(define (problem multirobot_50_90%_c7)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r164
  v3 r124
  v4
  v5 r108
  v6 r138
  v7
  v8
  v9
  v10 r155
  v11 r125
  v12
  v13 r136
  v14 r149
  v15
  v16 r166
  v17 r91
  v18 r143
  v19
  v20 r85
  v21 r86
  v22 r148
  v23 r122
  v24
  v25 r101
  v26
  v27 r142
  v28
  v29
  v30
  v31
  v32 r94
  v33
  v34
  v35
  v36
  v37 r131
  v38
  v39 r147
  v40
  v41
  v42 r117
  v43 r110
  v44 r129
  v45 r156
  v46
  v47
  v48 r104
  v49
  v50 r168
  v51
  v52 r146
  v53 r111
  v54
  v55
  v56 r159
  v57
  v58 r154
  v59
  v60 r174
  v61 r89
  v62 r132
  v63 r107
  v64
  v65
  v66
  v67
  v68 r173
  v69
  v70
  v71
  v72
  v73
  v74
  v75
  v76 r116
  v77 r87
  v78
  v79
  v80
  v81
  v82 r90
  v83
  v84 r126
  v85 r158
  v86
  v87
  v88 r83
  v89
  v90
  v91
  v92 r102
  v93 r161
  v94
  v95
  v96
  v97
  v98 r93
  v99 r95
  v100 r105
  v101
  v102
  v103
  v104
  v105
  v106
  v107 r84
  v108 r139
  v109
  v110 r157
  v111
  v112 r175
  v113
  v114
  v115 r96
  v116 r151
  v117 r141
  v118 r163
  v119 r137
  v120 r119
  v121
  v122
  v123 r167
  v124 r98
  v125
  v126
  v127 r92
  v128
  v129 r128
  v130
  v131
  v132 r145
  v133 r109
  v134 r133
  v135 r162
  v136
  v137 r160
  v138 r135
  v139 r99
  v140 r153
  v141 r88
  v142 r115
  v143 r100
  v144
  v145 r169
  v146 r150
  v147 r134
  v148 r103
  v149 r106
  v150 r118
  v151 r144
  v152 r127
  v153 r97
  v154
  v155 r152
  v156 r112
  v157
  v158 r130
  v159 r140
  v160
  v161
  v162 r121
  v163 r123
  v164 r171
  v165
  v166 r165
  v167
  v168
  v169
  v170 r114
  v171 r172
  v172 r120
  v173 r113
  v174 r170
  v175
 )
 (:init
  (free v0)
  (free v1)
  (at r164 v2)
  (at r124 v3)
  (free v4)
  (at r108 v5)
  (at r138 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r155 v10)
  (at r125 v11)
  (free v12)
  (at r136 v13)
  (at r149 v14)
  (free v15)
  (at r166 v16)
  (at r91 v17)
  (at r143 v18)
  (free v19)
  (at r85 v20)
  (at r86 v21)
  (at r148 v22)
  (at r122 v23)
  (free v24)
  (at r101 v25)
  (free v26)
  (at r142 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r94 v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (at r131 v37)
  (free v38)
  (at r147 v39)
  (free v40)
  (free v41)
  (at r117 v42)
  (at r110 v43)
  (at r129 v44)
  (at r156 v45)
  (free v46)
  (free v47)
  (at r104 v48)
  (free v49)
  (at r168 v50)
  (free v51)
  (at r146 v52)
  (at r111 v53)
  (free v54)
  (free v55)
  (at r159 v56)
  (free v57)
  (at r154 v58)
  (free v59)
  (at r174 v60)
  (at r89 v61)
  (at r132 v62)
  (at r107 v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r173 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r116 v76)
  (at r87 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (at r90 v82)
  (free v83)
  (at r126 v84)
  (at r158 v85)
  (free v86)
  (free v87)
  (at r83 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r102 v92)
  (at r161 v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r93 v98)
  (at r95 v99)
  (at r105 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (at r84 v107)
  (at r139 v108)
  (free v109)
  (at r157 v110)
  (free v111)
  (at r175 v112)
  (free v113)
  (free v114)
  (at r96 v115)
  (at r151 v116)
  (at r141 v117)
  (at r163 v118)
  (at r137 v119)
  (at r119 v120)
  (free v121)
  (free v122)
  (at r167 v123)
  (at r98 v124)
  (free v125)
  (free v126)
  (at r92 v127)
  (free v128)
