(define (problem multirobot_61_50%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1 r121
  v2
  v3 r136
  v4 r150
  v5
  v6
  v7
  v8 r155
  v9
  v10
  v11 r135
  v12 r177
  v13
  v14
  v15
  v16 r173
  v17
  v18
  v19
  v20 r122
  v21
  v22
  v23 r129
  v24 r131
  v25 r139
  v26
  v27 r157
  v28
  v29
  v30
  v31
  v32
  v33
  v34 r172
  v35 r162
  v36
  v37
  v38 r128
  v39
  v40 r151
  v41 r158
  v42
  v43
  v44
  v45
  v46
  v47 r166
  v48
  v49
  v50
  v51 r176
  v52
  v53
  v54 r159
  v55
  v56 r153
  v57 r167
  v58 r119
  v59
  v60 r137
  v61
  v62
  v63 r148
  v64
  v65
  v66
  v67
  v68
  v69
  v70
  v71 r178
  v72 r164
  v73 r154
  v74
  v75 r163
  v76 r144
  v77
  v78 r192
  v79 r152
  v80
  v81
  v82
  v83
  v84 r156
  v85 r146
  v86
  v87 r147
  v88
  v89 r120
  v90
  v91
  v92
  v93
  v94
  v95 r161
  v96 r149
  v97
  v98
  v99 r171
  v100
  v101
  v102 r193
  v103 r179
  v104 r160
  v105
  v106
  v107
  v108
  v109 r191
  v110
  v111
  v112
  v113
  v114
  v115
  v116 r187
  v117 r195
  v118 r141
  v119
  v120
  v121
  v122 r125
  v123 r169
  v124 r143
  v125
  v126
  v127
  v128
  v129 r133
  v130
  v131 r174
  v132 r134
  v133
  v134
  v135 r165
  v136
  v137 r130
  v138 r170
  v139
  v140
  v141
  v142
  v143
  v144 r181
  v145
  v146
  v147 r126
  v148 r132
  v149 r180
  v150 r183
  v151 r175
  v152 r127
  v153
  v154
  v155
  v156 r123
  v157 r185
  v158
  v159
  v160
  v161
  v162
  v163
  v164 r189
  v165
  v166
  v167
  v168
  v169
  v170
  v171
  v172 r186
  v173 r196
  v174 r142
  v175
  v176
  v177
  v178 r188
  v179
  v180 r138
  v181
  v182 r190
  v183 r194
  v184 r140
  v185
  v186
  v187
  v188 r184
  v189
  v190
  v191
  v192 r145
  v193
  v194 r124
  v195 r182
  v196 r168
 )
 (:init
  (free v0)
  (at r121 v1)
  (free v2)
  (at r136 v3)
  (at r150 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r155 v8)
  (free v9)
  (free v10)
  (at r135 v11)
  (at r177 v12)
  (free v13)
  (free v14)
  (free v15)
  (at r173 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r122 v20)
  (free v21)
  (free v22)
  (at r129 v23)
  (at r131 v24)
  (at r139 v25)
  (free v26)
  (at r157 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r172 v34)
  (at r162 v35)
  (free v36)
  (free v37)
  (at r128 v38)
  (free v39)
  (at r151 v40)
  (at r158 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r166 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r176 v51)
  (free v52)
  (free v53)
  (at r159 v54)
  (free v55)
  (at r153 v56)
  (at r167 v57)
  (at r119 v58)
  (free v59)
  (at r137 v60)
  (free v61)
  (free v62)
  (at r148 v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r178 v71)
  (at r164 v72)
  (at r154 v73)
  (free v74)
  (at r163 v75)
  (at r144 v76)
  (free v77)
  (at r192 v78)
  (at r152 v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r156 v84)
  (at r146 v85)
  (free v86)
  (at r147 v87)
  (free v88)
  (at r120 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r161 v95)
  (at r149 v96)
  (free v97)
  (free v98)
  (at r171 v99)
  (free v100)
  (free v101)
  (at r193 v102)
  (at r179 v103)
  (at r160 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (at r191 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r187 v116)
  (at r195 v117)
  (at r141 v118)
  (free v119)
  (free v120)
  (free v121)
  (at r125 v122)
  (at r169 v123)
  (at r143 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r133 v129)
  (free v130)
  (at r174 v131)
  (at r134 v132)
  (free v133)
  (free v134)
  (at r165 v135)
  (free v136)
  (at r130 v137)
  (at r170 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r181 v144)
  (free v145)
  (free v146)
  (at r126 v147)
  (at r132 v148)
  (at r180 v149)
  (at r183 v150)
  (at r175 v151)
  (at r127 v152)
  (free v153)
  (free v154)
  (free v155)
  (at r123 v156)
  (at r185 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (free v163)
