(define (problem multirobot_39_90%_c2)
 (:domain multirobot)
 (:objects
  v0 r139
  v1 r153
  v2 r107
  v3 r86
  v4 r101
  v5 r89
  v6
  v7
  v8
  v9 r109
  v10 r116
  v11 r78
  v12
  v13 r83
  v14
  v15 r115
  v16
  v17 r135
  v18
  v19 r105
  v20 r103
  v21 r130
  v22 r76
  v23
  v24
  v25
  v26 r113
  v27
  v28
  v29
  v30 r131
  v31 r127
  v32
  v33
  v34
  v35
  v36
  v37 r125
  v38
  v39
  v40
  v41 r154
  v42 r99
  v43 r111
  v44
  v45
  v46
  v47
  v48 r124
  v49 r133
  v50
  v51
  v52 r95
  v53 r94
  v54 r118
  v55
  v56 r74
  v57
  v58 r121
  v59 r98
  v60 r123
  v61
  v62 r112
  v63 r75
  v64 r122
  v65 r145
  v66
  v67 r142
  v68
  v69
  v70
  v71 r93
  v72
  v73 r92
  v74 r81
  v75 r87
  v76 r146
  v77
  v78 r91
  v79
  v80 r128
  v81
  v82
  v83 r84
  v84
  v85
  v86 r129
  v87
  v88
  v89 r150
  v90 r85
  v91
  v92
  v93 r96
  v94
  v95
  v96 r136
  v97 r106
  v98 r117
  v99
  v100
  v101 r79
  v102
  v103
  v104 r137
  v105 r77
  v106
  v107 r152
  v108 r102
  v109
  v110 r108
  v111
  v112 r148
  v113
  v114
  v115 r149
  v116
  v117
  v118 r147
  v119 r140
  v120
  v121
  v122
  v123 r114
  v124 r82
  v125 r100
  v126
  v127
  v128 r80
  v129 r141
  v130
  v131
  v132 r120
  v133 r144
  v134 r151
  v135 r90
  v136
  v137 r104
  v138 r119
  v139 r134
  v140 r110
  v141
  v142
  v143 r97
  v144
  v145
  v146 r138
  v147 r132
  v148
  v149 r126
  v150
  v151 r73
  v152 r143
  v153
  v154 r88
 )
 (:init
  (at r139 v0)
  (at r153 v1)
  (at r107 v2)
  (at r86 v3)
  (at r101 v4)
  (at r89 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r109 v9)
  (at r116 v10)
  (at r78 v11)
  (free v12)
  (at r83 v13)
  (free v14)
  (at r115 v15)
  (free v16)
  (at r135 v17)
  (free v18)
  (at r105 v19)
  (at r103 v20)
  (at r130 v21)
  (at r76 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r113 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r131 v30)
  (at r127 v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (at r125 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r154 v41)
  (at r99 v42)
  (at r111 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (at r124 v48)
  (at r133 v49)
  (free v50)
  (free v51)
  (at r95 v52)
  (at r94 v53)
  (at r118 v54)
  (free v55)
  (at r74 v56)
  (free v57)
  (at r121 v58)
  (at r98 v59)
  (at r123 v60)
  (free v61)
  (at r112 v62)
  (at r75 v63)
  (at r122 v64)
  (at r145 v65)
  (free v66)
  (at r142 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r93 v71)
  (free v72)
  (at r92 v73)
  (at r81 v74)
  (at r87 v75)
  (at r146 v76)
  (free v77)
  (at r91 v78)
  (free v79)
  (at r128 v80)
  (free v81)
  (free v82)
  (at r84 v83)
  (free v84)
  (free v85)
  (at r129 v86)
  (free v87)
  (free v88)
  (at r150 v89)
  (at r85 v90)
  (free v91)
  (free v92)
  (at r96 v93)
  (free v94)
  (free v95)
  (at r136 v96)
  (at r106 v97)
  (at r117 v98)
  (free v99)
  (free v100)
  (at r79 v101)
  (free v102)
  (free v103)
  (at r137 v104)
  (at r77 v105)
  (free v106)
  (at r152 v107)
  (at r102 v108)
  (free v109)
  (at r108 v110)
  (free v111)
  (at r148 v112)
  (free v113)
  (free v114)
  (at r149 v115)
  (free v116)
  (free v117)
  (at r147 v118)
  (at r140 v119)
  (free v120)
  (free v121)
  (free v122)
  (at r114 v123)
  (at r82 v124)
  (at r100 v125)
  (free v126)
  (free v127)
  (at r80 v128)
  (at r141 v129)
  (free v130)
  (free v131)
  (at r120 v132)
  (at r144 v133)
  (at r151 v134)
  (at r90 v135)
  (free v136)
  (at r104 v137)
  (at r119 v138)
  (at r134 v139)
  (at r110 v140)
  (free v141)
  (free v142)
  (at r97 v143)
  (free v144)
  (free v145)
  (at r138 v146)
  (at r132 v147)
  (free v148)
  (at r126 v149)
  (free v150)
  (at r73 v151)
  (at r143 v152)
  (free v153)
  (at r88 v154)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v12)
  (adjacent v0 v102)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v41)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v18)
  (adjacent v3 v103)
  (adjacent v3 v112)
  (adjacent v4 v5)
  (adjacent v4 v46)
  (adjacent v5 v6)
  (adjacent v5 v26)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v118)
  (adjacent v8 v9)
  (adjacent v8 v72)
  (adjacent v8 v95)
  (adjacent v9 v10)
  (adjacent v9 v33)
  (adjacent v10 v11)
  (adjacent v10 v81)
  (adjacent v11 v24)
  (adjacent v11 v117)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v60)
  (adjacent v14 v15)
  (adjacent v14 v149)
  (adjacent v15 v16)
  (adjacent v15 v25)
  (adjacent v15 v42)
  (adjacent v16 v17)
