(define (problem multirobot_43_90%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r111
  v3
  v4
  v5 r160
  v6
  v7
  v8 r119
  v9
  v10 r163
  v11
  v12
  v13 r156
  v14
  v15
  v16 r131
  v17 r105
  v18
  v19 r148
  v20
  v21
  v22 r161
  v23
  v24
  v25
  v26
  v27
  v28 r112
  v29
  v30 r124
  v31 r103
  v32
  v33
  v34 r145
  v35
  v36 r117
  v37 r133
  v38 r108
  v39 r104
  v40
  v41
  v42 r109
  v43 r125
  v44 r89
  v45 r140
  v46 r139
  v47 r102
  v48 r153
  v49 r90
  v50
  v51 r116
  v52 r142
  v53
  v54
  v55 r110
  v56 r106
  v57 r159
  v58 r152
  v59
  v60 r118
  v61
  v62
  v63
  v64
  v65
  v66 r127
  v67 r115
  v68
  v69 r157
  v70
  v71 r122
  v72 r114
  v73 r94
  v74 r164
  v75
  v76 r100
  v77
  v78
  v79 r93
  v80
  v81 r135
  v82
  v83 r166
  v84
  v85 r132
  v86
  v87
  v88 r121
  v89
  v90
  v91
  v92
  v93 r136
  v94 r137
  v95 r147
  v96 r149
  v97
  v98 r146
  v99
  v100 r99
  v101 r158
  v102
  v103 r165
  v104
  v105 r138
  v106 r101
  v107 r144
  v108 r155
  v109
  v110
  v111
  v112 r128
  v113
  v114
  v115
  v116
  v117 r154
  v118
  v119
  v120 r126
  v121 r120
  v122 r92
  v123 r113
  v124
  v125
  v126
  v127
  v128
  v129
  v130
  v131 r123
  v132
  v133
  v134 r134
  v135 r97
  v136 r141
  v137 r130
  v138
  v139
  v140
  v141
  v142 r96
  v143 r129
  v144
  v145
  v146
  v147 r151
  v148 r167
  v149
  v150 r91
  v151
  v152
  v153
  v154
  v155
  v156 r150
  v157 r88
  v158 r162
  v159
  v160 r107
  v161 r143
  v162
  v163
  v164 r98
  v165 r95
  v166
  v167
 )
 (:init
  (free v0)
  (free v1)
  (at r111 v2)
  (free v3)
  (free v4)
  (at r160 v5)
  (free v6)
  (free v7)
  (at r119 v8)
  (free v9)
  (at r163 v10)
  (free v11)
  (free v12)
  (at r156 v13)
  (free v14)
  (free v15)
  (at r131 v16)
  (at r105 v17)
  (free v18)
  (at r148 v19)
  (free v20)
  (free v21)
  (at r161 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r112 v28)
  (free v29)
  (at r124 v30)
  (at r103 v31)
  (free v32)
  (free v33)
  (at r145 v34)
  (free v35)
  (at r117 v36)
  (at r133 v37)
  (at r108 v38)
  (at r104 v39)
  (free v40)
  (free v41)
  (at r109 v42)
  (at r125 v43)
  (at r89 v44)
  (at r140 v45)
  (at r139 v46)
  (at r102 v47)
  (at r153 v48)
  (at r90 v49)
  (free v50)
  (at r116 v51)
  (at r142 v52)
  (free v53)
  (free v54)
  (at r110 v55)
  (at r106 v56)
  (at r159 v57)
  (at r152 v58)
  (free v59)
  (at r118 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (at r127 v66)
  (at r115 v67)
  (free v68)
  (at r157 v69)
  (free v70)
  (at r122 v71)
  (at r114 v72)
  (at r94 v73)
  (at r164 v74)
  (free v75)
  (at r100 v76)
  (free v77)
  (free v78)
  (at r93 v79)
  (free v80)
  (at r135 v81)
  (free v82)
  (at r166 v83)
  (free v84)
  (at r132 v85)
  (free v86)
  (free v87)
  (at r121 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r136 v93)
  (at r137 v94)
  (at r147 v95)
  (at r149 v96)
  (free v97)
  (at r146 v98)
  (free v99)
  (at r99 v100)
  (at r158 v101)
  (free v102)
  (at r165 v103)
  (free v104)
  (at r138 v105)
  (at r101 v106)
  (at r144 v107)
  (at r155 v108)
  (free v109)
  (free v110)
  (free v111)
  (at r128 v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r154 v117)
  (free v118)
  (free v119)
  (at r126 v120)
  (at r120 v121)
  (at r92 v122)
  (at r113 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (at r123 v131)
  (free v132)
  (free v133)
  (at r134 v134)
  (at r97 v135)
  (at r141 v136)
  (at r130 v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (at r96 v142)
  (at r129 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r151 v147)
  (at r167 v148)
  (free v149)
  (at r91 v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (at r150 v156)
  (at r88 v157)
  (at r162 v158)
  (free v159)
  (at r107 v160)
  (at r143 v161)
  (free v162)
  (free v163)
  (at r98 v164)
  (at r95 v165)
  (free v166)
  (free v167)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v21)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v12)
  (adjacent v1 v29)
  (adjacent v1 v137)
  (adjacent v2 v3)
  (adjacent v2 v44)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v30)
  (adjacent v3 v36)
  (adjacent v3 v61)
  (adjacent v4 v126)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v22)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v8 v50)
  (adjacent v8 v120)
  (adjacent v9 v10)
  (adjacent v9 v28)
  (adjacent v9 v35)
  (adjacent v10 v11)
  (adjacent v10 v59)
  (adjacent v10 v73)
  (adjacent v10 v89)
  (adjacent v11 v46)
  (adjacent v11 v135)
  (adjacent v12 v13)
  (adjacent v12 v19)
  (adjacent v12 v52)
  (adjacent v12 v148)
  (adjacent v13 v14)
  (adjacent v13 v88)
  (adjacent v13 v96)
  (adjacent v14 v15)
  (adjacent v14 v38)
