(define (problem multirobot_54_50%_c6)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r136
  v4
  v5 r126
  v6
  v7
  v8
  v9
  v10 r116
  v11
  v12
  v13
  v14
  v15
  v16 r110
  v17
  v18
  v19
  v20 r134
  v21
  v22 r166
  v23 r173
  v24
  v25 r108
  v26
  v27
  v28
  v29
  v30
  v31
  v32
  v33
  v34
  v35 r161
  v36 r146
  v37
  v38
  v39 r141
  v40
  v41 r163
  v42 r174
  v43
  v44 r155
  v45 r160
  v46
  v47
  v48 r158
  v49 r153
  v50 r138
  v51
  v52
  v53 r113
  v54 r168
  v55 r143
  v56 r156
  v57
  v58 r112
  v59
  v60
  v61
  v62 r122
  v63
  v64 r170
  v65 r135
  v66 r164
  v67
  v68
  v69 r171
  v70 r124
  v71 r154
  v72
  v73 r169
  v74
  v75 r129
  v76 r176
  v77
  v78
  v79
  v80 r142
  v81 r150
  v82
  v83
  v84 r114
  v85
  v86
  v87
  v88 r130
  v89
  v90 r132
  v91
  v92 r148
  v93
  v94 r131
  v95 r117
  v96 r167
  v97
  v98
  v99
  v100
  v101 r147
  v102 r107
  v103
  v104 r118
  v105
  v106 r151
  v107
  v108
  v109 r127
  v110
  v111
  v112 r149
  v113 r139
  v114
  v115
  v116 r121
  v117
  v118
  v119
  v120 r105
  v121
  v122
  v123
  v124 r165
  v125
  v126
  v127
  v128
  v129 r137
  v130
  v131
  v132
  v133
  v134
  v135 r109
  v136
  v137
  v138
  v139
  v140
  v141
  v142 r123
  v143 r128
  v144 r120
  v145
  v146 r115
  v147
  v148 r159
  v149 r162
  v150
  v151
  v152 r125
  v153 r157
  v154
  v155
  v156 r152
  v157
  v158 r172
  v159 r144
  v160 r133
  v161 r106
  v162 r111
  v163 r175
  v164
  v165
  v166
  v167
  v168
  v169
  v170
  v171
  v172 r119
  v173 r145
  v174 r140
  v175
  v176
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r136 v3)
  (free v4)
  (at r126 v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (at r116 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r110 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r134 v20)
  (free v21)
  (at r166 v22)
  (at r173 v23)
  (free v24)
  (at r108 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (at r161 v35)
  (at r146 v36)
  (free v37)
  (free v38)
  (at r141 v39)
  (free v40)
  (at r163 v41)
  (at r174 v42)
  (free v43)
  (at r155 v44)
  (at r160 v45)
  (free v46)
  (free v47)
  (at r158 v48)
  (at r153 v49)
  (at r138 v50)
  (free v51)
  (free v52)
  (at r113 v53)
  (at r168 v54)
  (at r143 v55)
  (at r156 v56)
  (free v57)
  (at r112 v58)
  (free v59)
  (free v60)
  (free v61)
  (at r122 v62)
  (free v63)
  (at r170 v64)
  (at r135 v65)
  (at r164 v66)
  (free v67)
  (free v68)
  (at r171 v69)
  (at r124 v70)
  (at r154 v71)
  (free v72)
  (at r169 v73)
  (free v74)
  (at r129 v75)
  (at r176 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r142 v80)
  (at r150 v81)
  (free v82)
  (free v83)
  (at r114 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r130 v88)
  (free v89)
  (at r132 v90)
  (free v91)
  (at r148 v92)
  (free v93)
  (at r131 v94)
  (at r117 v95)
  (at r167 v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r147 v101)
  (at r107 v102)
  (free v103)
  (at r118 v104)
  (free v105)
  (at r151 v106)
  (free v107)
  (free v108)
  (at r127 v109)
  (free v110)
  (free v111)
  (at r149 v112)
  (at r139 v113)
  (free v114)
  (free v115)
  (at r121 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r105 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r165 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r137 v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (at r109 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (at r123 v142)