  (at r189 v164)
  (free v165)
  (free v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (free v171)
  (at r186 v172)
  (at r196 v173)
  (at r142 v174)
  (free v175)
  (free v176)
  (free v177)
  (at r188 v178)
  (free v179)
  (at r138 v180)
  (free v181)
  (at r190 v182)
  (at r194 v183)
  (at r140 v184)
  (free v185)
  (free v186)
  (free v187)
  (at r184 v188)
  (free v189)
  (free v190)
  (free v191)
  (at r145 v192)
  (free v193)
  (at r124 v194)
  (at r182 v195)
  (at r168 v196)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v30)
  (adjacent v0 v58)
  (adjacent v0 v147)
  (adjacent v1 v2)
  (adjacent v1 v25)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v12)
  (adjacent v2 v36)
  (adjacent v2 v106)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v78)
  (adjacent v3 v125)
  (adjacent v4 v5)
  (adjacent v5 v23)
  (adjacent v6 v7)
  (adjacent v6 v45)
  (adjacent v7 v8)
  (adjacent v7 v31)
  (adjacent v7 v104)
  (adjacent v7 v113)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v8 v63)
  (adjacent v8 v172)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v171)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v10 v15)
  (adjacent v10 v86)
  (adjacent v11 v57)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v104)
  (adjacent v14 v17)
  (adjacent v14 v24)
  (adjacent v14 v178)
  (adjacent v15 v16)
  (adjacent v15 v23)
  (adjacent v15 v170)
  (adjacent v16 v22)
  (adjacent v17 v18)
  (adjacent v17 v85)
  (adjacent v17 v192)
  (adjacent v18 v19)
  (adjacent v18 v81)
  (adjacent v19 v20)
  (adjacent v19 v37)
  (adjacent v19 v44)
  (adjacent v19 v181)
  (adjacent v20 v21)
  (adjacent v20 v51)
  (adjacent v20 v63)
  (adjacent v21 v22)
  (adjacent v21 v26)
  (adjacent v22 v164)
  (adjacent v23 v25)
  (adjacent v23 v145)
  (adjacent v23 v171)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v80)
  (adjacent v29 v30)
  (adjacent v29 v44)
  (adjacent v30 v105)
  (adjacent v31 v32)
  (adjacent v31 v157)
  (adjacent v32 v33)
  (adjacent v32 v59)
  (adjacent v32 v64)
  (adjacent v33 v34)
  (adjacent v33 v112)
  (adjacent v34 v35)
  (adjacent v34 v43)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v122)
  (adjacent v40 v41)
  (adjacent v40 v60)
  (adjacent v40 v73)
  (adjacent v40 v74)
  (adjacent v40 v157)
  (adjacent v41 v42)
  (adjacent v41 v112)
  (adjacent v41 v177)
  (adjacent v42 v43)
  (adjacent v42 v137)
  (adjacent v42 v146)
  (adjacent v42 v148)
  (adjacent v44 v52)
  (adjacent v44 v97)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v71)
  (adjacent v47 v48)
  (adjacent v47 v67)
  (adjacent v48 v49)
  (adjacent v48 v78)
  (adjacent v48 v97)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v111)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v77)
  (adjacent v54 v55)
  (adjacent v54 v89)
  (adjacent v54 v187)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v90)
  (adjacent v59 v62)
  (adjacent v59 v124)
  (adjacent v60 v61)
  (adjacent v60 v121)
  (adjacent v61 v62)
  (adjacent v61 v66)
  (adjacent v61 v158)
  (adjacent v64 v65)
  (adjacent v64 v136)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v67 v125)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v74 v167)
  (adjacent v75 v76)
  (adjacent v75 v107)
  (adjacent v76 v77)
  (adjacent v76 v144)
  (adjacent v77 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v96)
  (adjacent v87 v88)
  (adjacent v87 v114)
  (adjacent v88 v89)
  (adjacent v88 v131)
  (adjacent v88 v166)
  (adjacent v90 v91)
  (adjacent v90 v98)
  (adjacent v90 v134)
  (adjacent v90 v143)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v130)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v105)
  (adjacent v95 v96)
  (adjacent v97 v103)
  (adjacent v98 v99)
  (adjacent v98 v167)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v115)
  (adjacent v101 v196)
  (adjacent v102 v103)
