(define (problem multirobot_40_90%_c3)
 (:domain multirobot)
 (:objects
  v0 r103
  v1
  v2 r132
  v3
  v4
  v5 r110
  v6
  v7 r124
  v8 r79
  v9 r92
  v10 r88
  v11 r142
  v12 r66
  v13 r75
  v14
  v15
  v16
  v17 r82
  v18 r111
  v19
  v20
  v21 r81
  v22 r86
  v23 r106
  v24 r117
  v25 r72
  v26 r144
  v27 r93
  v28 r67
  v29
  v30
  v31 r113
  v32 r145
  v33
  v34
  v35 r96
  v36 r134
  v37
  v38 r85
  v39 r137
  v40
  v41
  v42 r121
  v43 r83
  v44
  v45 r105
  v46 r118
  v47
  v48
  v49 r127
  v50 r152
  v51
  v52 r108
  v53 r77
  v54 r125
  v55 r80
  v56 r74
  v57 r114
  v58 r94
  v59 r107
  v60 r135
  v61 r150
  v62 r131
  v63 r122
  v64
  v65
  v66 r120
  v67 r71
  v68
  v69
  v70
  v71 r130
  v72 r109
  v73 r115
  v74 r116
  v75
  v76
  v77 r153
  v78
  v79 r99
  v80
  v81
  v82 r147
  v83
  v84 r78
  v85
  v86
  v87 r87
  v88 r76
  v89 r90
  v90
  v91 r141
  v92 r68
  v93
  v94
  v95 r70
  v96 r104
  v97
  v98
  v99 r154
  v100
  v101 r73
  v102 r146
  v103
  v104
  v105 r139
  v106 r69
  v107 r128
  v108 r102
  v109 r123
  v110
  v111
  v112
  v113 r119
  v114 r98
  v115 r133
  v116 r97
  v117 r100
  v118
  v119
  v120 r112
  v121
  v122
  v123
  v124
  v125
  v126
  v127 r136
  v128 r129
  v129 r155
  v130 r95
  v131
  v132
  v133
  v134 r101
  v135 r126
  v136
  v137 r143
  v138 r148
  v139
  v140 r91
  v141
  v142
  v143
  v144 r140
  v145 r138
  v146
  v147
  v148
  v149 r149
  v150
  v151
  v152 r89
  v153 r84
  v154 r151
  v155
 )
 (:init
  (at r103 v0)
  (free v1)
  (at r132 v2)
  (free v3)
  (free v4)
  (at r110 v5)
  (free v6)
  (at r124 v7)
  (at r79 v8)
  (at r92 v9)
  (at r88 v10)
  (at r142 v11)
  (at r66 v12)
  (at r75 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r82 v17)
  (at r111 v18)
  (free v19)
  (free v20)
  (at r81 v21)
  (at r86 v22)
  (at r106 v23)
  (at r117 v24)
  (at r72 v25)
  (at r144 v26)
  (at r93 v27)
  (at r67 v28)
  (free v29)
  (free v30)
  (at r113 v31)
  (at r145 v32)
  (free v33)
  (free v34)
  (at r96 v35)
  (at r134 v36)
  (free v37)
  (at r85 v38)
  (at r137 v39)
  (free v40)
  (free v41)
  (at r121 v42)
  (at r83 v43)
  (free v44)
  (at r105 v45)
  (at r118 v46)
  (free v47)
  (free v48)
  (at r127 v49)
  (at r152 v50)
  (free v51)
  (at r108 v52)
  (at r77 v53)
  (at r125 v54)
  (at r80 v55)
  (at r74 v56)
  (at r114 v57)
  (at r94 v58)
  (at r107 v59)
  (at r135 v60)
  (at r150 v61)
  (at r131 v62)
  (at r122 v63)
  (free v64)
  (free v65)
  (at r120 v66)
  (at r71 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r130 v71)
  (at r109 v72)
  (at r115 v73)
  (at r116 v74)
  (free v75)
  (free v76)
  (at r153 v77)
  (free v78)
  (at r99 v79)
  (free v80)
  (free v81)
  (at r147 v82)
  (free v83)
  (at r78 v84)
  (free v85)
  (free v86)
  (at r87 v87)
  (at r76 v88)
  (at r90 v89)
  (free v90)
  (at r141 v91)
  (at r68 v92)
  (free v93)
  (free v94)
  (at r70 v95)
  (at r104 v96)
  (free v97)
  (free v98)
  (at r154 v99)
  (free v100)
  (at r73 v101)
  (at r146 v102)
  (free v103)
  (free v104)
  (at r139 v105)
  (at r69 v106)
  (at r128 v107)
  (at r102 v108)
  (at r123 v109)
  (free v110)
  (free v111)
  (free v112)
  (at r119 v113)
  (at r98 v114)
  (at r133 v115)
  (at r97 v116)
  (at r100 v117)
  (free v118)
  (free v119)
  (at r112 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r136 v127)
  (at r129 v128)
  (at r155 v129)
  (at r95 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r101 v134)
  (at r126 v135)
  (free v136)
  (at r143 v137)
  (at r148 v138)
  (free v139)
  (at r91 v140)
  (free v141)
  (free v142)
  (free v143)
  (at r140 v144)
  (at r138 v145)
  (free v146)
  (free v147)
  (free v148)
  (at r149 v149)
  (free v150)
  (free v151)
  (at r89 v152)
  (at r84 v153)
  (at r151 v154)
  (free v155)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v16)
  (adjacent v0 v17)
  (adjacent v0 v27)
  (adjacent v0 v45)
  (adjacent v0 v55)
  (adjacent v0 v109)
  (adjacent v1 v2)
  (adjacent v1 v54)
  (adjacent v2 v3)
  (adjacent v2 v35)
  (adjacent v2 v74)
  (adjacent v2 v149)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v12)
  (adjacent v3 v97)
  (adjacent v4 v20)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v6 v7)
  (adjacent v6 v111)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v7 v19)
  (adjacent v7 v20)
  (adjacent v7 v34)
  (adjacent v7 v44)
  (adjacent v8 v9)
  (adjacent v8 v35)
  (adjacent v8 v64)
