(define (problem multirobot_50_90%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1 r142
  v2
  v3
  v4
  v5
  v6
  v7
  v8
  v9 r140
  v10
  v11
  v12
  v13 r130
  v14 r139
  v15
  v16
  v17
  v18 r133
  v19
  v20
  v21
  v22
  v23 r148
  v24 r138
  v25 r104
  v26 r108
  v27 r134
  v28
  v29
  v30 r123
  v31
  v32 r118
  v33 r135
  v34
  v35 r116
  v36
  v37
  v38
  v39
  v40 r111
  v41 r117
  v42 r107
  v43
  v44
  v45 r137
  v46
  v47
  v48 r145
  v49 r132
  v50 r120
  v51
  v52 r115
  v53
  v54 r125
  v55
  v56
  v57
  v58
  v59
  v60
  v61
  v62
  v63
  v64 r103
  v65 r112
  v66
  v67
  v68 r141
  v69
  v70
  v71
  v72
  v73 r127
  v74 r114
  v75
  v76
  v77 r136
  v78
  v79 r109
  v80
  v81 r147
  v82
  v83
  v84
  v85
  v86
  v87
  v88
  v89
  v90
  v91
  v92 r124
  v93 r122
  v94 r106
  v95
  v96 r129
  v97
  v98
  v99
  v100 r110
  v101
  v102
  v103
  v104
  v105 r149
  v106
  v107
  v108
  v109
  v110
  v111
  v112
  v113 r143
  v114
  v115
  v116
  v117
  v118 r126
  v119 r146
  v120
  v121
  v122
  v123
  v124
  v125 r121
  v126
  v127 r113
  v128
  v129
  v130
  v131
  v132 r131
  v133
  v134
  v135
  v136
  v137
  v138
  v139
  v140
  v141
  v142
  v143 r105
  v144 r128
  v145 r144
  v146
  v147
  v148 r119
  v149
 )
 (:init
  (free v0)
  (at r142 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (at r140 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r130 v13)
  (at r139 v14)
  (free v15)
  (free v16)
  (free v17)
  (at r133 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r148 v23)
  (at r138 v24)
  (at r104 v25)
  (at r108 v26)
  (at r134 v27)
  (free v28)
  (free v29)
  (at r123 v30)
  (free v31)
  (at r118 v32)
  (at r135 v33)
  (free v34)
  (at r116 v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (at r111 v40)
  (at r117 v41)
  (at r107 v42)
  (free v43)
  (free v44)
  (at r137 v45)
  (free v46)
  (free v47)
  (at r145 v48)
  (at r132 v49)
  (at r120 v50)
  (free v51)
  (at r115 v52)
  (free v53)
  (at r125 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (at r103 v64)
  (at r112 v65)
  (free v66)
  (free v67)
  (at r141 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r127 v73)
  (at r114 v74)
  (free v75)
  (free v76)
  (at r136 v77)
  (free v78)
  (at r109 v79)
  (free v80)
  (at r147 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r124 v92)
  (at r122 v93)
  (at r106 v94)
  (free v95)
  (at r129 v96)
  (free v97)
  (free v98)
  (free v99)
  (at r110 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r149 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r143 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r126 v118)
  (at r146 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r121 v125)
  (free v126)
  (at r113 v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (at r131 v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r105 v143)
  (at r128 v144)
  (at r144 v145)
  (free v146)
  (free v147)
  (at r119 v148)
  (free v149)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v13)
  (adjacent v0 v20)
  (adjacent v0 v21)
  (adjacent v0 v108)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v9)
  (adjacent v1 v10)
  (adjacent v2 v3)
  (adjacent v2 v78)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v43)
  (adjacent v4 v5)
  (adjacent v4 v12)
  (adjacent v4 v73)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v137)
  (adjacent v6 v9)
  (adjacent v6 v19)
  (adjacent v6 v20)
  (adjacent v7 v8)
  (adjacent v7 v19)
  (adjacent v7 v38)
  (adjacent v7 v42)
  (adjacent v7 v95)
  (adjacent v8 v13)
  (adjacent v8 v39)
  (adjacent v8 v69)
  (adjacent v9 v15)
  (adjacent v9 v23)
  (adjacent v9 v139)
  (adjacent v10 v11)
  (adjacent v10 v85)
  (adjacent v11 v12)
  (adjacent v11 v26)
  (adjacent v11 v63)
  (adjacent v11 v121)
  (adjacent v12 v16)
  (adjacent v12 v44)
  (adjacent v13 v27)
  (adjacent v14 v15)
  (adjacent v14 v18)
  (adjacent v14 v49)
  (adjacent v15 v81)
  (adjacent v15 v105)
  (adjacent v16 v17)
