(define (problem multirobot_41_90%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1 r120
  v2 r109
  v3
  v4 r86
  v5 r88
  v6 r157
  v7
  v8 r103
  v9
  v10 r135
  v11 r124
  v12
  v13
  v14
  v15
  v16 r146
  v17 r87
  v18
  v19 r98
  v20 r144
  v21
  v22
  v23
  v24
  v25
  v26
  v27
  v28
  v29 r152
  v30
  v31 r142
  v32 r145
  v33 r150
  v34
  v35
  v36
  v37 r134
  v38
  v39 r105
  v40 r123
  v41 r132
  v42
  v43 r130
  v44
  v45 r155
  v46 r119
  v47
  v48 r89
  v49
  v50 r108
  v51
  v52
  v53 r82
  v54
  v55 r121
  v56
  v57
  v58
  v59 r136
  v60 r118
  v61
  v62 r122
  v63 r127
  v64 r147
  v65 r126
  v66
  v67 r116
  v68 r115
  v69 r160
  v70
  v71
  v72 r113
  v73 r148
  v74 r128
  v75
  v76
  v77 r92
  v78
  v79
  v80 r99
  v81 r97
  v82
  v83 r153
  v84 r143
  v85
  v86
  v87
  v88 r154
  v89 r158
  v90
  v91 r110
  v92
  v93
  v94
  v95
  v96 r84
  v97
  v98
  v99 r139
  v100 r149
  v101
  v102
  v103 r129
  v104
  v105
  v106 r133
  v107 r131
  v108 r163
  v109
  v110 r159
  v111
  v112
  v113 r125
  v114
  v115
  v116 r140
  v117
  v118
  v119
  v120 r151
  v121 r117
  v122
  v123 r95
  v124
  v125 r96
  v126
  v127 r112
  v128 r90
  v129
  v130
  v131 r138
  v132 r100
  v133 r107
  v134
  v135
  v136 r101
  v137
  v138 r114
  v139 r94
  v140 r81
  v141 r91
  v142
  v143 r85
  v144 r137
  v145 r83
  v146 r141
  v147
  v148
  v149
  v150
  v151 r156
  v152
  v153 r106
  v154 r93
  v155
  v156
  v157 r162
  v158
  v159 r161
  v160 r102
  v161 r104
  v162 r111
  v163
 )
 (:init
  (free v0)
  (at r120 v1)
  (at r109 v2)
  (free v3)
  (at r86 v4)
  (at r88 v5)
  (at r157 v6)
  (free v7)
  (at r103 v8)
  (free v9)
  (at r135 v10)
  (at r124 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r146 v16)
  (at r87 v17)
  (free v18)
  (at r98 v19)
  (at r144 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r152 v29)
  (free v30)
  (at r142 v31)
  (at r145 v32)
  (at r150 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r134 v37)
  (free v38)
  (at r105 v39)
  (at r123 v40)
  (at r132 v41)
  (free v42)
  (at r130 v43)
  (free v44)
  (at r155 v45)
  (at r119 v46)
  (free v47)
  (at r89 v48)
  (free v49)
  (at r108 v50)
  (free v51)
  (free v52)
  (at r82 v53)
  (free v54)
  (at r121 v55)
  (free v56)
  (free v57)
  (free v58)
  (at r136 v59)
  (at r118 v60)
  (free v61)
  (at r122 v62)
  (at r127 v63)
  (at r147 v64)
  (at r126 v65)
  (free v66)
  (at r116 v67)
  (at r115 v68)
  (at r160 v69)
  (free v70)
  (free v71)
  (at r113 v72)
  (at r148 v73)
  (at r128 v74)
  (free v75)
  (free v76)
  (at r92 v77)
  (free v78)
  (free v79)
  (at r99 v80)
  (at r97 v81)
  (free v82)
  (at r153 v83)
  (at r143 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r154 v88)
  (at r158 v89)
  (free v90)
  (at r110 v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (at r84 v96)
  (free v97)
  (free v98)
  (at r139 v99)
  (at r149 v100)
  (free v101)
  (free v102)
  (at r129 v103)
  (free v104)
  (free v105)
  (at r133 v106)
  (at r131 v107)
  (at r163 v108)
  (free v109)
  (at r159 v110)
  (free v111)
  (free v112)
  (at r125 v113)
  (free v114)
  (free v115)
  (at r140 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r151 v120)
  (at r117 v121)
  (free v122)
  (at r95 v123)
  (free v124)
  (at r96 v125)
  (free v126)
  (at r112 v127)
  (at r90 v128)
  (free v129)
  (free v130)
  (at r138 v131)
  (at r100 v132)
  (at r107 v133)
  (free v134)
  (free v135)
  (at r101 v136)
  (free v137)
  (at r114 v138)
  (at r94 v139)
  (at r81 v140)
  (at r91 v141)
  (free v142)
  (at r85 v143)
  (at r137 v144)
  (at r83 v145)
  (at r141 v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r156 v151)
  (free v152)
  (at r106 v153)
  (at r93 v154)
  (free v155)
  (free v156)
  (at r162 v157)
  (free v158)
  (at r161 v159)
  (at r102 v160)
  (at r104 v161)
  (at r111 v162)
  (free v163)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v33)
  (adjacent v1 v38)
  (adjacent v1 v111)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v23)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v11)
  (adjacent v3 v53)
  (adjacent v3 v88)
  (adjacent v4 v13)
  (adjacent v4 v14)
  (adjacent v4 v113)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v5 v11)
  (adjacent v5 v12)
  (adjacent v5 v21)
  (adjacent v5 v52)
  (adjacent v6 v7)
  (adjacent v6 v108)
  (adjacent v7 v8)
  (adjacent v7 v20)
  (adjacent v7 v30)
  (adjacent v7 v46)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v8 v42)
  (adjacent v9 v12)
  (adjacent v9 v13)
  (adjacent v9 v22)
  (adjacent v9 v24)
