(define (problem multirobot_50_90%_c6)
 (:domain multirobot)
 (:objects
  v0 r126
  v1 r112
  v2
  v3 r141
  v4
  v5
  v6 r97
  v7
  v8
  v9
  v10 r127
  v11
  v12
  v13
  v14 r125
  v15
  v16 r117
  v17
  v18 r94
  v19 r119
  v20
  v21 r149
  v22 r109
  v23
  v24
  v25
  v26 r139
  v27
  v28 r88
  v29
  v30 r104
  v31 r98
  v32 r136
  v33 r148
  v34 r140
  v35 r99
  v36
  v37
  v38 r143
  v39 r142
  v40
  v41 r100
  v42
  v43 r92
  v44 r122
  v45
  v46
  v47
  v48 r130
  v49
  v50 r153
  v51
  v52 r103
  v53 r135
  v54 r110
  v55 r121
  v56 r134
  v57
  v58
  v59 r133
  v60
  v61
  v62 r101
  v63
  v64 r114
  v65
  v66
  v67 r128
  v68 r105
  v69 r87
  v70 r120
  v71 r83
  v72 r137
  v73
  v74
  v75
  v76 r115
  v77 r129
  v78
  v79
  v80
  v81 r107
  v82
  v83
  v84
  v85
  v86
  v87
  v88 r138
  v89 r131
  v90 r147
  v91 r85
  v92 r106
  v93 r91
  v94
  v95
  v96
  v97 r146
  v98
  v99 r93
  v100
  v101
  v102 r113
  v103 r144
  v104
  v105 r132
  v106
  v107
  v108
  v109
  v110 r124
  v111
  v112
  v113
  v114
  v115
  v116
  v117
  v118
  v119 r150
  v120
  v121 r123
  v122
  v123
  v124 r95
  v125 r96
  v126
  v127
  v128 r145
  v129
  v130 r84
  v131
  v132 r108
  v133
  v134 r89
  v135 r102
  v136 r90
  v137 r118
  v138
  v139
  v140
  v141
  v142 r111
  v143
  v144 r151
  v145 r152
  v146
  v147
  v148
  v149 r86
  v150
  v151
  v152 r116
  v153
 )
 (:init
  (at r126 v0)
  (at r112 v1)
  (free v2)
  (at r141 v3)
  (free v4)
  (free v5)
  (at r97 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r127 v10)
  (free v11)
  (free v12)
  (free v13)
  (at r125 v14)
  (free v15)
  (at r117 v16)
  (free v17)
  (at r94 v18)
  (at r119 v19)
  (free v20)
  (at r149 v21)
  (at r109 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r139 v26)
  (free v27)
  (at r88 v28)
  (free v29)
  (at r104 v30)
  (at r98 v31)
  (at r136 v32)
  (at r148 v33)
  (at r140 v34)
  (at r99 v35)
  (free v36)
  (free v37)
  (at r143 v38)
  (at r142 v39)
  (free v40)
  (at r100 v41)
  (free v42)
  (at r92 v43)
  (at r122 v44)
  (free v45)
  (free v46)
  (free v47)
  (at r130 v48)
  (free v49)
  (at r153 v50)
  (free v51)
  (at r103 v52)
  (at r135 v53)
  (at r110 v54)
  (at r121 v55)
  (at r134 v56)
  (free v57)
  (free v58)
  (at r133 v59)
  (free v60)
  (free v61)
  (at r101 v62)
  (free v63)
  (at r114 v64)
  (free v65)
  (free v66)
  (at r128 v67)
  (at r105 v68)
  (at r87 v69)
  (at r120 v70)
  (at r83 v71)
  (at r137 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r115 v76)
  (at r129 v77)
  (free v78)
  (free v79)
  (free v80)
  (at r107 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (at r138 v88)
  (at r131 v89)
  (at r147 v90)
  (at r85 v91)
  (at r106 v92)
  (at r91 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r146 v97)
  (free v98)
  (at r93 v99)
  (free v100)
  (free v101)
  (at r113 v102)
  (at r144 v103)
  (free v104)
  (at r132 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r124 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r150 v119)
  (free v120)
  (at r123 v121)
  (free v122)
  (free v123)
  (at r95 v124)
  (at r96 v125)
  (free v126)
  (free v127)
  (at r145 v128)
  (free v129)
  (at r84 v130)
  (free v131)
  (at r108 v132)
  (free v133)
  (at r89 v134)
  (at r102 v135)
  (at r90 v136)
  (at r118 v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (at r111 v142)
  (free v143)
  (at r151 v144)
  (at r152 v145)
  (free v146)
  (free v147)
  (free v148)
  (at r86 v149)
  (free v150)
  (free v151)
  (at r116 v152)
  (free v153)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v13)
  (adjacent v0 v27)
  (adjacent v0 v62)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v15)
  (adjacent v3 v4)
  (adjacent v3 v34)
  (adjacent v3 v82)
  (adjacent v3 v116)
  (adjacent v5 v6)
  (adjacent v5 v21)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v6 v14)
  (adjacent v6 v15)
  (adjacent v7 v8)
  (adjacent v7 v31)
  (adjacent v7 v43)
  (adjacent v7 v114)
  (adjacent v7 v115)
  (adjacent v8 v9)
  (adjacent v8 v20)
  (adjacent v9 v13)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v39)
  (adjacent v10 v44)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v11 v22)
  (adjacent v12 v38)
  (adjacent v13 v25)
  (adjacent v13 v49)
  (adjacent v13 v99)
  (adjacent v13 v150)
  (adjacent v14 v16)
  (adjacent v14 v42)
  (adjacent v14 v137)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v21)
  (adjacent v18 v19)
  (adjacent v18 v55)
  (adjacent v18 v86)
  (adjacent v19 v20)
  (adjacent v20 v35)
  (adjacent v20 v104)
  (adjacent v20 v119)
