(define (problem multirobot_50_90%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1 r127
  v2
  v3
  v4
  v5 r112
  v6 r174
  v7
  v8
  v9 r152
  v10 r167
  v11
  v12 r116
  v13 r153
  v14
  v15 r108
  v16 r170
  v17 r151
  v18
  v19
  v20 r136
  v21
  v22 r145
  v23
  v24
  v25
  v26
  v27
  v28
  v29
  v30 r114
  v31
  v32 r137
  v33
  v34 r138
  v35 r131
  v36 r121
  v37
  v38 r150
  v39
  v40 r165
  v41
  v42
  v43 r142
  v44
  v45 r99
  v46
  v47
  v48 r160
  v49
  v50 r143
  v51 r132
  v52 r115
  v53
  v54
  v55
  v56
  v57
  v58
  v59
  v60 r107
  v61
  v62 r130
  v63 r105
  v64
  v65
  v66
  v67 r144
  v68 r120
  v69 r104
  v70 r159
  v71
  v72 r164
  v73
  v74
  v75 r124
  v76
  v77 r149
  v78 r141
  v79 r155
  v80 r168
  v81
  v82 r98
  v83 r101
  v84
  v85 r134
  v86 r111
  v87
  v88 r171
  v89
  v90
  v91
  v92
  v93
  v94
  v95
  v96
  v97
  v98 r163
  v99
  v100 r113
  v101
  v102 r148
  v103 r162
  v104 r117
  v105 r147
  v106 r119
  v107
  v108
  v109
  v110
  v111
  v112 r154
  v113
  v114 r135
  v115 r100
  v116 r172
  v117
  v118
  v119 r157
  v120 r156
  v121
  v122 r126
  v123
  v124
  v125
  v126
  v127
  v128
  v129 r173
  v130
  v131 r158
  v132 r161
  v133 r128
  v134 r103
  v135
  v136
  v137
  v138 r122
  v139
  v140
  v141
  v142
  v143 r125
  v144
  v145
  v146
  v147 r139
  v148 r140
  v149
  v150 r118
  v151 r123
  v152 r109
  v153
  v154 r133
  v155
  v156 r129
  v157
  v158 r110
  v159 r166
  v160
  v161 r146
  v162 r175
  v163 r102
  v164
  v165 r106
  v166
  v167
  v168 r169
  v169
  v170
  v171
  v172
  v173
  v174
  v175
 )
 (:init
  (free v0)
  (at r127 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r112 v5)
  (at r174 v6)
  (free v7)
  (free v8)
  (at r152 v9)
  (at r167 v10)
  (free v11)
  (at r116 v12)
  (at r153 v13)
  (free v14)
  (at r108 v15)
  (at r170 v16)
  (at r151 v17)
  (free v18)
  (free v19)
  (at r136 v20)
  (free v21)
  (at r145 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r114 v30)
  (free v31)
  (at r137 v32)
  (free v33)
  (at r138 v34)
  (at r131 v35)
  (at r121 v36)
  (free v37)
  (at r150 v38)
  (free v39)
  (at r165 v40)
  (free v41)
  (free v42)
  (at r142 v43)
  (free v44)
  (at r99 v45)
  (free v46)
  (free v47)
  (at r160 v48)
  (free v49)
  (at r143 v50)
  (at r132 v51)
  (at r115 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r107 v60)
  (free v61)
  (at r130 v62)
  (at r105 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r144 v67)
  (at r120 v68)
  (at r104 v69)
  (at r159 v70)
  (free v71)
  (at r164 v72)
  (free v73)
  (free v74)
  (at r124 v75)
  (free v76)
  (at r149 v77)
  (at r141 v78)
  (at r155 v79)
  (at r168 v80)
  (free v81)
  (at r98 v82)
  (at r101 v83)
  (free v84)
  (at r134 v85)
  (at r111 v86)
  (free v87)
  (at r171 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r163 v98)
  (free v99)
  (at r113 v100)
  (free v101)
  (at r148 v102)
  (at r162 v103)
  (at r117 v104)
  (at r147 v105)
  (at r119 v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (at r154 v112)
  (free v113)
  (at r135 v114)
  (at r100 v115)
  (at r172 v116)
  (free v117)
  (free v118)
  (at r157 v119)
  (at r156 v120)
  (free v121)
  (at r126 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r173 v129)
  (free v130)
  (at r158 v131)
  (at r161 v132)
  (at r128 v133)
  (at r103 v134)
  (free v135)
  (free v136)
  (free v137)
  (at r122 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r125 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r139 v147)
  (at r140 v148)
  (free v149)
  (at r118 v150)
  (at r123 v151)
  (at r109 v152)
  (free v153)
  (at r133 v154)
  (free v155)
  (at r129 v156)
  (free v157)
  (at r110 v158)
  (at r166 v159)
  (free v160)
  (at r146 v161)
  (at r175 v162)
  (at r102 v163)
  (free v164)
  (at r106 v165)
  (free v166)
  (free v167)
  (at r169 v168)
  (free v169)
  (free v170)
  (free v171)
  (free v172)
  (free v173)
  (free v174)
  (free v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v124)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v27)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v13)
  (adjacent v2 v33)
  (adjacent v2 v153)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v19)
  (adjacent v3 v51)
  (adjacent v3 v139)
  (adjacent v4 v7)
  (adjacent v5 v26)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v14)
  (adjacent v6 v25)
  (adjacent v6 v84)
  (adjacent v6 v85)
  (adjacent v7 v50)
  (adjacent v8 v9)
  (adjacent v8 v24)
  (adjacent v8 v49)
  (adjacent v8 v62)
  (adjacent v8 v88)
  (adjacent v9 v10)
  (adjacent v9 v61)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v10 v95)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v32)
  (adjacent v12 v13)
  (adjacent v13 v41)
  (adjacent v13 v131)
  (adjacent v14 v15)
  (adjacent v15 v33)
  (adjacent v15 v145)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v43)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v62)
  (adjacent v20 v173)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v44)
  (adjacent v22 v52)
  (adjacent v22 v165)