  (at r128 v143)
  (at r120 v144)
  (free v145)
  (at r115 v146)
  (free v147)
  (at r159 v148)
  (at r162 v149)
  (free v150)
  (free v151)
  (at r125 v152)
  (at r157 v153)
  (free v154)
  (free v155)
  (at r152 v156)
  (free v157)
  (at r172 v158)
  (at r144 v159)
  (at r133 v160)
  (at r106 v161)
  (at r111 v162)
  (at r175 v163)
  (free v164)
  (free v165)
  (free v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (free v171)
  (at r119 v172)
  (at r145 v173)
  (at r140 v174)
  (free v175)
  (free v176)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v40)
  (adjacent v0 v96)
  (adjacent v1 v2)
  (adjacent v1 v52)
  (adjacent v2 v3)
  (adjacent v2 v17)
  (adjacent v3 v4)
  (adjacent v3 v15)
  (adjacent v3 v16)
  (adjacent v3 v113)
  (adjacent v3 v150)
  (adjacent v4 v5)
  (adjacent v4 v82)
  (adjacent v4 v115)
  (adjacent v5 v6)
  (adjacent v5 v9)
  (adjacent v5 v176)
  (adjacent v6 v7)
  (adjacent v6 v114)
  (adjacent v7 v8)
  (adjacent v7 v47)
  (adjacent v7 v160)
  (adjacent v8 v16)
  (adjacent v9 v10)
  (adjacent v9 v29)
  (adjacent v9 v55)
  (adjacent v9 v56)
  (adjacent v9 v103)
  (adjacent v10 v11)
  (adjacent v10 v22)
  (adjacent v10 v38)
  (adjacent v10 v115)
  (adjacent v10 v159)
  (adjacent v11 v12)
  (adjacent v11 v21)
  (adjacent v11 v34)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v46)
  (adjacent v14 v15)
  (adjacent v14 v42)
  (adjacent v14 v145)
  (adjacent v15 v75)
  (adjacent v16 v71)
  (adjacent v17 v18)
  (adjacent v17 v54)
  (adjacent v17 v97)
  (adjacent v18 v19)
  (adjacent v18 v65)
  (adjacent v18 v126)
  (adjacent v19 v20)
  (adjacent v19 v55)
  (adjacent v20 v21)
  (adjacent v20 v44)
  (adjacent v21 v28)
  (adjacent v21 v63)
  (adjacent v21 v92)
  (adjacent v21 v116)
  (adjacent v22 v23)
  (adjacent v22 v83)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v104)
  (adjacent v25 v26)
  (adjacent v25 v33)
  (adjacent v25 v74)
  (adjacent v26 v27)
  (adjacent v26 v53)
  (adjacent v27 v28)
  (adjacent v27 v116)
  (adjacent v28 v39)
  (adjacent v29 v30)
  (adjacent v29 v50)
  (adjacent v30 v31)
  (adjacent v30 v49)
  (adjacent v30 v133)
  (adjacent v31 v32)
  (adjacent v31 v57)
  (adjacent v31 v88)
  (adjacent v31 v127)
  (adjacent v32 v33)
  (adjacent v33 v108)
  (adjacent v33 v140)
  (adjacent v34 v35)
  (adjacent v34 v98)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v127)
  (adjacent v37 v38)
  (adjacent v37 v70)
  (adjacent v37 v124)
  (adjacent v38 v41)
  (adjacent v38 v149)
  (adjacent v39 v40)
  (adjacent v39 v64)
  (adjacent v40 v43)
  (adjacent v40 v45)
  (adjacent v40 v82)
  (adjacent v40 v87)
  (adjacent v41 v42)
  (adjacent v42 v172)
  (adjacent v43 v44)
  (adjacent v43 v104)
  (adjacent v45 v46)
  (adjacent v45 v91)
  (adjacent v45 v99)
  (adjacent v45 v171)
  (adjacent v46 v100)
  (adjacent v46 v132)
  (adjacent v47 v48)
  (adjacent v47 v74)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v50 v73)
  (adjacent v50 v97)
  (adjacent v50 v117)
  (adjacent v51 v52)
  (adjacent v51 v126)
  (adjacent v53 v54)
  (adjacent v55 v164)
  (adjacent v56 v57)
  (adjacent v56 v58)
  (adjacent v57 v62)
  (adjacent v58 v59)