  (adjacent v9 v16)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v11 v12)
  (adjacent v11 v21)
  (adjacent v11 v118)
  (adjacent v13 v14)
  (adjacent v13 v26)
  (adjacent v14 v15)
  (adjacent v14 v71)
  (adjacent v15 v72)
  (adjacent v15 v139)
  (adjacent v16 v140)
  (adjacent v17 v18)
  (adjacent v17 v27)
  (adjacent v18 v19)
  (adjacent v19 v36)
  (adjacent v19 v80)
  (adjacent v19 v97)
  (adjacent v19 v143)
  (adjacent v21 v22)
  (adjacent v21 v88)
  (adjacent v21 v91)
  (adjacent v22 v23)
  (adjacent v22 v81)
  (adjacent v22 v86)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v28)
  (adjacent v26 v73)
  (adjacent v26 v125)
  (adjacent v26 v155)
  (adjacent v28 v29)
  (adjacent v28 v75)
  (adjacent v29 v30)
  (adjacent v29 v56)
  (adjacent v30 v31)
  (adjacent v30 v38)
  (adjacent v30 v59)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v39)
  (adjacent v35 v57)
  (adjacent v36 v37)
  (adjacent v36 v131)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v65)
  (adjacent v42 v43)
  (adjacent v42 v49)
  (adjacent v42 v98)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v89)
  (adjacent v48 v49)
  (adjacent v48 v102)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v92)
  (adjacent v51 v52)
  (adjacent v51 v110)
  (adjacent v52 v53)
  (adjacent v52 v58)
  (adjacent v53 v54)
  (adjacent v53 v112)
  (adjacent v54 v82)
  (adjacent v55 v56)
  (adjacent v55 v124)
  (adjacent v57 v58)
  (adjacent v57 v142)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v133)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v74)
  (adjacent v68 v69)
  (adjacent v68 v111)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v87)
  (adjacent v70 v132)
  (adjacent v72 v73)
  (adjacent v73 v130)
  (adjacent v74 v81)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v96)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v103)
  (adjacent v95 v96)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v125)
  (adjacent v99 v148)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v110)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v119)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r135 v2)
  (free v3)
  (free v4)
  (at r136 v5)
  (at r73 v6)
  (free v7)
  (at r145 v8)
  (free v9)
  (at r77 v10)
  (at r92 v11)
  (free v12)
  (at r68 v13)
  (free v14)
  (at r117 v15)
  (free v16)
  (at r120 v17)
  (at r124 v18)
  (free v19)
  (free v20)
  (at r72 v21)
  (free v22)
  (free v23)
  (free v24)
  (at r143 v25)
  (free v26)
  (at r99 v27)
  (at r125 v28)
  (free v29)
  (at r116 v30)
  (at r81 v31)
  (at r76 v32)
  (free v33)
  (at r150 v34)
  (free v35)
  (at r75 v36)
  (free v37)
  (at r148 v38)
  (at r85 v39)
  (at r90 v40)
  (free v41)
  (at r111 v42)
  (free v43)
  (free v44)
  (at r155 v45)
  (at r78 v46)
  (at r122 v47)
  (at r140 v48)
  (at r91 v49)
  (free v50)
  (at r142 v51)
  (at r133 v52)
  (at r88 v53)
  (at r83 v54)
  (at r118 v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (at r74 v61)
  (free v62)
  (at r100 v63)
  (at r121 v64)
  (at r71 v65)
  (free v66)
  (free v67)
  (at r105 v68)
  (at r152 v69)
  (at r131 v70)
  (at r153 v71)
  (free v72)
  (free v73)
  (at r144 v74)
  (free v75)
  (at r138 v76)
  (at r103 v77)
  (free v78)
  (at r110 v79)
  (at r154 v80)
  (at r146 v81)
  (at r127 v82)
  (free v83)
  (at r115 v84)
  (free v85)
  (at r86 v86)
  (at r108 v87)
  (free v88)
  (at r87 v89)
  (at r69 v90)
  (free v91)
  (at r106 v92)
  (at r67 v93)
  (at r84 v94)
  (free v95)
  (at r82 v96)
  (at r102 v97)
  (at r79 v98)
  (at r104 v99)
  (at r96 v100)
  (at r109 v101)
  (at r129 v102)
  (free v103)
  (at r70 v104)
  (free v105)
  (free v106)
  (at r80 v107)
  (free v108)
  (free v109)
  (free v110)
  (at r95 v111)
  (free v112)
  (at r123 v113)
  (at r112 v114)
  (at r93 v115)
  (free v116)
  (at r66 v117)
  (at r151 v118)
  (at r114 v119)
  (at r132 v120)
  (free v121)
  (free v122)
  (at r107 v123)
  (free v124)
  (at r113 v125)
  (free v126)
  (at r149 v127)
  (at r126 v128)
  (at r137 v129)
  (at r139 v130)
  (free v131)
  (free v132)
  (at r119 v133)
  (at r130 v134)
  (at r101 v135)
  (at r141 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r147 v141)
  (free v142)
  (free v143)
  (free v144)
  (at r97 v145)
  (at r89 v146)
  (free v147)
  (at r94 v148)
  (free v149)
  (at r128 v150)
  (at r134 v151)
  (free v152)
  (free v153)
  (at r98 v154)
  (free v155)
  )
 )
)