(define (problem multirobot_42_90%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1 r118
  v2
  v3
  v4
  v5
  v6
  v7
  v8 r138
  v9 r120
  v10
  v11 r151
  v12 r112
  v13 r144
  v14 r97
  v15
  v16 r99
  v17 r137
  v18 r100
  v19
  v20 r113
  v21 r108
  v22
  v23 r121
  v24
  v25
  v26
  v27 r142
  v28 r115
  v29
  v30 r143
  v31 r145
  v32
  v33
  v34 r96
  v35
  v36
  v37
  v38
  v39 r139
  v40
  v41
  v42 r98
  v43
  v44
  v45 r141
  v46
  v47
  v48
  v49 r125
  v50 r133
  v51 r103
  v52
  v53
  v54
  v55
  v56 r122
  v57 r131
  v58 r132
  v59
  v60
  v61
  v62 r102
  v63
  v64
  v65
  v66
  v67 r110
  v68
  v69
  v70
  v71
  v72
  v73
  v74
  v75
  v76
  v77 r101
  v78
  v79
  v80
  v81
  v82 r117
  v83
  v84 r104
  v85
  v86 r152
  v87
  v88
  v89
  v90
  v91
  v92
  v93 r114
  v94
  v95 r146
  v96
  v97 r150
  v98 r106
  v99 r105
  v100 r95
  v101
  v102 r147
  v103
  v104
  v105 r126
  v106
  v107
  v108
  v109
  v110 r116
  v111
  v112 r119
  v113 r129
  v114
  v115 r153
  v116
  v117 r124
  v118
  v119
  v120
  v121
  v122 r136
  v123 r130
  v124
  v125
  v126
  v127
  v128 r109
  v129
  v130 r148
  v131
  v132
  v133
  v134
  v135 r140
  v136
  v137
  v138
  v139
  v140 r111
  v141
  v142
  v143 r123
  v144 r127
  v145 r107
  v146
  v147
  v148 r135
  v149 r149
  v150
  v151
  v152 r134
  v153 r128
 )
 (:init
  (free v0)
  (at r118 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r138 v8)
  (at r120 v9)
  (free v10)
  (at r151 v11)
  (at r112 v12)
  (at r144 v13)
  (at r97 v14)
  (free v15)
  (at r99 v16)
  (at r137 v17)
  (at r100 v18)
  (free v19)
  (at r113 v20)
  (at r108 v21)
  (free v22)
  (at r121 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r142 v27)
  (at r115 v28)
  (free v29)
  (at r143 v30)
  (at r145 v31)
  (free v32)
  (free v33)
  (at r96 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (at r139 v39)
  (free v40)
  (free v41)
  (at r98 v42)
  (free v43)
  (free v44)
  (at r141 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r125 v49)
  (at r133 v50)
  (at r103 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r122 v56)
  (at r131 v57)
  (at r132 v58)
  (free v59)
  (free v60)
  (free v61)
  (at r102 v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (at r110 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r101 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (at r117 v82)
  (free v83)
  (at r104 v84)
  (free v85)
  (at r152 v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r114 v93)
  (free v94)
  (at r146 v95)
  (free v96)
  (at r150 v97)
  (at r106 v98)
  (at r105 v99)
  (at r95 v100)
  (free v101)
  (at r147 v102)
  (free v103)
  (free v104)
  (at r126 v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r116 v110)
  (free v111)
  (at r119 v112)
  (at r129 v113)
  (free v114)
  (at r153 v115)
  (free v116)
  (at r124 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r136 v122)
  (at r130 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (at r109 v128)
  (free v129)
  (at r148 v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (at r140 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r111 v140)
  (free v141)
  (free v142)
  (at r123 v143)
  (at r127 v144)
  (at r107 v145)
  (free v146)
  (free v147)
  (at r135 v148)
  (at r149 v149)
  (free v150)
  (free v151)
  (at r134 v152)
  (at r128 v153)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v39)
  (adjacent v1 v63)
  (adjacent v2 v3)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v4 v146)
  (adjacent v5 v6)
  (adjacent v5 v22)
  (adjacent v5 v76)
  (adjacent v6 v7)
  (adjacent v6 v14)
  (adjacent v6 v94)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v13)
  (adjacent v8 v29)
  (adjacent v9 v10)
  (adjacent v9 v55)
  (adjacent v9 v109)
  (adjacent v9 v120)
  (adjacent v10 v19)
  (adjacent v11 v12)
  (adjacent v11 v54)
  (adjacent v12 v13)
  (adjacent v12 v43)
  (adjacent v13 v30)
  (adjacent v13 v72)
  (adjacent v13 v115)
  (adjacent v14 v15)
  (adjacent v14 v89)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v23)
  (adjacent v17 v18)
  (adjacent v17 v23)
  (adjacent v18 v19)
