(define (problem multirobot_36_90%_c2)
 (:domain multirobot)
 (:objects
  v0 r115
  v1
  v2
  v3
  v4 r81
  v5 r135
  v6
  v7 r113
  v8 r146
  v9 r142
  v10
  v11
  v12 r118
  v13 r102
  v14 r126
  v15 r93
  v16 r133
  v17 r87
  v18 r70
  v19 r149
  v20
  v21 r76
  v22
  v23
  v24 r134
  v25 r63
  v26 r82
  v27 r67
  v28
  v29 r85
  v30 r145
  v31
  v32 r131
  v33 r79
  v34
  v35
  v36
  v37 r106
  v38
  v39 r104
  v40
  v41 r75
  v42 r72
  v43
  v44
  v45
  v46
  v47 r120
  v48
  v49 r101
  v50 r96
  v51
  v52 r124
  v53
  v54 r117
  v55
  v56 r147
  v57 r119
  v58
  v59 r98
  v60
  v61
  v62 r84
  v63
  v64 r73
  v65
  v66 r108
  v67
  v68
  v69
  v70 r71
  v71
  v72 r65
  v73
  v74 r148
  v75 r116
  v76 r89
  v77
  v78 r114
  v79 r139
  v80
  v81
  v82
  v83 r141
  v84 r127
  v85 r128
  v86 r68
  v87 r100
  v88
  v89
  v90
  v91 r99
  v92 r94
  v93 r129
  v94 r122
  v95
  v96 r69
  v97 r97
  v98 r138
  v99 r121
  v100 r111
  v101 r143
  v102
  v103
  v104 r74
  v105 r88
  v106
  v107
  v108
  v109
  v110 r132
  v111
  v112
  v113 r123
  v114 r140
  v115
  v116
  v117
  v118
  v119 r144
  v120 r91
  v121 r109
  v122 r92
  v123 r86
  v124 r110
  v125 r136
  v126 r90
  v127 r125
  v128 r64
  v129
  v130 r112
  v131
  v132 r105
  v133 r95
  v134
  v135 r78
  v136 r107
  v137
  v138
  v139
  v140 r103
  v141 r66
  v142
  v143 r80
  v144 r130
  v145 r77
  v146 r83
  v147
  v148 r137
  v149
 )
 (:init
  (at r115 v0)
  (free v1)
  (free v2)
  (free v3)
  (at r81 v4)
  (at r135 v5)
  (free v6)
  (at r113 v7)
  (at r146 v8)
  (at r142 v9)
  (free v10)
  (free v11)
  (at r118 v12)
  (at r102 v13)
  (at r126 v14)
  (at r93 v15)
  (at r133 v16)
  (at r87 v17)
  (at r70 v18)
  (at r149 v19)
  (free v20)
  (at r76 v21)
  (free v22)
  (free v23)
  (at r134 v24)
  (at r63 v25)
  (at r82 v26)
  (at r67 v27)
  (free v28)
  (at r85 v29)
  (at r145 v30)
  (free v31)
  (at r131 v32)
  (at r79 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r106 v37)
  (free v38)
  (at r104 v39)
  (free v40)
  (at r75 v41)
  (at r72 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r120 v47)
  (free v48)
  (at r101 v49)
  (at r96 v50)
  (free v51)
  (at r124 v52)
  (free v53)
  (at r117 v54)
  (free v55)
  (at r147 v56)
  (at r119 v57)
  (free v58)
  (at r98 v59)
  (free v60)
  (free v61)
  (at r84 v62)
  (free v63)
  (at r73 v64)
  (free v65)
  (at r108 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r71 v70)
  (free v71)
  (at r65 v72)
  (free v73)
  (at r148 v74)
  (at r116 v75)
  (at r89 v76)
  (free v77)
  (at r114 v78)
  (at r139 v79)
  (free v80)
  (free v81)
  (free v82)
  (at r141 v83)
  (at r127 v84)
  (at r128 v85)
  (at r68 v86)
  (at r100 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r99 v91)
  (at r94 v92)
  (at r129 v93)
  (at r122 v94)
  (free v95)
  (at r69 v96)
  (at r97 v97)
  (at r138 v98)
  (at r121 v99)
  (at r111 v100)
  (at r143 v101)
  (free v102)
  (free v103)
  (at r74 v104)
  (at r88 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r132 v110)
  (free v111)
  (free v112)
  (at r123 v113)
  (at r140 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r144 v119)
  (at r91 v120)
  (at r109 v121)
  (at r92 v122)
  (at r86 v123)
  (at r110 v124)
  (at r136 v125)
  (at r90 v126)
  (at r125 v127)
  (at r64 v128)
  (free v129)
  (at r112 v130)
  (free v131)
  (at r105 v132)
  (at r95 v133)
  (free v134)
  (at r78 v135)
  (at r107 v136)
  (free v137)
  (free v138)
  (free v139)
  (at r103 v140)
  (at r66 v141)
  (free v142)
  (at r80 v143)
  (at r130 v144)
  (at r77 v145)
  (at r83 v146)
  (free v147)
  (at r137 v148)
  (free v149)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v55)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v42)
  (adjacent v4 v21)
  (adjacent v4 v25)
  (adjacent v4 v113)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v14)
  (adjacent v5 v54)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v6 v24)
  (adjacent v6 v82)
  (adjacent v6 v125)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v56)
  (adjacent v10 v11)
  (adjacent v10 v66)
  (adjacent v11 v37)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v12 v34)
  (adjacent v12 v41)
  (adjacent v13 v49)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v101)
