjacent v53 v63)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v180)
  (adjacent v61 v62)
  (adjacent v61 v99)
  (adjacent v63 v64)
  (adjacent v63 v142)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v116)
  (adjacent v67 v121)
  (adjacent v68 v69)
  (adjacent v68 v85)
  (adjacent v68 v143)
  (adjacent v69 v108)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v147)
  (adjacent v73 v148)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v89)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v80 v169)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v85 v95)
  (adjacent v86 v87)
  (adjacent v86 v89)
  (adjacent v87 v88)
  (adjacent v87 v115)
  (adjacent v89 v117)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v106)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v166)
  (adjacent v103 v104)
  (adjacent v103 v118)
  (adjacent v104 v105)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v109 v130)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v141)
  (adjacent v115 v125)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v174)
  (adjacent v122 v123)
  (adjacent v122 v127)
  (adjacent v123 v124)
  (adjacent v123 v126)
  (adjacent v123 v159)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v155)
  (adjacent v131 v132)
  (adjacent v131 v154)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v173)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v158)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v183)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v172)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v167)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v182 v183)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r94 v2)
  (free v3)
  (free v4)
  (at r165 v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (at r126 v10)
  (at r168 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (at r158 v17)
  (free v18)
  (free v19)
  (at r128 v20)
  (free v21)
  (free v22)
  (at r159 v23)
  (at r151 v24)
  (free v25)
  (at r106 v26)
  (at r167 v27)
  (at r97 v28)
  (at r160 v29)
  (at r144 v30)
  (at r136 v31)
  (free v32)
  (free v33)
  (at r133 v34)
  (at r157 v35)
  (at r115 v36)
  (at r182 v37)
  (free v38)
  (free v39)
  (at r177 v40)
  (free v41)
  (at r116 v42)
  (at r120 v43)
  (at r98 v44)
  (at r147 v45)
  (free v46)
  (free v47)
  (at r176 v48)
  (free v49)
  (free v50)
  (at r166 v51)
  (at r179 v52)
  (free v53)
  (at r124 v54)
  (at r101 v55)
  (free v56)
  (free v57)
  (at r134 v58)
  (free v59)
  (at r102 v60)
  (at r110 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r145 v65)
  (free v66)
  (free v67)
  (at r143 v68)
  (at r125 v69)
  (free v70)
  (at r178 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r130 v76)
  (at r146 v77)
  (free v78)
  (free v79)
  (at r154 v80)
  (at r149 v81)
  (free v82)
  (at r132 v83)
  (at r169 v84)
  (at r113 v85)
  (free v86)
  (at r173 v87)
  (free v88)
  (at r95 v89)
  (free v90)
  (free v91)
  (at r105 v92)
  (free v93)
  (at r92 v94)
  (free v95)
  (free v96)
  (at r123 v97)
  (at r152 v98)
  (at r141 v99)
  (free v100)
  (at r103 v101)
  (at r150 v102)
  (at r170 v103)
  (free v104)
  (at r156 v105)
  (free v106)
  (at r108 v107)
  (free v108)
  (free v109)
  (free v110)
  (at r153 v111)
  (free v112)
  (at r118 v113)
  (at r171 v114)
  (at r100 v115)
  (free v116)
  (free v117)
  (at r109 v118)
  (at r104 v119)
  (at r127 v120)
  (free v121)
  (at r148 v122)
  (free v123)
  (at r138 v124)
  (at r155 v125)
  (free v126)
  (at r164 v127)
  (at r139 v128)
  (free v129)
  (free v130)
  (at r175 v131)
  (free v132)
  (at r99 v133)
  (free v134)
  (at r181 v135)
  (at r142 v136)
  (free v137)
  (at r119 v138)
  (free v139)
  (free v140)
  (free v141)
  (at r162 v142)
  (at r161 v143)
  (at r122 v144)
  (free v145)
  (at r117 v146)
  (at r140 v147)
  (at r183 v148)
  (at r93 v149)
  (free v150)
  (at r129 v151)
  (free v152)
  (at r180 v153)
  (free v154)
  (free v155)
  (free v156)
  (at r163 v157)
  (free v158)
  (at r96 v159)
  (at r107 v160)
  (free v161)
  (free v162)
  (free v163)
  (free v164)
  (free v165)
  (at r112 v166)
  (free v167)
  (free v168)
  (at r131 v169)
  (free v170)
  (at r135 v171)
  (free v172)
  (free v173)
  (at r172 v174)
  (at r114 v175)
  (free v176)
  (free v177)
  (at r111 v178)
  (free v179)
  (at r174 v180)
  (free v181)
  (at r137 v182)
  (at r121 v183)
  )
 )
)