(define (problem multirobot_40_90%_c6)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r132
  v4 r92
  v5 r120
  v6
  v7
  v8
  v9 r90
  v10 r139
  v11
  v12
  v13 r123
  v14
  v15 r100
  v16
  v17 r103
  v18 r128
  v19 r116
  v20
  v21
  v22 r73
  v23
  v24
  v25 r82
  v26
  v27 r122
  v28
  v29
  v30 r75
  v31
  v32
  v33 r125
  v34
  v35 r79
  v36
  v37 r99
  v38 r104
  v39 r129
  v40
  v41 r115
  v42
  v43 r98
  v44 r94
  v45
  v46 r117
  v47
  v48 r105
  v49 r109
  v50
  v51
  v52 r86
  v53
  v54 r77
  v55
  v56
  v57
  v58
  v59 r136
  v60 r114
  v61
  v62 r141
  v63 r89
  v64 r126
  v65
  v66 r101
  v67
  v68
  v69 r118
  v70 r121
  v71
  v72 r74
  v73 r113
  v74
  v75
  v76 r102
  v77
  v78 r137
  v79 r88
  v80 r78
  v81
  v82
  v83
  v84 r83
  v85
  v86
  v87
  v88
  v89
  v90 r131
  v91
  v92
  v93
  v94
  v95 r95
  v96 r87
  v97
  v98
  v99
  v100
  v101 r81
  v102
  v103 r130
  v104
  v105 r107
  v106 r127
  v107 r76
  v108
  v109 r84
  v110
  v111 r119
  v112
  v113 r80
  v114 r135
  v115 r110
  v116 r111
  v117 r106
  v118 r72
  v119 r134
  v120
  v121 r91
  v122 r108
  v123 r97
  v124 r142
  v125
  v126
  v127 r138
  v128
  v129 r124
  v130
  v131 r85
  v132 r96
  v133 r112
  v134 r140
  v135 r93
  v136 r133
  v137
  v138
  v139
  v140
  v141
  v142
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r132 v3)
  (at r92 v4)
  (at r120 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r90 v9)
  (at r139 v10)
  (free v11)
  (free v12)
  (at r123 v13)
  (free v14)
  (at r100 v15)
  (free v16)
  (at r103 v17)
  (at r128 v18)
  (at r116 v19)
  (free v20)
  (free v21)
  (at r73 v22)
  (free v23)
  (free v24)
  (at r82 v25)
  (free v26)
  (at r122 v27)
  (free v28)
  (free v29)
  (at r75 v30)
  (free v31)
  (free v32)
  (at r125 v33)
  (free v34)
  (at r79 v35)
  (free v36)
  (at r99 v37)
  (at r104 v38)
  (at r129 v39)
  (free v40)
  (at r115 v41)
  (free v42)
  (at r98 v43)
  (at r94 v44)
  (free v45)
  (at r117 v46)
  (free v47)
  (at r105 v48)
  (at r109 v49)
  (free v50)
  (free v51)
  (at r86 v52)
  (free v53)
  (at r77 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r136 v59)
  (at r114 v60)
  (free v61)
  (at r141 v62)
  (at r89 v63)
  (at r126 v64)
  (free v65)
  (at r101 v66)
  (free v67)
  (free v68)
  (at r118 v69)
  (at r121 v70)
  (free v71)
  (at r74 v72)
  (at r113 v73)
  (free v74)
  (free v75)
  (at r102 v76)
  (free v77)
  (at r137 v78)
  (at r88 v79)
  (at r78 v80)
  (free v81)
  (free v82)
  (free v83)
  (at r83 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r131 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r95 v95)
  (at r87 v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r81 v101)
  (free v102)
  (at r130 v103)
  (free v104)
  (at r107 v105)
  (at r127 v106)
  (at r76 v107)
  (free v108)
  (at r84 v109)
  (free v110)
  (at r119 v111)
  (free v112)
  (at r80 v113)
  (at r135 v114)
  (at r110 v115)
  (at r111 v116)
  (at r106 v117)
  (at r72 v118)
  (at r134 v119)
  (free v120)
  (at r91 v121)
  (at r108 v122)
  (at r97 v123)
  (at r142 v124)
  (free v125)
  (free v126)
  (at r138 v127)
  (free v128)
  (at r124 v129)
  (free v130)
  (at r85 v131)
  (at r96 v132)
  (at r112 v133)
  (at r140 v134)
  (at r93 v135)
  (at r133 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v12)
  (adjacent v0 v14)
  (adjacent v0 v34)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v14)
  (adjacent v1 v27)
  (adjacent v1 v76)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v16)
  (adjacent v2 v26)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v12)
  (adjacent v3 v33)
  (adjacent v4 v5)
  (adjacent v4 v6)
  (adjacent v4 v7)
  (adjacent v4 v30)
  (adjacent v5 v16)
  (adjacent v6 v13)
  (adjacent v6 v102)
  (adjacent v6 v104)
  (adjacent v6 v118)
  (adjacent v7 v8)
  (adjacent v7 v17)
  (adjacent v7 v41)
  (adjacent v7 v82)
  (adjacent v8 v9)
  (adjacent v8 v114)
  (adjacent v9 v10)
  (adjacent v9 v51)
  (adjacent v9 v97)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v10 v40)
