(define (problem multirobot_43_90%_c0)
 (:domain multirobot)
 (:objects
  v0 r106
  v1
  v2
  v3 r105
  v4
  v5 r96
  v6
  v7
  v8 r108
  v9
  v10
  v11 r130
  v12 r118
  v13 r109
  v14
  v15 r149
  v16 r83
  v17
  v18 r101
  v19 r119
  v20 r157
  v21 r148
  v22 r137
  v23
  v24
  v25
  v26
  v27
  v28 r100
  v29
  v30
  v31
  v32 r88
  v33
  v34 r129
  v35 r89
  v36 r98
  v37 r113
  v38 r91
  v39
  v40
  v41
  v42 r86
  v43 r80
  v44
  v45 r154
  v46 r103
  v47
  v48
  v49
  v50
  v51 r97
  v52
  v53
  v54 r125
  v55 r126
  v56 r84
  v57
  v58 r127
  v59
  v60
  v61 r155
  v62
  v63
  v64
  v65
  v66
  v67
  v68 r131
  v69
  v70
  v71 r104
  v72 r115
  v73 r151
  v74
  v75
  v76
  v77 r110
  v78
  v79 r142
  v80 r102
  v81 r116
  v82 r99
  v83
  v84 r114
  v85
  v86 r146
  v87
  v88 r123
  v89 r144
  v90 r133
  v91 r90
  v92 r132
  v93
  v94
  v95 r156
  v96
  v97
  v98
  v99
  v100
  v101
  v102 r112
  v103
  v104 r135
  v105
  v106
  v107
  v108 r141
  v109 r95
  v110 r117
  v111 r92
  v112
  v113
  v114
  v115 r79
  v116 r93
  v117
  v118
  v119 r87
  v120
  v121 r82
  v122
  v123 r81
  v124 r152
  v125 r85
  v126
  v127
  v128 r150
  v129 r143
  v130
  v131 r111
  v132 r128
  v133 r140
  v134
  v135
  v136
  v137 r139
  v138
  v139 r138
  v140 r124
  v141 r147
  v142
  v143 r153
  v144 r120
  v145 r136
  v146 r122
  v147 r78
  v148
  v149 r145
  v150 r121
  v151
  v152
  v153 r107
  v154
  v155
  v156 r94
  v157 r134
 )
 (:init
  (at r106 v0)
  (free v1)
  (free v2)
  (at r105 v3)
  (free v4)
  (at r96 v5)
  (free v6)
  (free v7)
  (at r108 v8)
  (free v9)
  (free v10)
  (at r130 v11)
  (at r118 v12)
  (at r109 v13)
  (free v14)
  (at r149 v15)
  (at r83 v16)
  (free v17)
  (at r101 v18)
  (at r119 v19)
  (at r157 v20)
  (at r148 v21)
  (at r137 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r100 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r88 v32)
  (free v33)
  (at r129 v34)
  (at r89 v35)
  (at r98 v36)
  (at r113 v37)
  (at r91 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r86 v42)
  (at r80 v43)
  (free v44)
  (at r154 v45)
  (at r103 v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r97 v51)
  (free v52)
  (free v53)
  (at r125 v54)
  (at r126 v55)
  (at r84 v56)
  (free v57)
  (at r127 v58)
  (free v59)
  (free v60)
  (at r155 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r131 v68)
  (free v69)
  (free v70)
  (at r104 v71)
  (at r115 v72)
  (at r151 v73)
  (free v74)
  (free v75)
  (free v76)
  (at r110 v77)
  (free v78)
  (at r142 v79)
  (at r102 v80)
  (at r116 v81)
  (at r99 v82)
  (free v83)
  (at r114 v84)
  (free v85)
  (at r146 v86)
  (free v87)
  (at r123 v88)
  (at r144 v89)
  (at r133 v90)
  (at r90 v91)
  (at r132 v92)
  (free v93)
  (free v94)
  (at r156 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (at r112 v102)
  (free v103)
  (at r135 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r141 v108)
  (at r95 v109)
  (at r117 v110)
  (at r92 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r79 v115)
  (at r93 v116)
  (free v117)
  (free v118)
  (at r87 v119)
  (free v120)
  (at r82 v121)
  (free v122)
  (at r81 v123)
  (at r152 v124)
  (at r85 v125)
  (free v126)
  (free v127)
  (at r150 v128)
  (at r143 v129)
  (free v130)
  (at r111 v131)
  (at r128 v132)
  (at r140 v133)
  (free v134)
  (free v135)
  (free v136)
  (at r139 v137)
  (free v138)
  (at r138 v139)
  (at r124 v140)
  (at r147 v141)
  (free v142)
  (at r153 v143)
  (at r120 v144)
  (at r136 v145)
  (at r122 v146)
  (at r78 v147)
  (free v148)
  (at r145 v149)
  (at r121 v150)
  (free v151)
  (free v152)
  (at r107 v153)
  (free v154)
  (free v155)
  (at r94 v156)
  (at r134 v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v33)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v29)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v7)
  (adjacent v3 v4)
  (adjacent v3 v15)
  (adjacent v3 v56)
  (adjacent v4 v5)
  (adjacent v4 v76)
  (adjacent v4 v140)
  (adjacent v5 v16)
  (adjacent v5 v113)
  (adjacent v6 v10)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v7 v98)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v8 v50)
  (adjacent v8 v88)
  (adjacent v9 v10)
  (adjacent v9 v17)
  (adjacent v9 v51)
  (adjacent v11 v12)
  (adjacent v11 v62)
  (adjacent v12 v13)
  (adjacent v12 v75)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v45)
  (adjacent v14 v147)
  (adjacent v15 v23)
  (adjacent v15 v38)
  (adjacent v16 v28)
  (adjacent v16 v34)
  (adjacent v17 v18)
