(define (problem multirobot_42_90%_c1)
 (:domain multirobot)
 (:objects
  v0 r164
  v1 r155
  v2
  v3
  v4 r86
  v5
  v6
  v7 r136
  v8 r118
  v9 r95
  v10 r98
  v11 r138
  v12 r93
  v13 r115
  v14 r135
  v15 r144
  v16 r145
  v17 r91
  v18 r156
  v19
  v20 r89
  v21 r110
  v22 r130
  v23
  v24 r107
  v25
  v26
  v27 r84
  v28
  v29 r161
  v30 r99
  v31 r81
  v32
  v33 r123
  v34 r126
  v35
  v36 r109
  v37 r120
  v38
  v39 r100
  v40 r152
  v41 r88
  v42 r82
  v43 r77
  v44 r74
  v45
  v46 r143
  v47 r102
  v48 r159
  v49
  v50
  v51 r151
  v52
  v53
  v54 r131
  v55
  v56
  v57 r111
  v58 r157
  v59 r119
  v60
  v61 r125
  v62 r76
  v63
  v64
  v65
  v66 r137
  v67 r121
  v68 r101
  v69
  v70
  v71 r83
  v72 r148
  v73 r71
  v74 r73
  v75
  v76 r78
  v77 r114
  v78 r96
  v79
  v80 r142
  v81 r139
  v82 r97
  v83 r147
  v84 r79
  v85
  v86
  v87 r87
  v88 r75
  v89 r72
  v90 r104
  v91
  v92 r105
  v93
  v94
  v95 r113
  v96
  v97 r124
  v98
  v99
  v100
  v101 r112
  v102
  v103
  v104
  v105
  v106
  v107 r160
  v108
  v109 r150
  v110 r85
  v111 r103
  v112
  v113
  v114
  v115 r163
  v116 r165
  v117
  v118 r134
  v119 r158
  v120
  v121 r117
  v122
  v123
  v124
  v125 r108
  v126 r128
  v127
  v128
  v129 r146
  v130 r94
  v131
  v132
  v133
  v134 r129
  v135
  v136 r149
  v137
  v138 r133
  v139 r92
  v140 r122
  v141 r132
  v142
  v143
  v144
  v145 r154
  v146
  v147 r106
  v148
  v149
  v150 r140
  v151 r80
  v152
  v153 r162
  v154 r116
  v155
  v156 r141
  v157
  v158
  v159 r127
  v160
  v161
  v162 r153
  v163
  v164 r90
  v165
 )
 (:init
  (at r164 v0)
  (at r155 v1)
  (free v2)
  (free v3)
  (at r86 v4)
  (free v5)
  (free v6)
  (at r136 v7)
  (at r118 v8)
  (at r95 v9)
  (at r98 v10)
  (at r138 v11)
  (at r93 v12)
  (at r115 v13)
  (at r135 v14)
  (at r144 v15)
  (at r145 v16)
  (at r91 v17)
  (at r156 v18)
  (free v19)
  (at r89 v20)
  (at r110 v21)
  (at r130 v22)
  (free v23)
  (at r107 v24)
  (free v25)
  (free v26)
  (at r84 v27)
  (free v28)
  (at r161 v29)
  (at r99 v30)
  (at r81 v31)
  (free v32)
  (at r123 v33)
  (at r126 v34)
  (free v35)
  (at r109 v36)
  (at r120 v37)
  (free v38)
  (at r100 v39)
  (at r152 v40)
  (at r88 v41)
  (at r82 v42)
  (at r77 v43)
  (at r74 v44)
  (free v45)
  (at r143 v46)
  (at r102 v47)
  (at r159 v48)
  (free v49)
  (free v50)
  (at r151 v51)
  (free v52)
  (free v53)
  (at r131 v54)
  (free v55)
  (free v56)
  (at r111 v57)
  (at r157 v58)
  (at r119 v59)
  (free v60)
  (at r125 v61)
  (at r76 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r137 v66)
  (at r121 v67)
  (at r101 v68)
  (free v69)
  (free v70)
  (at r83 v71)
  (at r148 v72)
  (at r71 v73)
  (at r73 v74)
  (free v75)
  (at r78 v76)
  (at r114 v77)
  (at r96 v78)
  (free v79)
  (at r142 v80)
  (at r139 v81)
  (at r97 v82)
  (at r147 v83)
  (at r79 v84)
  (free v85)
  (free v86)
  (at r87 v87)
  (at r75 v88)
  (at r72 v89)
  (at r104 v90)
  (free v91)
  (at r105 v92)
  (free v93)
  (free v94)
  (at r113 v95)
  (free v96)
  (at r124 v97)
  (free v98)
  (free v99)
  (free v100)
  (at r112 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (at r160 v107)
  (free v108)
  (at r150 v109)
  (at r85 v110)
  (at r103 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r163 v115)
  (at r165 v116)
  (free v117)
  (at r134 v118)
  (at r158 v119)
  (free v120)
  (at r117 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r108 v125)
  (at r128 v126)
  (free v127)
  (free v128)
  (at r146 v129)
  (at r94 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r129 v134)
  (free v135)
  (at r149 v136)
  (free v137)
  (at r133 v138)
  (at r92 v139)
  (at r122 v140)
  (at r132 v141)
  (free v142)
  (free v143)
  (free v144)
  (at r154 v145)
  (free v146)
  (at r106 v147)
  (free v148)
  (free v149)
  (at r140 v150)
  (at r80 v151)
  (free v152)
  (at r162 v153)
  (at r116 v154)
  (free v155)
  (at r141 v156)
  (free v157)
  (free v158)
  (at r127 v159)
  (free v160)
  (free v161)
  (at r153 v162)
  (free v163)
  (at r90 v164)
  (free v165)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v19)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v72)
  (adjacent v1 v101)
  (adjacent v1 v152)
  (adjacent v2 v3)
  (adjacent v2 v14)
  (adjacent v2 v15)
  (adjacent v2 v71)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v5 v6)
  (adjacent v5 v43)
  (adjacent v5 v64)
  (adjacent v5 v118)
  (adjacent v6 v7)
  (adjacent v6 v34)
  (adjacent v6 v80)
  (adjacent v7 v8)
  (adjacent v7 v20)
  (adjacent v7 v59)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v39)
  (adjacent v10 v11)
  (adjacent v10 v66)
  (adjacent v11 v117)
  (adjacent v12 v13)
  (adjacent v12 v23)
  (adjacent v12 v58)
  (adjacent v13 v14)
  (adjacent v13 v26)
  (adjacent v14 v54)
  (adjacent v15 v16)
  (adjacent v15 v51)
  (adjacent v15 v65)