  (at r128 v129)
  (free v130)
  (free v131)
  (at r145 v132)
  (at r109 v133)
  (at r133 v134)
  (at r162 v135)
  (free v136)
  (at r160 v137)
  (at r135 v138)
  (at r99 v139)
  (at r153 v140)
  (at r88 v141)
  (at r115 v142)
  (at r100 v143)
  (free v144)
  (at r169 v145)
  (at r150 v146)
  (at r134 v147)
  (at r103 v148)
  (at r106 v149)
  (at r118 v150)
  (at r144 v151)
  (at r127 v152)
  (at r97 v153)
  (free v154)
  (at r152 v155)
  (at r112 v156)
  (free v157)
  (at r130 v158)
  (at r140 v159)
  (free v160)
  (free v161)
  (at r121 v162)
  (at r123 v163)
  (at r171 v164)
  (free v165)
  (at r165 v166)
  (free v167)
  (free v168)
  (free v169)
  (at r114 v170)
  (at r172 v171)
  (at r120 v172)
  (at r113 v173)
  (at r170 v174)
  (free v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v48)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v20)
  (adjacent v1 v33)
  (adjacent v1 v99)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v11)
  (adjacent v2 v16)
  (adjacent v2 v21)
  (adjacent v2 v49)
  (adjacent v2 v73)
  (adjacent v3 v4)
  (adjacent v3 v115)
  (adjacent v4 v112)
  (adjacent v4 v122)
  (adjacent v4 v143)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v25)
  (adjacent v6 v7)
  (adjacent v6 v44)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v85)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v10 v72)
  (adjacent v10 v157)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v66)
  (adjacent v13 v86)
  (adjacent v14 v15)
  (adjacent v14 v107)
  (adjacent v15 v27)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v54)
  (adjacent v17 v72)
  (adjacent v17 v84)
  (adjacent v17 v129)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v51)
  (adjacent v19 v55)
  (adjacent v19 v121)
  (adjacent v19 v142)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v21 v68)
  (adjacent v22 v23)
  (adjacent v22 v26)
  (adjacent v23 v24)
  (adjacent v23 v41)
  (adjacent v23 v63)
  (adjacent v23 v98)
  (adjacent v23 v137)
  (adjacent v24 v71)
  (adjacent v25 v26)
  (adjacent v25 v78)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v28 v29)
  (adjacent v28 v62)
  (adjacent v28 v87)
  (adjacent v29 v30)
  (adjacent v29 v39)
  (adjacent v30 v31)
  (adjacent v30 v127)
  (adjacent v31 v32)
  (adjacent v31 v38)
  (adjacent v31 v124)
  (adjacent v32 v33)
  (adjacent v32 v158)
  (adjacent v33 v60)
  (adjacent v33 v67)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v93)
  (adjacent v36 v37)
  (adjacent v36 v39)
  (adjacent v36 v40)
  (adjacent v37 v38)
  (adjacent v37 v45)
  (adjacent v41 v42)
  (adjacent v41 v62)
  (adjacent v42 v43)
  (adjacent v42 v108)
  (adjacent v43 v44)
  (adjacent v44 v130)
  (adjacent v45 v46)
  (adjacent v45 v104)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v92)
  (adjacent v48 v50)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v61)
  (adjacent v51 v128)
  (adjacent v52 v53)
  (adjacent v52 v79)
  (adjacent v53 v54)
  (adjacent v53 v114)
  (adjacent v53 v155)
  (adjacent v54 v85)
  (adjacent v54 v97)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v100)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v61)
  (adjacent v60 v64)
  (adjacent v61 v113)
  (adjacent v62 v63)
  (adjacent v63 v101)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v125)
  (adjacent v75 v76)
  (adjacent v75 v124)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v141)