  (adjacent v58 v142)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v81)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v100)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v105)
  (adjacent v69 v70)
  (adjacent v69 v139)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v128)
  (adjacent v75 v76)
  (adjacent v75 v101)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v123)
  (adjacent v81 v83)
  (adjacent v81 v140)
  (adjacent v82 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v98)
  (adjacent v86 v108)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v141)
  (adjacent v90 v91)
  (adjacent v91 v143)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v154)
  (adjacent v94 v95)
  (adjacent v94 v107)
  (adjacent v94 v125)
  (adjacent v95 v96)
  (adjacent v95 v99)
  (adjacent v99 v146)
  (adjacent v100 v165)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v109)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v114)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v126 v153)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
 )
 (:goal
  (and
  (at r170 v0)
  (at r121 v1)
  (at r124 v2)
  (at r108 v3)
  (free v4)
  (free v5)
  (at r160 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r157 v12)
  (at r142 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (at r173 v19)
  (free v20)
  (at r112 v21)
  (free v22)
  (free v23)
  (at r109 v24)
  (free v25)
  (at r130 v26)
  (at r134 v27)
  (at r154 v28)
  (free v29)
  (at r167 v30)
  (free v31)
  (free v32)
  (at r140 v33)
  (at r156 v34)
  (at r153 v35)
  (free v36)
  (free v37)
  (at r122 v38)
  (free v39)
  (free v40)
  (at r110 v41)
  (free v42)
  (at r127 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r159 v53)
  (at r163 v54)
  (free v55)
  (at r135 v56)
  (at r166 v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r168 v65)
  (at r149 v66)
  (at r148 v67)
  (free v68)
  (free v69)
  (at r151 v70)
  (at r175 v71)
  (free v72)
  (at r147 v73)
  (at r146 v74)
  (at r115 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r171 v79)
  (at r162 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (at r114 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r107 v94)
  (at r176 v95)
  (at r117 v96)
  (free v97)
  (at r164 v98)
  (free v99)
  (at r132 v100)
  (at r106 v101)
  (free v102)
  (at r131 v103)
  (at r116 v104)
  (free v105)
  (at r143 v106)
  (at r150 v107)
  (at r145 v108)
  (free v109)
  (at r120 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r169 v115)
  (free v116)
  (free v117)
  (at r141 v118)
  (free v119)
  (free v120)
  (at r125 v121)
  (at r139 v122)
  (free v123)
  (at r155 v124)
  (at r161 v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (at r118 v131)
  (at r111 v132)
  (at r137 v133)
  (free v134)
  (free v135)
  (at r174 v136)
  (at r165 v137)
  (at r129 v138)
  (free v139)
  (at r152 v140)
  (at r144 v141)
  (free v142)
  (free v143)
  (free v144)
  (at r113 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r133 v151)
  (at r128 v152)
  (free v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (at r119 v159)
  (at r126 v160)
  (free v161)
  (at r172 v162)
  (free v163)
  (free v164)
  (free v165)
  (free v166)
  (at r123 v167)
  (free v168)
  (free v169)
  (at r158 v170)
  (free v171)
  (at r136 v172)
  (at r105 v173)
  (free v174)
  (free v175)
  (at r138 v176)
  )
 )
)