  (adjacent v16 v45)
  (adjacent v16 v63)
  (adjacent v16 v64)
  (adjacent v16 v88)
  (adjacent v17 v18)
  (adjacent v18 v104)
  (adjacent v18 v140)
  (adjacent v20 v22)
  (adjacent v20 v31)
  (adjacent v20 v131)
  (adjacent v20 v148)
  (adjacent v21 v22)
  (adjacent v21 v28)
  (adjacent v21 v118)
  (adjacent v22 v33)
  (adjacent v22 v57)
  (adjacent v22 v122)
  (adjacent v23 v24)
  (adjacent v23 v32)
  (adjacent v24 v25)
  (adjacent v24 v72)
  (adjacent v25 v26)
  (adjacent v25 v29)
  (adjacent v25 v107)
  (adjacent v26 v86)
  (adjacent v26 v136)
  (adjacent v27 v28)
  (adjacent v27 v149)
  (adjacent v29 v30)
  (adjacent v29 v32)
  (adjacent v29 v50)
  (adjacent v29 v135)
  (adjacent v30 v31)
  (adjacent v32 v80)
  (adjacent v33 v34)
  (adjacent v33 v62)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v76)
  (adjacent v42 v79)
  (adjacent v43 v44)
  (adjacent v43 v99)
  (adjacent v44 v56)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v145)
  (adjacent v48 v49)
  (adjacent v49 v75)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v113)
  (adjacent v55 v56)
  (adjacent v55 v113)
  (adjacent v56 v68)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v120)
  (adjacent v59 v60)
  (adjacent v59 v82)
  (adjacent v59 v139)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v112)
  (adjacent v62 v147)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v114)
  (adjacent v67 v131)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v123)
  (adjacent v71 v72)
  (adjacent v72 v132)
  (adjacent v73 v74)
  (adjacent v73 v136)
  (adjacent v74 v75)
  (adjacent v74 v87)
  (adjacent v74 v100)
  (adjacent v76 v77)
  (adjacent v76 v79)
  (adjacent v77 v78)
  (adjacent v79 v94)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v117)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v148)
  (adjacent v86 v149)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v130)
  (adjacent v91 v144)
  (adjacent v92 v93)
  (adjacent v92 v124)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v123)
  (adjacent v100 v101)
  (adjacent v100 v138)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v147)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v146)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
 )
 (:goal
  (and
  (free v0)
  (at r110 v1)
  (at r106 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (at r129 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r147 v18)
  (free v19)
  (at r113 v20)
  (free v21)
  (at r122 v22)
  (free v23)
  (at r128 v24)
  (free v25)
  (free v26)
  (at r118 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (at r143 v40)
  (at r132 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r146 v55)
  (free v56)
  (free v57)
  (at r119 v58)
  (at r120 v59)
  (free v60)
  (free v61)
  (free v62)
  (at r111 v63)
  (at r123 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r148 v69)
  (at r112 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r144 v74)
  (free v75)
  (at r104 v76)
  (free v77)
  (at r138 v78)
  (free v79)
  (free v80)
  (at r137 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (at r127 v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r139 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r149 v101)
  (at r114 v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (at r140 v107)
  (free v108)
  (at r105 v109)
  (free v110)
  (at r133 v111)
  (at r136 v112)
  (free v113)
  (free v114)
  (free v115)
  (at r141 v116)
  (at r126 v117)
  (free v118)
  (at r115 v119)
  (at r116 v120)
  (free v121)
  (free v122)
  (at r124 v123)
  (free v124)
  (free v125)
  (at r131 v126)
  (at r117 v127)
  (free v128)
  (free v129)
  (at r103 v130)
  (free v131)
  (at r130 v132)
  (at r134 v133)
  (free v134)
  (free v135)
  (at r145 v136)
  (free v137)
  (free v138)
  (free v139)
  (at r109 v140)
  (at r142 v141)
  (free v142)
  (at r135 v143)
  (at r125 v144)
  (at r108 v145)
  (at r107 v146)
  (free v147)
  (free v148)
  (at r121 v149)
  )
 )
)