(define (problem multirobot_39_90%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r75
  v3 r142
  v4 r147
  v5
  v6
  v7
  v8
  v9
  v10 r126
  v11 r87
  v12
  v13
  v14
  v15
  v16
  v17 r105
  v18 r82
  v19
  v20 r83
  v21 r107
  v22 r89
  v23 r113
  v24 r86
  v25
  v26 r123
  v27
  v28 r81
  v29
  v30 r137
  v31 r103
  v32
  v33
  v34 r114
  v35 r146
  v36
  v37
  v38
  v39
  v40
  v41
  v42 r92
  v43 r104
  v44 r150
  v45 r129
  v46 r143
  v47
  v48
  v49 r121
  v50
  v51
  v52 r132
  v53 r115
  v54 r85
  v55
  v56
  v57 r130
  v58
  v59 r108
  v60
  v61 r148
  v62
  v63 r80
  v64 r94
  v65
  v66
  v67 r88
  v68
  v69
  v70
  v71
  v72 r133
  v73
  v74
  v75
  v76 r101
  v77 r149
  v78 r118
  v79 r116
  v80 r99
  v81 r112
  v82
  v83 r78
  v84 r138
  v85 r97
  v86 r93
  v87
  v88 r90
  v89 r106
  v90
  v91
  v92
  v93
  v94 r135
  v95
  v96 r139
  v97
  v98 r111
  v99
  v100
  v101
  v102 r141
  v103
  v104 r74
  v105
  v106
  v107
  v108
  v109
  v110
  v111
  v112
  v113 r151
  v114 r136
  v115 r124
  v116
  v117
  v118 r91
  v119 r128
  v120 r102
  v121
  v122 r96
  v123 r120
  v124 r131
  v125 r98
  v126
  v127 r127
  v128 r95
  v129 r125
  v130
  v131 r140
  v132
  v133 r100
  v134 r119
  v135 r122
  v136
  v137 r79
  v138
  v139 r145
  v140
  v141 r76
  v142 r144
  v143 r84
  v144 r117
  v145 r134
  v146
  v147
  v148 r110
  v149
  v150 r77
  v151 r109
 )
 (:init
  (free v0)
  (free v1)
  (at r75 v2)
  (at r142 v3)
  (at r147 v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (at r126 v10)
  (at r87 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (at r105 v17)
  (at r82 v18)
  (free v19)
  (at r83 v20)
  (at r107 v21)
  (at r89 v22)
  (at r113 v23)
  (at r86 v24)
  (free v25)
  (at r123 v26)
  (free v27)
  (at r81 v28)
  (free v29)
  (at r137 v30)
  (at r103 v31)
  (free v32)
  (free v33)
  (at r114 v34)
  (at r146 v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (at r92 v42)
  (at r104 v43)
  (at r150 v44)
  (at r129 v45)
  (at r143 v46)
  (free v47)
  (free v48)
  (at r121 v49)
  (free v50)
  (free v51)
  (at r132 v52)
  (at r115 v53)
  (at r85 v54)
  (free v55)
  (free v56)
  (at r130 v57)
  (free v58)
  (at r108 v59)
  (free v60)
  (at r148 v61)
  (free v62)
  (at r80 v63)
  (at r94 v64)
  (free v65)
  (free v66)
  (at r88 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (at r133 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r101 v76)
  (at r149 v77)
  (at r118 v78)
  (at r116 v79)
  (at r99 v80)
  (at r112 v81)
  (free v82)
  (at r78 v83)
  (at r138 v84)
  (at r97 v85)
  (at r93 v86)
  (free v87)
  (at r90 v88)
  (at r106 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r135 v94)
  (free v95)
  (at r139 v96)
  (free v97)
  (at r111 v98)
  (free v99)
  (free v100)
  (free v101)
  (at r141 v102)
  (free v103)
  (at r74 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r151 v113)
  (at r136 v114)
  (at r124 v115)
  (free v116)
  (free v117)
  (at r91 v118)
  (at r128 v119)
  (at r102 v120)
  (free v121)
  (at r96 v122)
  (at r120 v123)
  (at r131 v124)
  (at r98 v125)
  (free v126)
  (at r127 v127)
  (at r95 v128)
  (at r125 v129)
  (free v130)
  (at r140 v131)
  (free v132)
  (at r100 v133)
  (at r119 v134)
  (at r122 v135)
  (free v136)
  (at r79 v137)
  (free v138)
  (at r145 v139)
  (free v140)
  (at r76 v141)
  (at r144 v142)
  (at r84 v143)
  (at r117 v144)
  (at r134 v145)
  (free v146)
  (free v147)
  (at r110 v148)
  (free v149)
  (at r77 v150)
  (at r109 v151)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v26)
  (adjacent v1 v33)
  (adjacent v2 v3)
  (adjacent v2 v29)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v20)
  (adjacent v4 v5)
  (adjacent v4 v7)
  (adjacent v4 v19)
  (adjacent v4 v41)
  (adjacent v4 v64)
  (adjacent v4 v69)
  (adjacent v5 v13)
  (adjacent v5 v20)
  (adjacent v6 v12)
  (adjacent v6 v34)
  (adjacent v7 v8)
  (adjacent v7 v63)
  (adjacent v7 v101)
  (adjacent v7 v106)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v51)
  (adjacent v10 v11)
  (adjacent v10 v45)
  (adjacent v11 v12)
  (adjacent v12 v137)
  (adjacent v13 v14)
  (adjacent v13 v62)
  (adjacent v13 v72)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v16 v107)
  (adjacent v17 v18)
