(define (problem multirobot_56_50%_c1)
 (:domain multirobot)
 (:objects
  v0 r111
  v1 r177
  v2 r136
  v3
  v4 r168
  v5 r147
  v6 r170
  v7 r104
  v8 r152
  v9
  v10
  v11 r164
  v12
  v13
  v14 r173
  v15
  v16
  v17
  v18
  v19
  v20
  v21
  v22
  v23 r120
  v24 r142
  v25 r122
  v26 r106
  v27
  v28
  v29 r109
  v30
  v31 r171
  v32
  v33 r144
  v34 r162
  v35 r108
  v36
  v37 r154
  v38
  v39
  v40 r167
  v41
  v42 r141
  v43
  v44
  v45
  v46 r179
  v47
  v48 r100
  v49 r172
  v50
  v51 r105
  v52
  v53
  v54 r160
  v55
  v56 r146
  v57 r126
  v58
  v59
  v60
  v61
  v62
  v63
  v64
  v65
  v66
  v67 r115
  v68
  v69 r140
  v70 r157
  v71
  v72
  v73 r145
  v74 r166
  v75
  v76
  v77 r124
  v78
  v79 r131
  v80
  v81 r161
  v82 r158
  v83 r165
  v84
  v85
  v86
  v87 r133
  v88
  v89
  v90
  v91 r113
  v92 r139
  v93 r116
  v94
  v95 r110
  v96
  v97 r107
  v98
  v99
  v100
  v101
  v102 r137
  v103
  v104
  v105
  v106
  v107
  v108
  v109
  v110
  v111 r121
  v112 r112
  v113 r151
  v114 r127
  v115 r125
  v116
  v117
  v118 r150
  v119
  v120 r149
  v121 r174
  v122 r123
  v123
  v124 r178
  v125 r119
  v126
  v127
  v128
  v129 r135
  v130 r180
  v131
  v132
  v133 r99
  v134
  v135
  v136
  v137
  v138
  v139
  v140
  v141 r169
  v142 r138
  v143
  v144 r118
  v145 r176
  v146
  v147 r117
  v148
  v149 r153
  v150
  v151 r102
  v152 r143
  v153 r156
  v154 r155
  v155 r159
  v156 r175
  v157
  v158
  v159
  v160
  v161 r129
  v162
  v163 r148
  v164 r132
  v165 r101
  v166
  v167
  v168
  v169 r103
  v170
  v171 r114
  v172
  v173
  v174
  v175 r163
  v176 r130
  v177 r134
  v178 r128
  v179
  v180
 )
 (:init
  (at r111 v0)
  (at r177 v1)
  (at r136 v2)
  (free v3)
  (at r168 v4)
  (at r147 v5)
  (at r170 v6)
  (at r104 v7)
  (at r152 v8)
  (free v9)
  (free v10)
  (at r164 v11)
  (free v12)
  (free v13)
  (at r173 v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r120 v23)
  (at r142 v24)
  (at r122 v25)
  (at r106 v26)
  (free v27)
  (free v28)
  (at r109 v29)
  (free v30)
  (at r171 v31)
  (free v32)
  (at r144 v33)
  (at r162 v34)
  (at r108 v35)
  (free v36)
  (at r154 v37)
  (free v38)
  (free v39)
  (at r167 v40)
  (free v41)
  (at r141 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r179 v46)
  (free v47)
  (at r100 v48)
  (at r172 v49)
  (free v50)
  (at r105 v51)
  (free v52)
  (free v53)
  (at r160 v54)
  (free v55)
  (at r146 v56)
  (at r126 v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (at r115 v67)
  (free v68)
  (at r140 v69)
  (at r157 v70)
  (free v71)
  (free v72)
  (at r145 v73)
  (at r166 v74)
  (free v75)
  (free v76)
  (at r124 v77)
  (free v78)
  (at r131 v79)
  (free v80)
  (at r161 v81)
  (at r158 v82)
  (at r165 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r133 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r113 v91)
  (at r139 v92)
  (at r116 v93)
  (free v94)
  (at r110 v95)
  (free v96)
  (at r107 v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (at r137 v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (at r121 v111)
  (at r112 v112)
  (at r151 v113)
  (at r127 v114)
  (at r125 v115)
  (free v116)
  (free v117)
  (at r150 v118)
  (free v119)
  (at r149 v120)
  (at r174 v121)
  (at r123 v122)
  (free v123)
  (at r178 v124)
  (at r119 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r135 v129)
  (at r180 v130)
  (free v131)
  (free v132)
  (at r99 v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r169 v141)
  (at r138 v142)
  (free v143)
  (at r118 v144)
  (at r176 v145)