  (adjacent v11 v15)
  (adjacent v11 v57)
  (adjacent v12 v100)
  (adjacent v13 v50)
  (adjacent v13 v99)
  (adjacent v14 v15)
  (adjacent v14 v19)
  (adjacent v16 v50)
  (adjacent v16 v120)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v18 v19)
  (adjacent v18 v51)
  (adjacent v18 v61)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v98)
  (adjacent v22 v23)
  (adjacent v22 v52)
  (adjacent v23 v24)
  (adjacent v23 v31)
  (adjacent v23 v82)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v69)
  (adjacent v27 v28)
  (adjacent v27 v56)
  (adjacent v27 v103)
  (adjacent v27 v106)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v128)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v43)
  (adjacent v32 v62)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v75)
  (adjacent v37 v38)
  (adjacent v37 v42)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v83)
  (adjacent v41 v42)
  (adjacent v41 v49)
  (adjacent v41 v129)
  (adjacent v42 v64)
  (adjacent v43 v44)
  (adjacent v43 v81)
  (adjacent v44 v45)
  (adjacent v44 v91)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v90)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v105)
  (adjacent v48 v115)
  (adjacent v50 v84)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v65)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v105)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v68)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v119)
  (adjacent v68 v107)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v108)
  (adjacent v73 v125)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v85)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v85 v114)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v113)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v142)
  (adjacent v93 v94)
  (adjacent v93 v136)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v124)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v135)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
 )
 (:goal
  (and
  (at r95 v0)
  (free v1)
  (at r137 v2)
  (free v3)
  (free v4)
  (at r116 v5)
  (free v6)
  (free v7)
  (at r142 v8)
  (free v9)
  (at r88 v10)
  (at r80 v11)
  (at r101 v12)
  (at r119 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r73 v17)
  (at r114 v18)
  (free v19)
  (free v20)
  (at r123 v21)
  (at r140 v22)
  (at r136 v23)
  (at r122 v24)
  (at r74 v25)
  (at r105 v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r97 v31)
  (at r128 v32)
  (at r131 v33)
  (free v34)
  (free v35)
  (at r92 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r87 v40)
  (free v41)
  (free v42)
  (at r117 v43)
  (free v44)
  (free v45)
  (free v46)
  (at r100 v47)
  (at r111 v48)
  (free v49)
  (at r112 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r96 v55)
  (free v56)
  (at r83 v57)
  (at r85 v58)
  (at r81 v59)
  (free v60)
  (at r104 v61)
  (at r107 v62)
  (at r115 v63)
  (at r110 v64)
  (at r141 v65)
  (free v66)
  (free v67)
  (at r91 v68)
  (at r132 v69)
  (at r84 v70)
  (at r134 v71)
  (at r129 v72)
  (at r135 v73)
  (free v74)
  (at r78 v75)
  (at r75 v76)
  (free v77)
  (at r133 v78)
  (free v79)
  (free v80)
  (at r109 v81)
  (at r94 v82)
  (free v83)
  (free v84)
  (at r99 v85)
  (at r108 v86)
  (at r77 v87)
  (at r124 v88)
  (free v89)
  (at r86 v90)
  (free v91)
  (at r125 v92)
  (at r138 v93)
  (at r98 v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (at r120 v99)
  (free v100)
  (at r118 v101)
  (at r139 v102)
  (free v103)
  (at r113 v104)
  (at r121 v105)
  (free v106)
  (at r76 v107)
  (free v108)
  (at r79 v109)
  (at r102 v110)
  (free v111)
  (at r106 v112)
  (free v113)
  (at r82 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r103 v118)
  (free v119)
  (at r90 v120)
  (free v121)
  (at r127 v122)
  (at r130 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (at r126 v131)
  (at r89 v132)
  (free v133)
  (at r72 v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r93 v141)
  (free v142)
  )
 )
)