(define (problem multirobot_41_90%_c8)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r94
  v3
  v4
  v5 r149
  v6 r141
  v7 r130
  v8 r105
  v9 r131
  v10 r150
  v11 r162
  v12 r114
  v13 r144
  v14 r156
  v15
  v16
  v17 r129
  v18
  v19 r166
  v20
  v21
  v22
  v23 r165
  v24 r132
  v25
  v26 r121
  v27 r136
  v28
  v29 r100
  v30
  v31 r123
  v32
  v33
  v34 r101
  v35 r97
  v36 r107
  v37
  v38 r86
  v39
  v40 r142
  v41
  v42 r128
  v43
  v44 r138
  v45 r139
  v46
  v47
  v48
  v49 r99
  v50
  v51
  v52
  v53 r171
  v54 r168
  v55 r85
  v56
  v57
  v58
  v59 r163
  v60
  v61
  v62
  v63 r154
  v64 r155
  v65 r117
  v66 r84
  v67
  v68
  v69 r169
  v70 r95
  v71
  v72
  v73
  v74
  v75
  v76 r89
  v77
  v78
  v79
  v80
  v81
  v82 r109
  v83
  v84 r157
  v85 r96
  v86 r98
  v87 r118
  v88
  v89 r112
  v90 r152
  v91
  v92 r146
  v93 r108
  v94 r125
  v95 r170
  v96
  v97
  v98 r103
  v99 r110
  v100
  v101 r167
  v102
  v103 r148
  v104
  v105 r91
  v106
  v107
  v108
  v109
  v110 r88
  v111 r122
  v112 r92
  v113
  v114 r90
  v115
  v116 r104
  v117
  v118
  v119 r147
  v120 r135
  v121 r82
  v122
  v123
  v124
  v125 r87
  v126 r111
  v127
  v128
  v129
  v130 r159
  v131 r140
  v132 r93
  v133
  v134
  v135
  v136
  v137 r151
  v138 r161
  v139
  v140
  v141
  v142 r116
  v143 r127
  v144
  v145
  v146 r145
  v147 r102
  v148
  v149 r160
  v150
  v151
  v152 r137
  v153
  v154 r106
  v155 r124
  v156 r83
  v157 r143
  v158 r158
  v159
  v160 r164
  v161
  v162 r126
  v163
  v164 r119
  v165
  v166 r115
  v167 r133
  v168 r134
  v169 r113
  v170 r153
  v171 r120
 )
 (:init
  (free v0)
  (free v1)
  (at r94 v2)
  (free v3)
  (free v4)
  (at r149 v5)
  (at r141 v6)
  (at r130 v7)
  (at r105 v8)
  (at r131 v9)
  (at r150 v10)
  (at r162 v11)
  (at r114 v12)
  (at r144 v13)
  (at r156 v14)
  (free v15)
  (free v16)
  (at r129 v17)
  (free v18)
  (at r166 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r165 v23)
  (at r132 v24)
  (free v25)
  (at r121 v26)
  (at r136 v27)
  (free v28)
  (at r100 v29)
  (free v30)
  (at r123 v31)
  (free v32)
  (free v33)
  (at r101 v34)
  (at r97 v35)
  (at r107 v36)
  (free v37)
  (at r86 v38)
  (free v39)
  (at r142 v40)
  (free v41)
  (at r128 v42)
  (free v43)
  (at r138 v44)
  (at r139 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r99 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r171 v53)
  (at r168 v54)
  (at r85 v55)
  (free v56)
  (free v57)
  (free v58)
  (at r163 v59)
  (free v60)
  (free v61)
  (free v62)
  (at r154 v63)
  (at r155 v64)
  (at r117 v65)
  (at r84 v66)
  (free v67)
  (free v68)
  (at r169 v69)
  (at r95 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r89 v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (at r109 v82)
  (free v83)
  (at r157 v84)
  (at r96 v85)
  (at r98 v86)
  (at r118 v87)
  (free v88)
  (at r112 v89)
  (at r152 v90)
  (free v91)
  (at r146 v92)
  (at r108 v93)
  (at r125 v94)
  (at r170 v95)
  (free v96)
  (free v97)
  (at r103 v98)
  (at r110 v99)
  (free v100)
  (at r167 v101)
  (free v102)
  (at r148 v103)
  (free v104)
  (at r91 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r88 v110)
  (at r122 v111)
  (at r92 v112)
  (free v113)
  (at r90 v114)
  (free v115)
  (at r104 v116)
  (free v117)
  (free v118)
  (at r147 v119)
  (at r135 v120)
  (at r82 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r87 v125)
  (at r111 v126)
  (free v127)
  (free v128)
  (free v129)
  (at r159 v130)
  (at r140 v131)
  (at r93 v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r151 v137)
  (at r161 v138)
  (free v139)
  (free v140)
  (free v141)
  (at r116 v142)
  (at r127 v143)
  (free v144)
  (free v145)
  (at r145 v146)
  (at r102 v147)
  (free v148)
  (at r160 v149)
  (free v150)
  (free v151)
  (at r137 v152)
  (free v153)
  (at r106 v154)
  (at r124 v155)
  (at r83 v156)
  (at r143 v157)
  (at r158 v158)
  (free v159)
  (at r164 v160)
  (free v161)
  (at r126 v162)
  (free v163)
  (at r119 v164)
  (free v165)
  (at r115 v166)
  (at r133 v167)
  (at r134 v168)
  (at r113 v169)
  (at r153 v170)
  (at r120 v171)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v13)
  (adjacent v0 v32)
  (adjacent v0 v67)
  (adjacent v0 v153)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v47)
  (adjacent v2 v3)
  (adjacent v2 v16)
  (adjacent v2 v41)
  (adjacent v2 v142)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v14)
  (adjacent v4 v19)
  (adjacent v4 v41)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v7 v120)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v26)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v51)
  (adjacent v12 v13)
  (adjacent v12 v25)
  (adjacent v12 v46)
  (adjacent v12 v146)
  (adjacent v13 v53)
  (adjacent v13 v59)
  (adjacent v13 v117)
  (adjacent v14 v15)
  (adjacent v15 v20)
  (adjacent v16 v17)