  (adjacent v10 v81)
  (adjacent v11 v17)
  (adjacent v11 v102)
  (adjacent v13 v70)
  (adjacent v14 v15)
  (adjacent v14 v19)
  (adjacent v15 v16)
  (adjacent v15 v18)
  (adjacent v16 v17)
  (adjacent v16 v34)
  (adjacent v17 v37)
  (adjacent v17 v141)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v20 v95)
  (adjacent v21 v163)
  (adjacent v22 v23)
  (adjacent v22 v112)
  (adjacent v23 v133)
  (adjacent v24 v25)
  (adjacent v24 v31)
  (adjacent v24 v89)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v138)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v29 v30)
  (adjacent v29 v33)
  (adjacent v30 v43)
  (adjacent v31 v32)
  (adjacent v31 v75)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v61)
  (adjacent v36 v37)
  (adjacent v36 v87)
  (adjacent v36 v115)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v65)
  (adjacent v41 v42)
  (adjacent v41 v47)
  (adjacent v41 v162)
  (adjacent v43 v44)
  (adjacent v43 v94)
  (adjacent v44 v45)
  (adjacent v44 v74)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v47 v58)
  (adjacent v48 v49)
  (adjacent v48 v60)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v57)
  (adjacent v51 v112)
  (adjacent v52 v77)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v69)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v139)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v80)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v121)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v88)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v120)
  (adjacent v84 v160)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v126)
  (adjacent v87 v101)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v109)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v125)
  (adjacent v99 v159)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v102 v132)
  (adjacent v103 v104)
  (adjacent v103 v114)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v147)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v154)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v148)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v140)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v133 v155)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v146 v163)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
 )
 (:goal
  (and
  (free v0)
  (at r159 v1)
  (free v2)
  (free v3)
  (at r88 v4)
  (free v5)
  (at r92 v6)
  (at r133 v7)
  (free v8)
  (free v9)
  (at r87 v10)
  (free v11)
  (at r136 v12)
  (at r98 v13)
  (at r122 v14)
  (free v15)
  (at r91 v16)
  (free v17)
  (free v18)
  (at r135 v19)
  (free v20)
  (at r105 v21)
  (at r157 v22)
  (at r143 v23)
  (at r147 v24)
  (free v25)
  (at r109 v26)
  (at r103 v27)
  (free v28)
  (free v29)
  (free v30)
  (at r110 v31)
  (free v32)
  (free v33)
  (at r119 v34)
  (at r102 v35)
  (at r137 v36)
  (at r116 v37)
  (at r145 v38)
  (free v39)
  (at r154 v40)
  (at r97 v41)
  (at r94 v42)
  (at r128 v43)
  (free v44)
  (at r83 v45)
  (at r121 v46)
  (free v47)
  (at r104 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r93 v57)
  (free v58)
  (free v59)
  (free v60)
  (at r107 v61)
  (at r86 v62)
  (at r149 v63)
  (at r123 v64)
  (at r85 v65)
  (at r156 v66)
  (free v67)
  (at r134 v68)
  (at r89 v69)
  (free v70)
  (at r106 v71)
  (at r144 v72)
  (at r138 v73)
  (free v74)
  (free v75)
  (at r152 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r114 v80)
  (at r129 v81)
  (at r101 v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r108 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r140 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r126 v103)
  (free v104)
  (at r100 v105)
  (at r127 v106)
  (free v107)
  (free v108)
  (free v109)
  (at r115 v110)
  (at r118 v111)
  (at r125 v112)
  (free v113)
  (at r111 v114)
  (free v115)
  (at r95 v116)
  (at r162 v117)
  (at r160 v118)
  (free v119)
  (free v120)
  (at r117 v121)
  (free v122)
  (free v123)
  (at r124 v124)
  (free v125)
  (free v126)
  (at r158 v127)
  (free v128)
  (at r163 v129)
  (free v130)
  (at r90 v131)
  (at r151 v132)
  (at r153 v133)
  (free v134)
  (at r84 v135)
  (free v136)
  (at r132 v137)
  (at r146 v138)
  (at r112 v139)
  (free v140)
  (at r131 v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (at r113 v146)
  (at r96 v147)
  (free v148)
  (at r161 v149)
  (at r120 v150)
  (at r142 v151)
  (at r139 v152)
  (free v153)
  (free v154)
  (at r82 v155)
  (at r155 v156)
  (free v157)
  (at r99 v158)
  (at r148 v159)
  (at r130 v160)
  (at r150 v161)
  (at r81 v162)
  (at r141 v163)
  )
 )
)