  (adjacent v103 v106)
  (adjacent v107 v108)
  (adjacent v107 v126)
  (adjacent v107 v151)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v144)
  (adjacent v113 v114)
  (adjacent v114 v147)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v165)
  (adjacent v119 v185)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v179)
  (adjacent v123 v124)
  (adjacent v126 v127)
  (adjacent v126 v135)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v182)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v152)
  (adjacent v142 v143)
  (adjacent v145 v146)
  (adjacent v145 v156)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v168)
  (adjacent v157 v186)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v161 v193)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v188)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v169 v178)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v175 v191)
  (adjacent v176 v177)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v186 v187)
  (adjacent v188 v189)
  (adjacent v189 v190)
  (adjacent v190 v191)
  (adjacent v192 v193)
  (adjacent v193 v194)
  (adjacent v194 v195)
  (adjacent v195 v196)
 )
 (:goal
  (and
  (free v0)
  (at r144 v1)
  (at r156 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r161 v7)
  (free v8)
  (free v9)
  (free v10)
  (at r173 v11)
  (free v12)
  (at r143 v13)
  (free v14)
  (at r192 v15)
  (free v16)
  (free v17)
  (at r125 v18)
  (at r146 v19)
  (at r169 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r141 v24)
  (free v25)
  (free v26)
  (free v27)
  (at r148 v28)
  (free v29)
  (free v30)
  (at r189 v31)
  (at r176 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r135 v36)
  (free v37)
  (at r174 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r165 v42)
  (free v43)
  (free v44)
  (at r191 v45)
  (free v46)
  (at r166 v47)
  (free v48)
  (at r190 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r123 v53)
  (free v54)
  (at r139 v55)
  (free v56)
  (at r149 v57)
  (at r131 v58)
  (free v59)
  (at r140 v60)
  (at r164 v61)
  (free v62)
  (at r134 v63)
  (free v64)
  (at r159 v65)
  (at r153 v66)
  (free v67)
  (at r168 v68)
  (at r121 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r142 v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r160 v84)
  (at r172 v85)
  (free v86)
  (free v87)
  (at r128 v88)
  (at r162 v89)
  (free v90)
  (at r180 v91)
  (free v92)
  (free v93)
  (at r122 v94)
  (free v95)
  (at r130 v96)
  (at r177 v97)
  (free v98)
  (free v99)
  (at r184 v100)
  (at r193 v101)
  (at r155 v102)
  (at r187 v103)
  (at r163 v104)
  (free v105)
  (at r154 v106)
  (at r188 v107)
  (free v108)
  (at r167 v109)
  (free v110)
  (at r158 v111)
  (free v112)
  (at r152 v113)
  (free v114)
  (free v115)
  (at r150 v116)
  (free v117)
  (at r182 v118)
  (free v119)
  (free v120)
  (at r179 v121)
  (at r124 v122)
  (at r129 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (at r132 v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r136 v137)
  (at r138 v138)
  (at r194 v139)
  (free v140)
  (free v141)
  (free v142)
  (at r181 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r147 v147)
  (at r183 v148)
  (free v149)
  (at r133 v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (at r119 v158)
  (free v159)
  (free v160)
  (at r170 v161)
  (at r137 v162)
  (at r195 v163)
  (at r145 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r171 v168)
  (at r186 v169)
  (free v170)
  (free v171)
  (at r196 v172)
  (free v173)
  (free v174)
  (free v175)
  (free v176)
  (at r126 v177)
  (free v178)
  (free v179)
  (free v180)
  (free v181)
  (free v182)
  (free v183)
  (at r120 v184)
  (at r127 v185)
  (at r175 v186)
  (free v187)
  (at r157 v188)
  (at r151 v189)
  (free v190)
  (free v191)
  (at r178 v192)
  (free v193)
  (free v194)
  (free v195)
  (at r185 v196)
  )
 )
)