  (adjacent v15 v119)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v92)
  (adjacent v17 v98)
  (adjacent v17 v128)
  (adjacent v18 v19)
  (adjacent v18 v146)
  (adjacent v19 v139)
  (adjacent v20 v21)
  (adjacent v20 v27)
  (adjacent v20 v71)
  (adjacent v20 v81)
  (adjacent v20 v132)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v157)
  (adjacent v23 v24)
  (adjacent v23 v33)
  (adjacent v23 v99)
  (adjacent v24 v25)
  (adjacent v24 v102)
  (adjacent v25 v26)
  (adjacent v26 v58)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v70)
  (adjacent v30 v31)
  (adjacent v30 v44)
  (adjacent v30 v118)
  (adjacent v31 v32)
  (adjacent v31 v52)
  (adjacent v31 v57)
  (adjacent v32 v33)
  (adjacent v32 v38)
  (adjacent v34 v35)
  (adjacent v34 v50)
  (adjacent v34 v86)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v108)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v77)
  (adjacent v43 v115)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v51)
  (adjacent v46 v53)
  (adjacent v47 v48)
  (adjacent v47 v108)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v127)
  (adjacent v51 v65)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v85)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v109)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v125)
  (adjacent v60 v153)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v126)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v78)
  (adjacent v70 v91)
  (adjacent v70 v127)
  (adjacent v71 v93)
  (adjacent v71 v107)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v143)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v92)
  (adjacent v83 v84)
  (adjacent v83 v165)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v144)
  (adjacent v89 v90)
  (adjacent v89 v138)
  (adjacent v90 v91)
  (adjacent v91 v152)
  (adjacent v92 v116)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v133)
  (adjacent v105 v106)
  (adjacent v105 v124)
  (adjacent v106 v107)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v118 v158)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v161)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v160)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v151)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v145 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
 )
 (:goal
  (and
  (at r144 v0)
  (free v1)
  (free v2)
  (free v3)
  (at r141 v4)
  (at r131 v5)
  (at r161 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (at r76 v11)
  (at r89 v12)
  (free v13)
  (at r134 v14)
  (free v15)
  (free v16)
  (free v17)
  (at r155 v18)
  (free v19)
  (at r107 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r79 v24)
  (at r128 v25)
  (free v26)
  (free v27)
  (at r146 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r136 v34)
  (at r113 v35)
  (at r124 v36)
  (at r78 v37)
  (at r83 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r112 v42)
  (at r92 v43)
  (at r137 v44)
  (free v45)
  (at r73 v46)
  (at r140 v47)
  (at r133 v48)
  (at r130 v49)
  (free v50)
  (free v51)
  (at r163 v52)
  (at r81 v53)
  (free v54)
  (free v55)
  (at r157 v56)
  (free v57)
  (at r129 v58)
  (free v59)
  (free v60)
  (at r80 v61)
  (at r127 v62)
  (free v63)
  (at r97 v64)
  (at r82 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r96 v69)
  (at r91 v70)
  (at r158 v71)
  (free v72)
  (at r138 v73)
  (at r115 v74)
  (free v75)
  (at r104 v76)
  (at r164 v77)
  (free v78)
  (free v79)
  (at r143 v80)
  (at r165 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r77 v85)
  (at r88 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r110 v90)
  (at r153 v91)
  (at r105 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r114 v96)
  (at r120 v97)
  (at r148 v98)
  (free v99)
  (at r90 v100)
  (at r94 v101)
  (free v102)
  (free v103)
  (free v104)
  (at r135 v105)
  (at r74 v106)
  (at r84 v107)
  (at r139 v108)
  (at r142 v109)
  (at r150 v110)
  (free v111)
  (at r95 v112)
  (at r87 v113)
  (at r118 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r100 v119)
  (at r106 v120)
  (at r145 v121)
  (at r132 v122)
  (at r86 v123)
  (free v124)
  (at r101 v125)
  (at r152 v126)
  (at r162 v127)
  (free v128)
  (at r151 v129)
  (at r125 v130)
  (free v131)
  (at r93 v132)
  (free v133)
  (at r72 v134)
  (free v135)
  (free v136)
  (at r149 v137)
  (at r121 v138)
  (at r108 v139)
  (at r147 v140)
  (at r119 v141)
  (at r102 v142)
  (free v143)
  (at r99 v144)
  (free v145)
  (at r116 v146)
  (at r122 v147)
  (free v148)
  (at r71 v149)
  (free v150)
  (free v151)
  (at r103 v152)
  (at r159 v153)
  (at r109 v154)
  (at r111 v155)
  (at r85 v156)
  (at r156 v157)
  (at r126 v158)
  (at r98 v159)
  (free v160)
  (at r160 v161)
  (at r154 v162)
  (at r117 v163)
  (at r75 v164)
  (at r123 v165)
  )
 )
)