  (free v146)
  (at r117 v147)
  (free v148)
  (at r153 v149)
  (free v150)
  (at r102 v151)
  (at r143 v152)
  (at r156 v153)
  (at r155 v154)
  (at r159 v155)
  (at r175 v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (at r129 v161)
  (free v162)
  (at r148 v163)
  (at r132 v164)
  (at r101 v165)
  (free v166)
  (free v167)
  (free v168)
  (at r103 v169)
  (free v170)
  (at r114 v171)
  (free v172)
  (free v173)
  (free v174)
  (at r163 v175)
  (at r130 v176)
  (at r134 v177)
  (at r128 v178)
  (free v179)
  (free v180)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v25)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v29)
  (adjacent v2 v36)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v3 v19)
  (adjacent v3 v33)
  (adjacent v3 v43)
  (adjacent v4 v5)
  (adjacent v4 v44)
  (adjacent v4 v65)
  (adjacent v5 v9)
  (adjacent v5 v17)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v6 v35)
  (adjacent v6 v59)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v18)
  (adjacent v7 v28)
  (adjacent v8 v9)
  (adjacent v8 v27)
  (adjacent v9 v34)
  (adjacent v9 v102)
  (adjacent v10 v18)
  (adjacent v11 v12)
  (adjacent v11 v21)
  (adjacent v11 v47)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v83)
  (adjacent v14 v15)
  (adjacent v14 v165)
  (adjacent v15 v16)
  (adjacent v15 v24)
  (adjacent v16 v17)
  (adjacent v16 v22)
  (adjacent v16 v29)
  (adjacent v16 v62)
  (adjacent v16 v179)
  (adjacent v17 v49)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v23)
  (adjacent v22 v23)
  (adjacent v22 v79)
  (adjacent v24 v28)
  (adjacent v24 v30)
  (adjacent v25 v26)
  (adjacent v25 v51)
  (adjacent v26 v27)
  (adjacent v26 v143)
  (adjacent v27 v61)
  (adjacent v27 v99)
  (adjacent v29 v75)
  (adjacent v30 v31)
  (adjacent v30 v43)
  (adjacent v30 v52)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v41)
  (adjacent v33 v69)
  (adjacent v34 v35)
  (adjacent v34 v48)
  (adjacent v35 v68)
  (adjacent v35 v109)
  (adjacent v35 v174)
  (adjacent v35 v180)
  (adjacent v36 v37)
  (adjacent v36 v42)
  (adjacent v37 v38)
  (adjacent v37 v97)
  (adjacent v37 v172)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v103)
  (adjacent v41 v42)
  (adjacent v41 v62)
  (adjacent v41 v67)
  (adjacent v42 v48)
  (adjacent v43 v78)
  (adjacent v43 v146)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v96)
  (adjacent v46 v47)
  (adjacent v47 v151)
  (adjacent v48 v122)
  (adjacent v49 v50)
  (adjacent v49 v58)
  (adjacent v49 v74)
  (adjacent v50 v51)
  (adjacent v51 v63)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v122)
  (adjacent v55 v56)
  (adjacent v55 v68)
  (adjacent v56 v57)
  (adjacent v56 v135)
  (adjacent v57 v58)
  (adjacent v57 v160)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v64)
  (adjacent v62 v75)
  (adjacent v63 v64)
  (adjacent v64 v76)
  (adjacent v64 v132)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v89)
  (adjacent v72 v73)
  (adjacent v72 v139)
  (adjacent v73 v74)
  (adjacent v76 v77)
  (adjacent v76 v84)
  (adjacent v76 v136)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v178)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v144)
  (adjacent v84 v85)
  (adjacent v84 v104)
  (adjacent v84 v116)
  (adjacent v85 v86)
  (adjacent v85 v171)
  (adjacent v86 v87)
  (adjacent v86 v90)
  (adjacent v86 v131)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v130)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v100)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v121)
  (adjacent v95 v96)
