(define (problem multirobot_40_90%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r150
  v3
  v4 r151
  v5
  v6 r78
  v7 r77
  v8 r81
  v9
  v10 r120
  v11
  v12 r109
  v13 r112
  v14 r85
  v15 r149
  v16
  v17
  v18 r143
  v19 r153
  v20 r159
  v21 r101
  v22 r96
  v23 r95
  v24
  v25
  v26 r111
  v27
  v28 r133
  v29
  v30 r99
  v31
  v32 r128
  v33
  v34
  v35 r145
  v36
  v37 r94
  v38
  v39
  v40
  v41 r132
  v42 r138
  v43
  v44 r82
  v45 r146
  v46 r80
  v47 r103
  v48 r108
  v49
  v50
  v51 r98
  v52
  v53 r107
  v54
  v55
  v56 r158
  v57
  v58
  v59 r90
  v60 r160
  v61 r126
  v62 r106
  v63 r136
  v64
  v65 r125
  v66 r110
  v67
  v68
  v69
  v70
  v71 r131
  v72 r91
  v73
  v74 r127
  v75 r129
  v76
  v77 r102
  v78
  v79
  v80
  v81 r92
  v82 r152
  v83 r148
  v84
  v85
  v86 r156
  v87
  v88
  v89 r144
  v90 r84
  v91 r122
  v92
  v93 r157
  v94 r83
  v95
  v96 r134
  v97 r124
  v98
  v99 r114
  v100 r104
  v101 r123
  v102 r162
  v103 r117
  v104 r130
  v105
  v106 r121
  v107 r119
  v108
  v109
  v110 r140
  v111
  v112
  v113
  v114
  v115 r141
  v116 r100
  v117
  v118 r105
  v119 r155
  v120
  v121
  v122
  v123
  v124
  v125 r113
  v126 r88
  v127 r147
  v128
  v129 r116
  v130 r118
  v131
  v132
  v133
  v134
  v135
  v136
  v137 r87
  v138
  v139
  v140 r97
  v141
  v142
  v143 r93
  v144 r139
  v145 r86
  v146 r154
  v147
  v148 r89
  v149
  v150 r142
  v151 r115
  v152 r161
  v153 r79
  v154 r135
  v155
  v156
  v157
  v158 r137
  v159
  v160
  v161
  v162
 )
 (:init
  (free v0)
  (free v1)
  (at r150 v2)
  (free v3)
  (at r151 v4)
  (free v5)
  (at r78 v6)
  (at r77 v7)
  (at r81 v8)
  (free v9)
  (at r120 v10)
  (free v11)
  (at r109 v12)
  (at r112 v13)
  (at r85 v14)
  (at r149 v15)
  (free v16)
  (free v17)
  (at r143 v18)
  (at r153 v19)
  (at r159 v20)
  (at r101 v21)
  (at r96 v22)
  (at r95 v23)
  (free v24)
  (free v25)
  (at r111 v26)
  (free v27)
  (at r133 v28)
  (free v29)
  (at r99 v30)
  (free v31)
  (at r128 v32)
  (free v33)
  (free v34)
  (at r145 v35)
  (free v36)
  (at r94 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r132 v41)
  (at r138 v42)
  (free v43)
  (at r82 v44)
  (at r146 v45)
  (at r80 v46)
  (at r103 v47)
  (at r108 v48)
  (free v49)
  (free v50)
  (at r98 v51)
  (free v52)
  (at r107 v53)
  (free v54)
  (free v55)
  (at r158 v56)
  (free v57)
  (free v58)
  (at r90 v59)
  (at r160 v60)
  (at r126 v61)
  (at r106 v62)
  (at r136 v63)
  (free v64)
  (at r125 v65)
  (at r110 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r131 v71)
  (at r91 v72)
  (free v73)
  (at r127 v74)
  (at r129 v75)
  (free v76)
  (at r102 v77)
  (free v78)
  (free v79)
  (free v80)
  (at r92 v81)
  (at r152 v82)
  (at r148 v83)
  (free v84)
  (free v85)
  (at r156 v86)
  (free v87)
  (free v88)
  (at r144 v89)
  (at r84 v90)
  (at r122 v91)
  (free v92)
  (at r157 v93)
  (at r83 v94)
  (free v95)
  (at r134 v96)
  (at r124 v97)
  (free v98)
  (at r114 v99)
  (at r104 v100)
  (at r123 v101)
  (at r162 v102)
  (at r117 v103)
  (at r130 v104)
  (free v105)
  (at r121 v106)
  (at r119 v107)
  (free v108)
  (free v109)
  (at r140 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r141 v115)
  (at r100 v116)
  (free v117)
  (at r105 v118)
  (at r155 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r113 v125)
  (at r88 v126)
  (at r147 v127)
  (free v128)
  (at r116 v129)
  (at r118 v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r87 v137)
  (free v138)
  (free v139)
  (at r97 v140)
  (free v141)
  (free v142)
  (at r93 v143)
  (at r139 v144)
  (at r86 v145)
  (at r154 v146)
  (free v147)
  (at r89 v148)
  (free v149)
  (at r142 v150)
  (at r115 v151)
  (at r161 v152)
  (at r79 v153)
  (at r135 v154)
  (free v155)
  (free v156)
  (free v157)
  (at r137 v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v41)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v12)
  (adjacent v1 v13)
  (adjacent v1 v16)
  (adjacent v2 v3)
  (adjacent v2 v121)
  (adjacent v3 v4)
  (adjacent v3 v42)
  (adjacent v5 v6)
  (adjacent v5 v20)
  (adjacent v5 v43)
  (adjacent v5 v50)
  (adjacent v5 v158)
  (adjacent v6 v7)
  (adjacent v6 v33)
  (adjacent v6 v49)
  (adjacent v7 v8)
  (adjacent v7 v110)
  (adjacent v7 v113)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v112)
  (adjacent v9 v10)
  (adjacent v9 v87)
  (adjacent v9 v104)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v128)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v26)
  (adjacent v14 v85)
  (adjacent v15 v19)
  (adjacent v15 v77)