  (adjacent v23 v24)
  (adjacent v24 v50)
  (adjacent v24 v83)
  (adjacent v25 v26)
  (adjacent v26 v174)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v27 v123)
  (adjacent v28 v29)
  (adjacent v28 v95)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v29 v68)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v94)
  (adjacent v32 v69)
  (adjacent v33 v55)
  (adjacent v34 v35)
  (adjacent v34 v51)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v42)
  (adjacent v37 v38)
  (adjacent v37 v74)
  (adjacent v38 v39)
  (adjacent v38 v41)
  (adjacent v39 v40)
  (adjacent v40 v93)
  (adjacent v41 v42)
  (adjacent v41 v45)
  (adjacent v41 v63)
  (adjacent v42 v79)
  (adjacent v42 v117)
  (adjacent v43 v44)
  (adjacent v43 v54)
  (adjacent v45 v46)
  (adjacent v45 v124)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v126)
  (adjacent v48 v166)
  (adjacent v49 v125)
  (adjacent v52 v53)
  (adjacent v52 v158)
  (adjacent v53 v54)
  (adjacent v54 v119)
  (adjacent v55 v56)
  (adjacent v55 v134)
  (adjacent v55 v140)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v73)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v102)
  (adjacent v60 v61)
  (adjacent v61 v135)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v113)
  (adjacent v65 v66)
  (adjacent v65 v78)
  (adjacent v65 v108)
  (adjacent v66 v67)
  (adjacent v66 v114)
  (adjacent v67 v68)
  (adjacent v67 v175)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v171)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v94)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v103)
  (adjacent v78 v82)
  (adjacent v79 v80)
  (adjacent v79 v89)
  (adjacent v79 v97)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v116)
  (adjacent v83 v84)
  (adjacent v84 v107)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v146)
  (adjacent v92 v93)
  (adjacent v94 v96)
  (adjacent v94 v130)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v133)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v152)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v108 v118)
  (adjacent v108 v127)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v117 v134)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v175)
  (adjacent v122 v123)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v170)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v159)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v138 v149)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v150)
  (adjacent v146 v147)
  (adjacent v146 v174)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v172 v173)
 )
 (:goal
  (and
  (at r99 v0)
  (at r129 v1)
  (at r136 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r128 v7)
  (at r138 v8)
  (at r119 v9)
  (at r163 v10)
  (free v11)
  (at r139 v12)
  (free v13)
  (at r165 v14)
  (free v15)
  (at r151 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r137 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r109 v29)
  (at r108 v30)
  (free v31)
  (at r146 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r104 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r143 v40)
  (at r167 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (at r142 v46)
  (at r157 v47)
  (free v48)
  (free v49)
  (at r103 v50)
  (at r159 v51)
  (free v52)
  (free v53)
  (at r114 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (at r122 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r107 v65)
  (at r117 v66)
  (at r172 v67)
  (free v68)
  (at r153 v69)
  (free v70)
  (free v71)
  (free v72)
  (at r110 v73)
  (free v74)
  (at r175 v75)
  (at r135 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r120 v80)
  (at r115 v81)
  (at r160 v82)
  (free v83)
  (at r145 v84)
  (at r123 v85)
  (at r126 v86)
  (at r171 v87)
  (free v88)
  (at r156 v89)
  (free v90)
  (at r102 v91)
  (at r170 v92)
  (at r113 v93)
  (at r174 v94)
  (free v95)
  (at r147 v96)
  (at r130 v97)
  (free v98)
  (free v99)
  (at r134 v100)
  (free v101)
  (at r105 v102)
  (free v103)
  (at r155 v104)
  (at r98 v105)
  (at r158 v106)
  (at r154 v107)
  (free v108)
  (free v109)
  (at r144 v110)
  (free v111)
  (at r101 v112)
  (at r106 v113)
  (at r148 v114)
  (free v115)
  (at r161 v116)
  (free v117)
  (free v118)
  (at r166 v119)
  (at r125 v120)
  (free v121)
  (at r168 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r131 v127)
  (at r124 v128)
  (at r116 v129)
  (at r169 v130)
  (at r133 v131)
  (free v132)
  (free v133)
  (at r141 v134)
  (free v135)
  (at r173 v136)
  (at r162 v137)
  (free v138)
  (at r149 v139)
  (free v140)
  (free v141)
  (at r150 v142)
  (at r118 v143)
  (at r132 v144)
  (free v145)
  (free v146)
  (free v147)
  (at r100 v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (at r140 v153)
  (free v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (free v159)
  (at r121 v160)
  (free v161)
  (at r111 v162)
  (free v163)
  (free v164)
  (free v165)
  (at r152 v166)
  (free v167)
  (free v168)
  (at r127 v169)
  (free v170)
  (at r164 v171)
  (at r112 v172)
  (free v173)
  (free v174)
  (free v175)
  )
 )
)