  (adjacent v17 v28)
  (adjacent v18 v19)
  (adjacent v18 v50)
  (adjacent v18 v108)
  (adjacent v19 v131)
  (adjacent v21 v22)
  (adjacent v21 v65)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v24 v25)
  (adjacent v24 v121)
  (adjacent v25 v26)
  (adjacent v26 v86)
  (adjacent v27 v28)
  (adjacent v27 v56)
  (adjacent v27 v116)
  (adjacent v29 v30)
  (adjacent v29 v73)
  (adjacent v29 v94)
  (adjacent v30 v31)
  (adjacent v30 v67)
  (adjacent v31 v32)
  (adjacent v31 v40)
  (adjacent v32 v33)
  (adjacent v33 v54)
  (adjacent v33 v100)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v68)
  (adjacent v37 v38)
  (adjacent v37 v79)
  (adjacent v37 v138)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v46)
  (adjacent v39 v97)
  (adjacent v41 v42)
  (adjacent v41 v88)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v132)
  (adjacent v47 v48)
  (adjacent v47 v115)
  (adjacent v47 v151)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v64)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v68)
  (adjacent v53 v54)
  (adjacent v53 v55)
  (adjacent v53 v122)
  (adjacent v54 v55)
  (adjacent v54 v132)
  (adjacent v55 v80)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v63)
  (adjacent v62 v87)
  (adjacent v62 v139)
  (adjacent v64 v105)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v89)
  (adjacent v70 v146)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v73 v96)
  (adjacent v74 v75)
  (adjacent v74 v145)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v93)
  (adjacent v85 v109)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v122)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v97 v136)
  (adjacent v98 v99)
  (adjacent v98 v123)
  (adjacent v99 v100)
  (adjacent v99 v110)
  (adjacent v101 v102)
  (adjacent v101 v133)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v129)
  (adjacent v105 v136)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v135)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v130)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
 )
 (:goal
  (and
  (at r87 v0)
  (at r136 v1)
  (at r143 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r99 v6)
  (free v7)
  (at r95 v8)
  (at r125 v9)
  (at r85 v10)
  (at r96 v11)
  (free v12)
  (at r137 v13)
  (free v14)
  (at r141 v15)
  (free v16)
  (at r76 v17)
  (free v18)
  (at r83 v19)
  (at r144 v20)
  (free v21)
  (at r111 v22)
  (at r140 v23)
  (at r123 v24)
  (free v25)
  (free v26)
  (at r135 v27)
  (at r109 v28)
  (at r94 v29)
  (at r146 v30)
  (at r100 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r79 v35)
  (free v36)
  (free v37)
  (at r117 v38)
  (at r132 v39)
  (free v40)
  (free v41)
  (at r120 v42)
  (at r74 v43)
  (at r82 v44)
  (at r116 v45)
  (free v46)
  (at r145 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (at r90 v52)
  (at r106 v53)
  (free v54)
  (free v55)
  (at r134 v56)
  (at r108 v57)
  (free v58)
  (free v59)
  (at r75 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r133 v64)
  (free v65)
  (at r105 v66)
  (free v67)
  (free v68)
  (at r149 v69)
  (free v70)
  (free v71)
  (at r121 v72)
  (at r128 v73)
  (at r107 v74)
  (at r101 v75)
  (at r129 v76)
  (at r150 v77)
  (at r127 v78)
  (at r81 v79)
  (free v80)
  (at r93 v81)
  (at r80 v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (at r130 v87)
  (free v88)
  (at r131 v89)
  (free v90)
  (at r114 v91)
  (free v92)
  (at r86 v93)
  (free v94)
  (free v95)
  (at r112 v96)
  (at r91 v97)
  (free v98)
  (free v99)
  (free v100)
  (at r98 v101)
  (at r113 v102)
  (at r147 v103)
  (at r122 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (at r126 v109)
  (free v110)
  (at r88 v111)
  (at r139 v112)
  (at r142 v113)
  (at r78 v114)
  (at r77 v115)
  (free v116)
  (at r118 v117)
  (free v118)
  (at r119 v119)
  (at r115 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r92 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r148 v129)
  (at r97 v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r138 v137)
  (free v138)
  (free v139)
  (at r110 v140)
  (at r124 v141)
  (free v142)
  (free v143)
  (at r151 v144)
  (at r84 v145)
  (at r104 v146)
  (at r103 v147)
  (free v148)
  (at r89 v149)
  (free v150)
  (at r102 v151)
  )
 )
)