  (adjacent v17 v69)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v132)
  (adjacent v20 v21)
  (adjacent v20 v60)
  (adjacent v20 v107)
  (adjacent v21 v22)
  (adjacent v21 v107)
  (adjacent v22 v23)
  (adjacent v22 v39)
  (adjacent v22 v57)
  (adjacent v22 v73)
  (adjacent v23 v24)
  (adjacent v23 v97)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v84)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v70)
  (adjacent v28 v46)
  (adjacent v28 v75)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v122)
  (adjacent v32 v33)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v156)
  (adjacent v35 v36)
  (adjacent v35 v49)
  (adjacent v36 v37)
  (adjacent v36 v102)
  (adjacent v37 v38)
  (adjacent v38 v72)
  (adjacent v38 v81)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v48)
  (adjacent v41 v72)
  (adjacent v41 v85)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v71)
  (adjacent v44 v45)
  (adjacent v44 v89)
  (adjacent v45 v74)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v49 v71)
  (adjacent v49 v103)
  (adjacent v49 v125)
  (adjacent v49 v152)
  (adjacent v50 v86)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v112)
  (adjacent v53 v54)
  (adjacent v53 v82)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v70)
  (adjacent v55 v92)
  (adjacent v56 v101)
  (adjacent v56 v157)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v91)
  (adjacent v60 v106)
  (adjacent v61 v62)
  (adjacent v61 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v126)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v72 v114)
  (adjacent v73 v74)
  (adjacent v76 v77)
  (adjacent v76 v104)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v83)
  (adjacent v80 v81)
  (adjacent v80 v153)
  (adjacent v82 v83)
  (adjacent v83 v90)
  (adjacent v84 v85)
  (adjacent v85 v87)
  (adjacent v86 v87)
  (adjacent v87 v108)
  (adjacent v88 v89)
  (adjacent v88 v115)
  (adjacent v90 v91)
  (adjacent v90 v156)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v139)
  (adjacent v105 v106)
  (adjacent v106 v121)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v126 v133)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v155)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v146)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (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)
  (adjacent v153 v154)
  (adjacent v153 v157)
  (adjacent v154 v155)
 )
 (:goal
  (and
  (at r92 v0)
  (free v1)
  (at r141 v2)
  (free v3)
  (at r109 v4)
  (at r153 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r138 v9)
  (free v10)
  (at r132 v11)
  (free v12)
  (at r106 v13)
  (free v14)
  (free v15)
  (at r116 v16)
  (free v17)
  (at r122 v18)
  (at r80 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r142 v24)
  (at r140 v25)
  (free v26)
  (at r104 v27)
  (free v28)
  (at r144 v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (at r154 v35)
  (at r100 v36)
  (free v37)
  (free v38)
  (at r113 v39)
  (at r139 v40)
  (at r145 v41)
  (at r110 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r150 v49)
  (free v50)
  (at r123 v51)
  (at r127 v52)
  (at r91 v53)
  (at r85 v54)
  (at r86 v55)
  (free v56)
  (at r149 v57)
  (at r105 v58)
  (at r124 v59)
  (free v60)
  (free v61)
  (at r88 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r134 v66)
  (at r98 v67)
  (free v68)
  (at r137 v69)
  (at r155 v70)
  (free v71)
  (at r121 v72)
  (free v73)
  (free v74)
  (at r78 v75)
  (at r112 v76)
  (at r103 v77)
  (at r107 v78)
  (at r117 v79)
  (at r119 v80)
  (free v81)
  (at r102 v82)
  (free v83)
  (at r96 v84)
  (free v85)
  (free v86)
  (at r82 v87)
  (free v88)
  (at r94 v89)
  (at r90 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r79 v95)
  (at r156 v96)
  (free v97)
  (at r81 v98)
  (at r147 v99)
  (at r128 v100)
  (free v101)
  (at r101 v102)
  (at r83 v103)
  (at r89 v104)
  (at r146 v105)
  (at r135 v106)
  (at r125 v107)
  (at r97 v108)
  (at r95 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (at r131 v114)
  (at r129 v115)
  (free v116)
  (free v117)
  (free v118)
  (at r120 v119)
  (at r148 v120)
  (free v121)
  (at r133 v122)
  (free v123)
  (free v124)
  (at r114 v125)
  (at r143 v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (at r115 v138)
  (free v139)
  (free v140)
  (at r136 v141)
  (at r130 v142)
  (at r111 v143)
  (at r151 v144)
  (at r99 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (at r84 v150)
  (at r152 v151)
  (at r108 v152)
  (at r126 v153)
  (at r93 v154)
  (at r118 v155)
  (at r87 v156)
  (at r157 v157)
  )
 )
)