  (adjacent v18 v20)
  (adjacent v18 v38)
  (adjacent v18 v101)
  (adjacent v19 v147)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v23 v37)
  (adjacent v23 v73)
  (adjacent v23 v75)
  (adjacent v23 v93)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v58)
  (adjacent v26 v74)
  (adjacent v27 v28)
  (adjacent v27 v34)
  (adjacent v27 v77)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v28 v76)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v69)
  (adjacent v32 v33)
  (adjacent v32 v62)
  (adjacent v32 v68)
  (adjacent v32 v75)
  (adjacent v33 v34)
  (adjacent v33 v35)
  (adjacent v33 v59)
  (adjacent v33 v129)
  (adjacent v34 v102)
  (adjacent v35 v36)
  (adjacent v35 v50)
  (adjacent v36 v114)
  (adjacent v36 v153)
  (adjacent v37 v38)
  (adjacent v37 v82)
  (adjacent v37 v94)
  (adjacent v39 v40)
  (adjacent v39 v44)
  (adjacent v39 v125)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v55)
  (adjacent v43 v67)
  (adjacent v43 v68)
  (adjacent v44 v45)
  (adjacent v44 v83)
  (adjacent v44 v152)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v119)
  (adjacent v49 v50)
  (adjacent v49 v142)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v56)
  (adjacent v53 v54)
  (adjacent v55 v140)
  (adjacent v56 v57)
  (adjacent v56 v95)
  (adjacent v57 v58)
  (adjacent v58 v90)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v99)
  (adjacent v66 v67)
  (adjacent v67 v98)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v130)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v114)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v91)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v141)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v108)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v135)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v113)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v104)
  (adjacent v100 v105)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v134)
  (adjacent v120 v121)
  (adjacent v120 v153)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v136 v141)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
 )
 (:goal
  (and
  (free v0)
  (at r148 v1)
  (at r150 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r141 v6)
  (at r113 v7)
  (free v8)
  (free v9)
  (at r129 v10)
  (at r146 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r106 v15)
  (free v16)
  (at r145 v17)
  (at r149 v18)
  (free v19)
  (at r142 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r121 v26)
  (at r95 v27)
  (at r127 v28)
  (free v29)
  (free v30)
  (at r99 v31)
  (at r153 v32)
  (at r138 v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (at r137 v39)
  (free v40)
  (at r122 v41)
  (at r115 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r132 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r130 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r109 v57)
  (free v58)
  (at r101 v59)
  (free v60)
  (at r117 v61)
  (free v62)
  (free v63)
  (at r128 v64)
  (free v65)
  (free v66)
  (at r151 v67)
  (at r119 v68)
  (free v69)
  (free v70)
  (at r134 v71)
  (at r111 v72)
  (free v73)
  (at r98 v74)
  (at r105 v75)
  (at r139 v76)
  (at r140 v77)
  (free v78)
  (free v79)
  (free v80)
  (at r144 v81)
  (free v82)
  (at r102 v83)
  (free v84)
  (at r107 v85)
  (free v86)
  (at r120 v87)
  (at r123 v88)
  (at r112 v89)
  (at r126 v90)
  (at r114 v91)
  (free v92)
  (at r135 v93)
  (free v94)
  (at r116 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r152 v101)
  (free v102)
  (free v103)
  (at r103 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r96 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r147 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r97 v124)
  (at r125 v125)
  (at r131 v126)
  (at r133 v127)
  (at r136 v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (at r118 v134)
  (at r108 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r124 v139)
  (at r143 v140)
  (at r110 v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (at r100 v147)
  (free v148)
  (free v149)
  (free v150)
  (at r104 v151)
  (free v152)
  (free v153)
  )
 )
)