  (adjacent v19 v20)
  (adjacent v19 v28)
  (adjacent v21 v22)
  (adjacent v21 v72)
  (adjacent v21 v149)
  (adjacent v22 v23)
  (adjacent v22 v29)
  (adjacent v23 v24)
  (adjacent v24 v38)
  (adjacent v24 v59)
  (adjacent v25 v26)
  (adjacent v25 v61)
  (adjacent v25 v119)
  (adjacent v25 v120)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v50)
  (adjacent v28 v60)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v35)
  (adjacent v30 v76)
  (adjacent v30 v88)
  (adjacent v31 v32)
  (adjacent v31 v60)
  (adjacent v31 v99)
  (adjacent v32 v33)
  (adjacent v32 v95)
  (adjacent v33 v34)
  (adjacent v34 v40)
  (adjacent v35 v36)
  (adjacent v35 v125)
  (adjacent v35 v132)
  (adjacent v36 v37)
  (adjacent v36 v100)
  (adjacent v38 v39)
  (adjacent v38 v43)
  (adjacent v38 v147)
  (adjacent v39 v40)
  (adjacent v39 v106)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v43 v138)
  (adjacent v44 v45)
  (adjacent v44 v137)
  (adjacent v45 v46)
  (adjacent v45 v97)
  (adjacent v46 v47)
  (adjacent v46 v53)
  (adjacent v46 v94)
  (adjacent v47 v48)
  (adjacent v47 v147)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v73)
  (adjacent v55 v65)
  (adjacent v55 v140)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v75)
  (adjacent v57 v96)
  (adjacent v58 v59)
  (adjacent v60 v87)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v77)
  (adjacent v69 v70)
  (adjacent v69 v76)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v83)
  (adjacent v75 v141)
  (adjacent v76 v148)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v112)
  (adjacent v81 v82)
  (adjacent v82 v124)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v105)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v97 v140)
  (adjacent v98 v99)
  (adjacent v99 v102)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v126)
  (adjacent v116 v146)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v139)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
 )
 (:goal
  (and
  (at r82 v0)
  (at r149 v1)
  (at r124 v2)
  (at r144 v3)
  (free v4)
  (at r87 v5)
  (at r125 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r67 v10)
  (at r81 v11)
  (free v12)
  (at r122 v13)
  (free v14)
  (at r78 v15)
  (free v16)
  (free v17)
  (free v18)
  (at r146 v19)
  (at r107 v20)
  (at r127 v21)
  (at r120 v22)
  (at r86 v23)
  (at r135 v24)
  (at r117 v25)
  (at r128 v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r95 v31)
  (free v32)
  (at r74 v33)
  (at r94 v34)
  (at r118 v35)
  (at r131 v36)
  (free v37)
  (free v38)
  (at r143 v39)
  (at r70 v40)
  (at r109 v41)
  (at r104 v42)
  (at r99 v43)
  (free v44)
  (free v45)
  (at r145 v46)
  (at r84 v47)
  (free v48)
  (free v49)
  (at r89 v50)
  (at r133 v51)
  (free v52)
  (free v53)
  (free v54)
  (at r119 v55)
  (free v56)
  (at r101 v57)
  (free v58)
  (at r71 v59)
  (at r96 v60)
  (at r102 v61)
  (at r97 v62)
  (at r132 v63)
  (at r98 v64)
  (at r72 v65)
  (free v66)
  (at r136 v67)
  (at r76 v68)
  (free v69)
  (free v70)
  (free v71)
  (at r129 v72)
  (free v73)
  (at r138 v74)
  (at r111 v75)
  (free v76)
  (at r77 v77)
  (at r65 v78)
  (free v79)
  (at r106 v80)
  (at r66 v81)
  (free v82)
  (at r68 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r80 v87)
  (at r147 v88)
  (at r93 v89)
  (free v90)
  (free v91)
  (at r116 v92)
  (at r92 v93)
  (at r141 v94)
  (at r63 v95)
  (at r103 v96)
  (free v97)
  (free v98)
  (at r105 v99)
  (at r139 v100)
  (at r110 v101)
  (at r113 v102)
  (at r126 v103)
  (at r130 v104)
  (at r83 v105)
  (free v106)
  (at r90 v107)
  (free v108)
  (free v109)
  (at r148 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r142 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r112 v118)
  (at r69 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r121 v124)
  (free v125)
  (at r85 v126)
  (at r134 v127)
  (at r100 v128)
  (at r75 v129)
  (free v130)
  (at r73 v131)
  (at r137 v132)
  (free v133)
  (at r88 v134)
  (free v135)
  (at r64 v136)
  (free v137)
  (at r123 v138)
  (at r79 v139)
  (at r108 v140)
  (free v141)
  (at r115 v142)
  (at r114 v143)
  (at r140 v144)
  (free v145)
  (free v146)
  (free v147)
  (at r91 v148)
  (free v149)
  )
 )
)