(define (problem multirobot_40_90%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4
  v5
  v6
  v7
  v8
  v9
  v10 r103
  v11 r131
  v12
  v13 r112
  v14
  v15 r124
  v16 r122
  v17
  v18 r118
  v19 r135
  v20 r126
  v21 r107
  v22
  v23
  v24
  v25
  v26
  v27
  v28
  v29
  v30
  v31
  v32
  v33 r129
  v34 r96
  v35 r98
  v36 r119
  v37
  v38 r139
  v39 r111
  v40 r115
  v41 r108
  v42
  v43
  v44 r114
  v45
  v46
  v47 r137
  v48 r133
  v49
  v50 r120
  v51
  v52
  v53
  v54 r138
  v55 r132
  v56
  v57 r105
  v58
  v59
  v60 r90
  v61 r125
  v62 r104
  v63
  v64 r94
  v65
  v66
  v67
  v68
  v69 r100
  v70
  v71
  v72
  v73 r116
  v74
  v75 r134
  v76
  v77
  v78 r130
  v79
  v80
  v81
  v82 r89
  v83
  v84
  v85 r102
  v86
  v87 r106
  v88
  v89
  v90 r92
  v91 r128
  v92 r91
  v93
  v94
  v95
  v96
  v97 r93
  v98
  v99 r110
  v100
  v101 r109
  v102 r121
  v103
  v104
  v105 r123
  v106 r99
  v107
  v108
  v109
  v110
  v111
  v112
  v113
  v114
  v115
  v116
  v117
  v118
  v119 r113
  v120
  v121
  v122
  v123
  v124
  v125 r97
  v126 r127
  v127
  v128
  v129
  v130
  v131 r136
  v132
  v133
  v134 r117
  v135
  v136 r95
  v137 r101
  v138 r140
  v139
  v140
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (at r103 v10)
  (at r131 v11)
  (free v12)
  (at r112 v13)
  (free v14)
  (at r124 v15)
  (at r122 v16)
  (free v17)
  (at r118 v18)
  (at r135 v19)
  (at r126 v20)
  (at r107 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r129 v33)
  (at r96 v34)
  (at r98 v35)
  (at r119 v36)
  (free v37)
  (at r139 v38)
  (at r111 v39)
  (at r115 v40)
  (at r108 v41)
  (free v42)
  (free v43)
  (at r114 v44)
  (free v45)
  (free v46)
  (at r137 v47)
  (at r133 v48)
  (free v49)
  (at r120 v50)
  (free v51)
  (free v52)
  (free v53)
  (at r138 v54)
  (at r132 v55)
  (free v56)
  (at r105 v57)
  (free v58)
  (free v59)
  (at r90 v60)
  (at r125 v61)
  (at r104 v62)
  (free v63)
  (at r94 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r100 v69)
  (free v70)
  (free v71)
  (free v72)
  (at r116 v73)
  (free v74)
  (at r134 v75)
  (free v76)
  (free v77)
  (at r130 v78)
  (free v79)
  (free v80)
  (free v81)
  (at r89 v82)
  (free v83)
  (free v84)
  (at r102 v85)
  (free v86)
  (at r106 v87)
  (free v88)
  (free v89)
  (at r92 v90)
  (at r128 v91)
  (at r91 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (at r93 v97)
  (free v98)
  (at r110 v99)
  (free v100)
  (at r109 v101)
  (at r121 v102)
  (free v103)
  (free v104)
  (at r123 v105)
  (at r99 v106)
  (free v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r113 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r97 v125)
  (at r127 v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (at r136 v131)
  (free v132)
  (free v133)
  (at r117 v134)
  (free v135)
  (at r95 v136)
  (at r101 v137)
  (at r140 v138)
  (free v139)
  (free v140)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v32)
  (adjacent v0 v68)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v17)
  (adjacent v4 v15)
  (adjacent v4 v36)
  (adjacent v5 v52)
  (adjacent v5 v125)
  (adjacent v6 v7)
  (adjacent v6 v35)
  (adjacent v6 v82)
  (adjacent v7 v8)
  (adjacent v7 v14)
  (adjacent v7 v48)
  (adjacent v7 v72)
  (adjacent v8 v9)
  (adjacent v8 v71)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v16)
  (adjacent v10 v60)
  (adjacent v11 v69)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v78)
  (adjacent v14 v59)
  (adjacent v14 v73)
  (adjacent v15 v16)
  (adjacent v15 v26)
  (adjacent v16 v20)
  (adjacent v16 v27)
  (adjacent v16 v41)
  (adjacent v16 v59)
  (adjacent v16 v96)
  (adjacent v16 v116)
  (adjacent v17 v18)
  (adjacent v17 v112)
  (adjacent v18 v19)
  (adjacent v18 v28)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v22 v23)