  (adjacent v14 v80)
  (adjacent v14 v103)
  (adjacent v15 v16)
  (adjacent v15 v56)
  (adjacent v16 v17)
  (adjacent v16 v60)
  (adjacent v17 v18)
  (adjacent v17 v34)
  (adjacent v17 v39)
  (adjacent v19 v20)
  (adjacent v19 v29)
  (adjacent v20 v21)
  (adjacent v21 v45)
  (adjacent v22 v23)
  (adjacent v22 v98)
  (adjacent v22 v99)
  (adjacent v23 v24)
  (adjacent v23 v35)
  (adjacent v23 v84)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v49)
  (adjacent v25 v162)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v70)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v149)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v35 v114)
  (adjacent v36 v37)
  (adjacent v36 v141)
  (adjacent v37 v38)
  (adjacent v37 v64)
  (adjacent v38 v53)
  (adjacent v38 v66)
  (adjacent v38 v79)
  (adjacent v38 v82)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v67)
  (adjacent v42 v43)
  (adjacent v42 v65)
  (adjacent v42 v161)
  (adjacent v43 v44)
  (adjacent v43 v47)
  (adjacent v43 v71)
  (adjacent v45 v46)
  (adjacent v45 v74)
  (adjacent v46 v156)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v102)
  (adjacent v50 v51)
  (adjacent v50 v57)
  (adjacent v50 v62)
  (adjacent v50 v109)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v67 v89)
  (adjacent v68 v69)
  (adjacent v68 v97)
  (adjacent v69 v70)
  (adjacent v69 v83)
  (adjacent v69 v85)
  (adjacent v69 v90)
  (adjacent v69 v98)
  (adjacent v71 v72)
  (adjacent v71 v120)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v74 v127)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v136)
  (adjacent v83 v84)
  (adjacent v83 v115)
  (adjacent v85 v86)
  (adjacent v85 v97)
  (adjacent v85 v119)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v140)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v142)
  (adjacent v96 v108)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v121)
  (adjacent v102 v128)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v125)
  (adjacent v111 v112)
  (adjacent v111 v141)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v134)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v167)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v142 v143)
  (adjacent v142 v155)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
 )
 (:goal
  (and
  (free v0)
  (at r103 v1)
  (at r143 v2)
  (free v3)
  (at r111 v4)
  (at r94 v5)
  (free v6)
  (at r154 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r166 v12)
  (free v13)
  (at r128 v14)
  (at r122 v15)
  (at r110 v16)
  (at r160 v17)
  (free v18)
  (at r119 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r97 v24)
  (at r133 v25)
  (at r163 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r92 v30)
  (free v31)
  (at r135 v32)
  (free v33)
  (at r152 v34)
  (free v35)
  (at r147 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r124 v41)
  (at r96 v42)
  (at r114 v43)
  (at r145 v44)
  (free v45)
  (free v46)
  (at r120 v47)
  (at r167 v48)
  (free v49)
  (at r98 v50)
  (at r132 v51)
  (free v52)
  (at r123 v53)
  (free v54)
  (free v55)
  (at r88 v56)
  (at r90 v57)
  (free v58)
  (free v59)
  (free v60)
  (at r130 v61)
  (free v62)
  (at r142 v63)
  (at r104 v64)
  (free v65)
  (at r149 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r95 v71)
  (free v72)
  (free v73)
  (at r141 v74)
  (free v75)
  (at r126 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r99 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (at r140 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r102 v90)
  (free v91)
  (free v92)
  (at r105 v93)
  (at r134 v94)
  (free v95)
  (at r101 v96)
  (free v97)
  (at r162 v98)
  (free v99)
  (at r150 v100)
  (free v101)
  (at r117 v102)
  (free v103)
  (free v104)
  (free v105)
  (at r89 v106)
  (at r151 v107)
  (free v108)
  (at r108 v109)
  (at r118 v110)
  (free v111)
  (free v112)
  (at r112 v113)
  (free v114)
  (at r121 v115)
  (at r115 v116)
  (free v117)
  (free v118)
  (at r125 v119)
  (free v120)
  (at r136 v121)
  (free v122)
  (free v123)
  (at r165 v124)
  (at r164 v125)
  (at r158 v126)
  (free v127)
  (at r116 v128)
  (at r109 v129)
  (at r157 v130)
  (at r131 v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (at r91 v138)
  (at r161 v139)
  (at r107 v140)
  (free v141)
  (at r129 v142)
  (at r153 v143)
  (at r146 v144)
  (free v145)
  (free v146)
  (at r144 v147)
  (at r155 v148)
  (at r100 v149)
  (free v150)
  (at r93 v151)
  (free v152)
  (free v153)
  (at r106 v154)
  (at r127 v155)
  (free v156)
  (free v157)
  (at r139 v158)
  (at r138 v159)
  (at r113 v160)
  (at r156 v161)
  (free v162)
  (at r137 v163)
  (free v164)
  (at r148 v165)
  (free v166)
  (at r159 v167)
  )
 )
)