  (adjacent v16 v29)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v28)
  (adjacent v18 v42)
  (adjacent v19 v52)
  (adjacent v19 v73)
  (adjacent v19 v142)
  (adjacent v19 v147)
  (adjacent v20 v21)
  (adjacent v20 v97)
  (adjacent v21 v22)
  (adjacent v21 v40)
  (adjacent v21 v139)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v22 v132)
  (adjacent v23 v24)
  (adjacent v23 v33)
  (adjacent v24 v25)
  (adjacent v25 v82)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v89)
  (adjacent v27 v154)
  (adjacent v28 v33)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v100)
  (adjacent v31 v32)
  (adjacent v31 v138)
  (adjacent v32 v91)
  (adjacent v33 v130)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v60)
  (adjacent v39 v40)
  (adjacent v41 v85)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v129)
  (adjacent v50 v51)
  (adjacent v50 v141)
  (adjacent v51 v54)
  (adjacent v51 v86)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v123)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v66)
  (adjacent v59 v90)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v122)
  (adjacent v64 v65)
  (adjacent v64 v78)
  (adjacent v64 v96)
  (adjacent v65 v66)
  (adjacent v66 v111)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v104)
  (adjacent v69 v160)
  (adjacent v70 v71)
  (adjacent v70 v79)
  (adjacent v70 v92)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v110)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v103)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v83)
  (adjacent v80 v101)
  (adjacent v81 v82)
  (adjacent v82 v131)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v90)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v91)
  (adjacent v90 v171)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v118)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v151)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v121)
  (adjacent v116 v117)
  (adjacent v116 v165)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v150)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v164)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v143)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v159)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v148 v165)
  (adjacent v149 v150)
  (adjacent v150 v166)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
 )
 (:goal
  (and
  (at r145 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r163 v7)
  (free v8)
  (at r136 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r115 v14)
  (free v15)
  (free v16)
  (at r104 v17)
  (at r169 v18)
  (at r171 v19)
  (free v20)
  (at r150 v21)
  (at r153 v22)
  (free v23)
  (at r125 v24)
  (at r165 v25)
  (free v26)
  (at r83 v27)
  (at r146 v28)
  (free v29)
  (at r157 v30)
  (at r95 v31)
  (at r147 v32)
  (free v33)
  (at r140 v34)
  (at r141 v35)
  (free v36)
  (at r151 v37)
  (at r129 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r156 v42)
  (at r113 v43)
  (free v44)
  (free v45)
  (at r109 v46)
  (free v47)
  (free v48)
  (at r143 v49)
  (at r86 v50)
  (free v51)
  (at r128 v52)
  (at r100 v53)
  (at r108 v54)
  (at r134 v55)
  (at r93 v56)
  (free v57)
  (at r167 v58)
  (at r114 v59)
  (free v60)
  (at r88 v61)
  (at r101 v62)
  (free v63)
  (free v64)
  (at r119 v65)
  (free v66)
  (free v67)
  (at r166 v68)
  (at r144 v69)
  (free v70)
  (at r96 v71)
  (free v72)
  (free v73)
  (at r123 v74)
  (at r99 v75)
  (free v76)
  (free v77)
  (at r91 v78)
  (free v79)
  (at r90 v80)
  (free v81)
  (free v82)
  (at r148 v83)
  (at r164 v84)
  (free v85)
  (free v86)
  (at r97 v87)
  (at r126 v88)
  (at r170 v89)
  (at r94 v90)
  (at r85 v91)
  (free v92)
  (at r117 v93)
  (free v94)
  (at r124 v95)
  (at r87 v96)
  (at r107 v97)
  (at r168 v98)
  (at r132 v99)
  (at r122 v100)
  (at r103 v101)
  (free v102)
  (at r152 v103)
  (free v104)
  (at r127 v105)
  (at r84 v106)
  (at r111 v107)
  (at r105 v108)
  (at r116 v109)
  (free v110)
  (free v111)
  (free v112)
  (at r106 v113)
  (at r149 v114)
  (free v115)
  (at r89 v116)
  (at r161 v117)
  (at r138 v118)
  (free v119)
  (at r131 v120)
  (free v121)
  (at r118 v122)
  (at r82 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r102 v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (at r120 v132)
  (at r112 v133)
  (at r121 v134)
  (free v135)
  (free v136)
  (at r155 v137)
  (at r133 v138)
  (free v139)
  (free v140)
  (at r92 v141)
  (at r160 v142)
  (free v143)
  (free v144)
  (at r154 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r162 v151)
  (at r158 v152)
  (free v153)
  (free v154)
  (free v155)
  (at r110 v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (at r139 v161)
  (free v162)
  (at r98 v163)
  (at r130 v164)
  (at r159 v165)
  (at r135 v166)
  (free v167)
  (free v168)
  (at r142 v169)
  (free v170)
  (at r137 v171)
  )
 )
)