  (adjacent v17 v52)
  (adjacent v17 v100)
  (adjacent v18 v19)
  (adjacent v18 v80)
  (adjacent v19 v20)
  (adjacent v19 v45)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v21 v64)
  (adjacent v21 v71)
  (adjacent v22 v23)
  (adjacent v22 v147)
  (adjacent v23 v24)
  (adjacent v23 v40)
  (adjacent v23 v87)
  (adjacent v23 v96)
  (adjacent v25 v26)
  (adjacent v25 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v94)
  (adjacent v30 v31)
  (adjacent v30 v109)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v101)
  (adjacent v33 v91)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v65)
  (adjacent v35 v78)
  (adjacent v36 v37)
  (adjacent v36 v93)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v110)
  (adjacent v39 v40)
  (adjacent v39 v69)
  (adjacent v39 v134)
  (adjacent v40 v53)
  (adjacent v42 v43)
  (adjacent v42 v129)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v70)
  (adjacent v46 v47)
  (adjacent v46 v68)
  (adjacent v47 v48)
  (adjacent v47 v88)
  (adjacent v47 v128)
  (adjacent v48 v49)
  (adjacent v48 v59)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v101)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v139)
  (adjacent v54 v140)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v102)
  (adjacent v58 v146)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v71)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v77)
  (adjacent v69 v70)
  (adjacent v70 v94)
  (adjacent v72 v73)
  (adjacent v72 v106)
  (adjacent v73 v74)
  (adjacent v73 v97)
  (adjacent v73 v108)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v111)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v107)
  (adjacent v87 v92)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v148)
  (adjacent v92 v93)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v97 v109)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v122)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v107 v135)
  (adjacent v107 v141)
  (adjacent v110 v111)
  (adjacent v110 v147)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v123)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v145)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v140)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v150)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v146)
  (adjacent v141 v142)
  (adjacent v141 v154)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r115 v2)
  (at r97 v3)
  (at r147 v4)
  (free v5)
  (at r104 v6)
  (at r141 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r150 v15)
  (at r100 v16)
  (free v17)
  (free v18)
  (at r130 v19)
  (at r108 v20)
  (free v21)
  (free v22)
  (at r74 v23)
  (free v24)
  (at r77 v25)
  (free v26)
  (at r105 v27)
  (at r78 v28)
  (free v29)
  (at r140 v30)
  (free v31)
  (at r123 v32)
  (free v33)
  (at r135 v34)
  (at r149 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r128 v39)
  (at r117 v40)
  (free v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r79 v49)
  (free v50)
  (free v51)
  (at r96 v52)
  (free v53)
  (at r103 v54)
  (at r99 v55)
  (at r107 v56)
  (at r154 v57)
  (free v58)
  (at r76 v59)
  (at r120 v60)
  (free v61)
  (at r81 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r91 v70)
  (at r129 v71)
  (at r102 v72)
  (at r146 v73)
  (free v74)
  (at r110 v75)
  (at r73 v76)
  (at r118 v77)
  (at r89 v78)
  (free v79)
  (at r145 v80)
  (at r127 v81)
  (at r134 v82)
  (at r121 v83)
  (free v84)
  (at r93 v85)
  (free v86)
  (at r88 v87)
  (at r98 v88)
  (free v89)
  (at r116 v90)
  (at r87 v91)
  (at r109 v92)
  (at r112 v93)
  (free v94)
  (at r84 v95)
  (at r143 v96)
  (free v97)
  (at r136 v98)
  (at r85 v99)
  (free v100)
  (at r101 v101)
  (at r139 v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r144 v108)
  (free v109)
  (free v110)
  (at r153 v111)
  (at r90 v112)
  (at r106 v113)
  (free v114)
  (at r148 v115)
  (at r132 v116)
  (at r126 v117)
  (at r142 v118)
  (at r80 v119)
  (at r125 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r124 v125)
  (at r114 v126)
  (free v127)
  (at r95 v128)
  (free v129)
  (at r137 v130)
  (at r133 v131)
  (at r111 v132)
  (at r113 v133)
  (at r94 v134)
  (at r138 v135)
  (free v136)
  (at r152 v137)
  (at r86 v138)
  (at r83 v139)
  (free v140)
  (at r92 v141)
  (free v142)
  (at r131 v143)
  (free v144)
  (free v145)
  (at r151 v146)
  (at r75 v147)
  (at r119 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r122 v152)
  (at r82 v153)
  (free v154)
  )
 )
)