  (adjacent v21 v26)
  (adjacent v21 v89)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v23 v24)
  (adjacent v23 v136)
  (adjacent v24 v25)
  (adjacent v25 v140)
  (adjacent v26 v27)
  (adjacent v26 v70)
  (adjacent v26 v100)
  (adjacent v27 v28)
  (adjacent v27 v114)
  (adjacent v28 v29)
  (adjacent v28 v143)
  (adjacent v29 v30)
  (adjacent v31 v32)
  (adjacent v31 v82)
  (adjacent v31 v116)
  (adjacent v32 v33)
  (adjacent v32 v152)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v141)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v50)
  (adjacent v37 v92)
  (adjacent v38 v45)
  (adjacent v38 v76)
  (adjacent v39 v40)
  (adjacent v39 v76)
  (adjacent v39 v151)
  (adjacent v40 v41)
  (adjacent v40 v98)
  (adjacent v40 v153)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v43 v58)
  (adjacent v43 v91)
  (adjacent v43 v117)
  (adjacent v43 v132)
  (adjacent v44 v65)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v59)
  (adjacent v49 v64)
  (adjacent v49 v75)
  (adjacent v50 v51)
  (adjacent v50 v56)
  (adjacent v50 v101)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v63)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v90)
  (adjacent v56 v105)
  (adjacent v57 v58)
  (adjacent v58 v69)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v66)
  (adjacent v60 v74)
  (adjacent v61 v62)
  (adjacent v62 v104)
  (adjacent v63 v64)
  (adjacent v63 v109)
  (adjacent v64 v65)
  (adjacent v64 v85)
  (adjacent v65 v77)
  (adjacent v65 v93)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v115)
  (adjacent v70 v71)
  (adjacent v70 v120)
  (adjacent v71 v72)
  (adjacent v71 v75)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v124)
  (adjacent v74 v83)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v90)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v131)
  (adjacent v86 v87)
  (adjacent v86 v108)
  (adjacent v86 v130)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v129)
  (adjacent v95 v96)
  (adjacent v95 v113)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v103)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v125)
  (adjacent v105 v106)
  (adjacent v105 v125)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v144)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v115 v126)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v141 v153)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
 )
 (:goal
  (and
  (free v0)
  (at r90 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r127 v5)
  (at r111 v6)
  (free v7)
  (at r129 v8)
  (at r102 v9)
  (at r133 v10)
  (free v11)
  (at r123 v12)
  (at r94 v13)
  (free v14)
  (at r100 v15)
  (free v16)
  (at r104 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r83 v21)
  (at r95 v22)
  (free v23)
  (at r86 v24)
  (at r139 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r116 v30)
  (at r150 v31)
  (free v32)
  (at r125 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r106 v37)
  (free v38)
  (free v39)
  (at r152 v40)
  (free v41)
  (free v42)
  (at r120 v43)
  (free v44)
  (at r134 v45)
  (at r96 v46)
  (free v47)
  (at r122 v48)
  (free v49)
  (free v50)
  (at r144 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r115 v56)
  (free v57)
  (at r92 v58)
  (at r143 v59)
  (at r124 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (at r142 v67)
  (free v68)
  (free v69)
  (at r85 v70)
  (free v71)
  (free v72)
  (at r121 v73)
  (free v74)
  (at r114 v75)
  (at r84 v76)
  (at r137 v77)
  (at r118 v78)
  (at r151 v79)
  (at r117 v80)
  (free v81)
  (at r138 v82)
  (at r108 v83)
  (at r147 v84)
  (at r140 v85)
  (free v86)
  (at r126 v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r130 v92)
  (at r132 v93)
  (free v94)
  (at r136 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (at r97 v102)
  (free v103)
  (free v104)
  (at r119 v105)
  (free v106)
  (at r113 v107)
  (at r145 v108)
  (free v109)
  (at r99 v110)
  (free v111)
  (free v112)
  (at r93 v113)
  (at r98 v114)
  (at r109 v115)
  (at r91 v116)
  (free v117)
  (at r89 v118)
  (at r112 v119)
  (free v120)
  (at r149 v121)
  (at r141 v122)
  (free v123)
  (at r131 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r128 v129)
  (at r105 v130)
  (free v131)
  (free v132)
  (at r148 v133)
  (at r107 v134)
  (at r135 v135)
  (free v136)
  (at r87 v137)
  (free v138)
  (free v139)
  (free v140)
  (at r88 v141)
  (at r103 v142)
  (at r153 v143)
  (free v144)
  (at r110 v145)
  (free v146)
  (at r101 v147)
  (free v148)
  (at r146 v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  )
 )
)