  (adjacent v78 v175)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v86)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v102)
  (adjacent v91 v92)
  (adjacent v91 v123)
  (adjacent v92 v103)
  (adjacent v92 v154)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v161)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v142)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v122)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v148)
  (adjacent v121 v123)
  (adjacent v122 v174)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v136)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v160)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v138 v147)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v158 v167)
  (adjacent v159 v160)
  (adjacent v160 v175)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v165 v168)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (at r160 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r121 v7)
  (free v8)
  (free v9)
  (free v10)
  (at r91 v11)
  (free v12)
  (free v13)
  (at r172 v14)
  (at r89 v15)
  (at r92 v16)
  (free v17)
  (at r170 v18)
  (at r149 v19)
  (at r148 v20)
  (free v21)
  (at r145 v22)
  (at r117 v23)
  (free v24)
  (free v25)
  (at r167 v26)
  (free v27)
  (at r171 v28)
  (at r138 v29)
  (free v30)
  (free v31)
  (at r119 v32)
  (at r155 v33)
  (at r163 v34)
  (at r96 v35)
  (free v36)
  (free v37)
  (at r124 v38)
  (at r98 v39)
  (at r86 v40)
  (at r139 v41)
  (free v42)
  (at r110 v43)
  (at r150 v44)
  (free v45)
  (at r109 v46)
  (at r127 v47)
  (free v48)
  (at r151 v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r95 v55)
  (free v56)
  (at r132 v57)
  (at r114 v58)
  (at r173 v59)
  (free v60)
  (at r135 v61)
  (at r141 v62)
  (free v63)
  (at r113 v64)
  (at r152 v65)
  (at r156 v66)
  (at r104 v67)
  (at r166 v68)
  (free v69)
  (at r159 v70)
  (at r108 v71)
  (at r105 v72)
  (at r123 v73)
  (at r175 v74)
  (free v75)
  (free v76)
  (at r162 v77)
  (free v78)
  (at r164 v79)
  (free v80)
  (at r129 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r120 v85)
  (free v86)
  (free v87)
  (at r116 v88)
  (at r87 v89)
  (at r115 v90)
  (free v91)
  (free v92)
  (at r84 v93)
  (free v94)
  (at r137 v95)
  (at r128 v96)
  (free v97)
  (free v98)
  (at r118 v99)
  (at r144 v100)
  (at r161 v101)
  (free v102)
  (at r146 v103)
  (at r99 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r102 v108)
  (at r90 v109)
  (at r101 v110)
  (free v111)
  (free v112)
  (at r140 v113)
  (at r136 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r169 v118)
  (at r143 v119)
  (at r85 v120)
  (at r131 v121)
  (at r134 v122)
  (at r97 v123)
  (free v124)
  (at r147 v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (at r125 v130)
  (free v131)
  (at r107 v132)
  (at r112 v133)
  (at r122 v134)
  (at r168 v135)
  (free v136)
  (free v137)
  (at r94 v138)
  (free v139)
  (at r133 v140)
  (at r88 v141)
  (at r100 v142)
  (at r93 v143)
  (at r174 v144)
  (at r126 v145)
  (at r157 v146)
  (free v147)
  (at r111 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r154 v152)
  (at r103 v153)
  (free v154)
  (at r106 v155)
  (free v156)
  (at r165 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (free v163)
  (free v164)
  (at r130 v165)
  (at r142 v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (at r158 v171)
  (at r153 v172)
  (at r83 v173)
  (free v174)
  (free v175)
  )
 )
)