  (adjacent v22 v119)
  (adjacent v23 v24)
  (adjacent v23 v118)
  (adjacent v24 v25)
  (adjacent v24 v42)
  (adjacent v25 v26)
  (adjacent v25 v29)
  (adjacent v25 v65)
  (adjacent v25 v70)
  (adjacent v26 v58)
  (adjacent v26 v97)
  (adjacent v26 v120)
  (adjacent v27 v28)
  (adjacent v27 v66)
  (adjacent v28 v33)
  (adjacent v28 v35)
  (adjacent v28 v132)
  (adjacent v29 v30)
  (adjacent v29 v126)
  (adjacent v30 v31)
  (adjacent v30 v47)
  (adjacent v30 v83)
  (adjacent v31 v32)
  (adjacent v31 v51)
  (adjacent v33 v34)
  (adjacent v34 v89)
  (adjacent v36 v37)
  (adjacent v36 v74)
  (adjacent v37 v38)
  (adjacent v37 v51)
  (adjacent v38 v39)
  (adjacent v38 v117)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v48)
  (adjacent v40 v98)
  (adjacent v41 v49)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v50)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v73)
  (adjacent v46 v93)
  (adjacent v49 v50)
  (adjacent v51 v75)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v74)
  (adjacent v59 v77)
  (adjacent v59 v101)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v99)
  (adjacent v62 v63)
  (adjacent v62 v93)
  (adjacent v62 v139)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v92)
  (adjacent v66 v67)
  (adjacent v66 v105)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v94)
  (adjacent v71 v72)
  (adjacent v73 v100)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v90)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v104)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v119)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v111)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v133)
  (adjacent v107 v108)
  (adjacent v107 v140)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v140)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
 )
 (:goal
  (and
  (at r112 v0)
  (at r113 v1)
  (at r110 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r126 v6)
  (at r122 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r135 v12)
  (free v13)
  (free v14)
  (at r130 v15)
  (at r96 v16)
  (free v17)
  (at r107 v18)
  (at r131 v19)
  (free v20)
  (free v21)
  (at r105 v22)
  (free v23)
  (at r123 v24)
  (free v25)
  (at r127 v26)
  (free v27)
  (at r111 v28)
  (free v29)
  (at r114 v30)
  (at r132 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r115 v35)
  (at r95 v36)
  (at r118 v37)
  (free v38)
  (free v39)
  (at r133 v40)
  (free v41)
  (free v42)
  (free v43)
  (at r99 v44)
  (free v45)
  (at r109 v46)
  (at r108 v47)
  (at r89 v48)
  (at r92 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r137 v53)
  (free v54)
  (free v55)
  (at r134 v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (at r102 v61)
  (at r104 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (at r119 v72)
  (at r98 v73)
  (free v74)
  (free v75)
  (at r121 v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (at r117 v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (at r90 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r101 v93)
  (at r128 v94)
  (at r106 v95)
  (free v96)
  (free v97)
  (at r140 v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r138 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r120 v107)
  (at r136 v108)
  (free v109)
  (at r94 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r124 v115)
  (free v116)
  (at r125 v117)
  (free v118)
  (at r139 v119)
  (free v120)
  (at r116 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r129 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r93 v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (at r100 v134)
  (free v135)
  (at r91 v136)
  (at r97 v137)
  (free v138)
  (free v139)
  (at r103 v140)
  )
 )
)