  (adjacent v16 v17)
  (adjacent v16 v34)
  (adjacent v16 v140)
  (adjacent v17 v18)
  (adjacent v17 v46)
  (adjacent v18 v19)
  (adjacent v18 v72)
  (adjacent v18 v151)
  (adjacent v20 v21)
  (adjacent v20 v162)
  (adjacent v21 v22)
  (adjacent v21 v41)
  (adjacent v21 v65)
  (adjacent v21 v71)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v100)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v91)
  (adjacent v25 v158)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v54)
  (adjacent v27 v79)
  (adjacent v28 v29)
  (adjacent v28 v40)
  (adjacent v28 v125)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v42)
  (adjacent v32 v97)
  (adjacent v33 v60)
  (adjacent v33 v68)
  (adjacent v34 v35)
  (adjacent v34 v76)
  (adjacent v34 v126)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v129)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v41 v80)
  (adjacent v42 v66)
  (adjacent v43 v44)
  (adjacent v43 v147)
  (adjacent v44 v45)
  (adjacent v44 v47)
  (adjacent v45 v46)
  (adjacent v46 v116)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v55)
  (adjacent v48 v152)
  (adjacent v49 v61)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v146)
  (adjacent v51 v157)
  (adjacent v52 v53)
  (adjacent v52 v86)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v132)
  (adjacent v61 v62)
  (adjacent v61 v69)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v140)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v133)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v77 v96)
  (adjacent v78 v79)
  (adjacent v78 v88)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v92)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v105)
  (adjacent v85 v117)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v122)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v111)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v139)
  (adjacent v109 v110)
  (adjacent v110 v126)
  (adjacent v111 v112)
  (adjacent v111 v132)
  (adjacent v112 v127)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v131)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v117 v159)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v141)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r142 v5)
  (free v6)
  (at r104 v7)
  (free v8)
  (free v9)
  (at r161 v10)
  (free v11)
  (free v12)
  (at r154 v13)
  (free v14)
  (at r134 v15)
  (free v16)
  (at r109 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r92 v21)
  (at r91 v22)
  (at r80 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r102 v28)
  (free v29)
  (free v30)
  (at r155 v31)
  (at r122 v32)
  (free v33)
  (free v34)
  (at r96 v35)
  (free v36)
  (at r78 v37)
  (at r144 v38)
  (at r141 v39)
  (at r117 v40)
  (free v41)
  (at r120 v42)
  (free v43)
  (free v44)
  (at r79 v45)
  (at r149 v46)
  (free v47)
  (free v48)
  (at r150 v49)
  (at r159 v50)
  (free v51)
  (at r82 v52)
  (at r81 v53)
  (free v54)
  (free v55)
  (at r89 v56)
  (at r133 v57)
  (at r87 v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r103 v63)
  (at r93 v64)
  (at r132 v65)
  (at r85 v66)
  (at r162 v67)
  (at r77 v68)
  (free v69)
  (at r148 v70)
  (free v71)
  (free v72)
  (at r123 v73)
  (free v74)
  (at r151 v75)
  (at r111 v76)
  (free v77)
  (at r97 v78)
  (free v79)
  (at r153 v80)
  (at r121 v81)
  (at r113 v82)
  (at r84 v83)
  (free v84)
  (free v85)
  (at r145 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r130 v90)
  (at r108 v91)
  (at r156 v92)
  (at r138 v93)
  (at r157 v94)
  (at r140 v95)
  (at r146 v96)
  (free v97)
  (at r129 v98)
  (free v99)
  (free v100)
  (at r147 v101)
  (at r107 v102)
  (free v103)
  (free v104)
  (at r112 v105)
  (at r119 v106)
  (at r118 v107)
  (free v108)
  (at r114 v109)
  (at r88 v110)
  (free v111)
  (free v112)
  (at r137 v113)
  (at r158 v114)
  (free v115)
  (at r99 v116)
  (free v117)
  (free v118)
  (at r135 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r127 v125)
  (at r125 v126)
  (free v127)
  (free v128)
  (at r124 v129)
  (free v130)
  (at r90 v131)
  (at r143 v132)
  (at r110 v133)
  (at r160 v134)
  (at r100 v135)
  (free v136)
  (at r128 v137)
  (at r101 v138)
  (free v139)
  (at r139 v140)
  (free v141)
  (free v142)
  (at r152 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r126 v147)
  (at r106 v148)
  (at r131 v149)
  (at r105 v150)
  (at r98 v151)
  (free v152)
  (at r136 v153)
  (free v154)
  (at r94 v155)
  (at r115 v156)
  (at r86 v157)
  (at r116 v158)
  (free v159)
  (free v160)
  (at r95 v161)
  (at r83 v162)
  )
 )
)