  (adjacent v96 v179)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v115)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v105)
  (adjacent v102 v129)
  (adjacent v103 v104)
  (adjacent v104 v110)
  (adjacent v105 v106)
  (adjacent v105 v173)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v163)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v161)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v123)
  (adjacent v115 v138)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v150)
  (adjacent v122 v154)
  (adjacent v123 v124)
  (adjacent v123 v147)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v151)
  (adjacent v128 v129)
  (adjacent v128 v152)
  (adjacent v129 v162)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v164)
  (adjacent v141 v180)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v152 v153)
  (adjacent v152 v155)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (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 v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (free v0)
  (at r154 v1)
  (at r177 v2)
  (free v3)
  (at r139 v4)
  (free v5)
  (at r106 v6)
  (at r170 v7)
  (free v8)
  (at r163 v9)
  (free v10)
  (at r142 v11)
  (at r129 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r159 v21)
  (free v22)
  (at r126 v23)
  (free v24)
  (at r169 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r128 v30)
  (free v31)
  (at r116 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r102 v36)
  (free v37)
  (at r122 v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r117 v43)
  (at r164 v44)
  (at r158 v45)
  (at r113 v46)
  (free v47)
  (free v48)
  (at r168 v49)
  (free v50)
  (at r134 v51)
  (free v52)
  (at r153 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r146 v58)
  (free v59)
  (at r172 v60)
  (at r165 v61)
  (at r180 v62)
  (free v63)
  (free v64)
  (at r133 v65)
  (at r108 v66)
  (free v67)
  (free v68)
  (at r171 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r110 v75)
  (at r149 v76)
  (at r130 v77)
  (free v78)
  (free v79)
  (at r121 v80)
  (free v81)
  (at r155 v82)
  (at r144 v83)
  (free v84)
  (at r157 v85)
  (at r123 v86)
  (free v87)
  (free v88)
  (at r175 v89)
  (at r160 v90)
  (free v91)
  (at r150 v92)
  (at r120 v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r112 v98)
  (free v99)
  (free v100)
  (at r114 v101)
  (at r178 v102)
  (free v103)
  (at r148 v104)
  (at r135 v105)
  (free v106)
  (free v107)
  (free v108)
  (at r176 v109)
  (at r104 v110)
  (at r107 v111)
  (free v112)
  (at r118 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r127 v118)
  (free v119)
  (free v120)
  (at r166 v121)
  (free v122)
  (at r179 v123)
  (at r131 v124)
  (free v125)
  (free v126)
  (at r145 v127)
  (free v128)
  (at r124 v129)
  (free v130)
  (at r115 v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r105 v137)
  (free v138)
  (free v139)
  (at r167 v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (at r147 v145)
  (free v146)
  (free v147)
  (at r100 v148)
  (at r173 v149)
  (at r132 v150)
  (free v151)
  (at r141 v152)
  (free v153)
  (free v154)
  (at r174 v155)
  (at r125 v156)
  (at r138 v157)
  (at r156 v158)
  (free v159)
  (free v160)
  (at r143 v161)
  (at r137 v162)
  (free v163)
  (at r103 v164)
  (at r119 v165)
  (free v166)
  (free v167)
  (free v168)
  (at r101 v169)
  (at r151 v170)
  (at r140 v171)
  (free v172)
  (at r109 v173)
  (at r99 v174)
  (at r152 v175)
  (at r162 v176)
  (free v177)
  (at r136 v178)
  (at r111 v179)
  (at r161 v180)
  )
 )
)