(define (problem multirobot_44_90%_c0)
 (:domain multirobot)
 (:objects
  v0 r108
  v1
  v2
  v3
  v4
  v5 r91
  v6 r77
  v7
  v8
  v9 r92
  v10
  v11
  v12 r110
  v13
  v14 r82
  v15
  v16 r90
  v17
  v18
  v19 r113
  v20 r115
  v21 r112
  v22 r160
  v23 r131
  v24 r122
  v25
  v26 r85
  v27
  v28
  v29
  v30
  v31
  v32 r106
  v33 r136
  v34
  v35 r142
  v36 r99
  v37 r126
  v38
  v39 r128
  v40 r105
  v41 r157
  v42 r124
  v43 r114
  v44 r146
  v45
  v46
  v47 r123
  v48 r98
  v49
  v50
  v51
  v52
  v53 r95
  v54 r158
  v55 r84
  v56 r135
  v57 r93
  v58 r133
  v59
  v60
  v61 r139
  v62 r119
  v63
  v64 r138
  v65 r137
  v66 r159
  v67 r78
  v68 r86
  v69 r132
  v70 r109
  v71 r94
  v72
  v73
  v74
  v75
  v76
  v77
  v78
  v79 r111
  v80
  v81 r127
  v82 r97
  v83
  v84
  v85 r145
  v86
  v87 r107
  v88
  v89
  v90
  v91
  v92
  v93 r81
  v94 r83
  v95 r117
  v96
  v97 r80
  v98 r151
  v99 r129
  v100 r116
  v101
  v102
  v103
  v104
  v105 r144
  v106 r154
  v107
  v108
  v109
  v110 r104
  v111 r79
  v112 r130
  v113
  v114 r148
  v115
  v116 r161
  v117 r96
  v118
  v119
  v120
  v121
  v122 r125
  v123
  v124
  v125
  v126
  v127 r152
  v128
  v129
  v130
  v131 r102
  v132 r147
  v133 r155
  v134 r101
  v135
  v136 r100
  v137 r134
  v138 r156
  v139 r153
  v140
  v141 r141
  v142
  v143 r140
  v144
  v145 r118
  v146 r143
  v147
  v148 r87
  v149
  v150 r149
  v151
  v152 r103
  v153 r121
  v154
  v155 r89
  v156
  v157
  v158
  v159 r150
  v160 r88
  v161 r120
 )
 (:init
  (at r108 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r91 v5)
  (at r77 v6)
  (free v7)
  (free v8)
  (at r92 v9)
  (free v10)
  (free v11)
  (at r110 v12)
  (free v13)
  (at r82 v14)
  (free v15)
  (at r90 v16)
  (free v17)
  (free v18)
  (at r113 v19)
  (at r115 v20)
  (at r112 v21)
  (at r160 v22)
  (at r131 v23)
  (at r122 v24)
  (free v25)
  (at r85 v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r106 v32)
  (at r136 v33)
  (free v34)
  (at r142 v35)
  (at r99 v36)
  (at r126 v37)
  (free v38)
  (at r128 v39)
  (at r105 v40)
  (at r157 v41)
  (at r124 v42)
  (at r114 v43)
  (at r146 v44)
  (free v45)
  (free v46)
  (at r123 v47)
  (at r98 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r95 v53)
  (at r158 v54)
  (at r84 v55)
  (at r135 v56)
  (at r93 v57)
  (at r133 v58)
  (free v59)
  (free v60)
  (at r139 v61)
  (at r119 v62)
  (free v63)
  (at r138 v64)
  (at r137 v65)
  (at r159 v66)
  (at r78 v67)
  (at r86 v68)
  (at r132 v69)
  (at r109 v70)
  (at r94 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r111 v79)
  (free v80)
  (at r127 v81)
  (at r97 v82)
  (free v83)
  (free v84)
  (at r145 v85)
  (free v86)
  (at r107 v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r81 v93)
  (at r83 v94)
  (at r117 v95)
  (free v96)
  (at r80 v97)
  (at r151 v98)
  (at r129 v99)
  (at r116 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r144 v105)
  (at r154 v106)
  (free v107)
  (free v108)
  (free v109)
  (at r104 v110)
  (at r79 v111)
  (at r130 v112)
  (free v113)
  (at r148 v114)
  (free v115)
  (at r161 v116)
  (at r96 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r125 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r152 v127)
  (free v128)
  (free v129)
  (free v130)
  (at r102 v131)
  (at r147 v132)
  (at r155 v133)
  (at r101 v134)
  (free v135)
  (at r100 v136)
  (at r134 v137)
  (at r156 v138)
  (at r153 v139)
  (free v140)
  (at r141 v141)
  (free v142)
  (at r140 v143)
  (free v144)
  (at r118 v145)
  (at r143 v146)
  (free v147)
  (at r87 v148)
  (free v149)
  (at r149 v150)
  (free v151)
  (at r103 v152)
  (at r121 v153)
  (free v154)
  (at r89 v155)
  (free v156)
  (free v157)
  (free v158)
  (at r150 v159)
  (at r88 v160)
  (at r120 v161)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v32)
  (adjacent v1 v2)
  (adjacent v1 v59)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v65)
  (adjacent v2 v108)
  (adjacent v3 v4)
  (adjacent v4 v10)
  (adjacent v4 v144)
  (adjacent v4 v150)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v25)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v13)
  (adjacent v6 v31)
  (adjacent v7 v11)
  (adjacent v7 v38)
  (adjacent v7 v136)
  (adjacent v8 v9)
  (adjacent v8 v52)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v9 v130)
  (adjacent v10 v24)
  (adjacent v10 v137)
  (adjacent v11 v37)
  (adjacent v11 v61)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v13 v14)
  (adjacent v13 v53)
  (adjacent v13 v61)
  (adjacent v14 v15)
  (adjacent v14 v49)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v16 v33)
  (adjacent v16 v107)
  (adjacent v17 v18)
  (adjacent v17 v51)
  (adjacent v17 v69)
  (adjacent v18 v19)
  (adjacent v18 v48)
  (adjacent v18 v133)
  (adjacent v19 v20)
  (adjacent v19 v32)
  (adjacent v19 v58)
  (adjacent v21 v22)
  (adjacent v21 v60)
  (adjacent v21 v83)
  (adjacent v22 v23)
  (adjacent v22 v38)
  (adjacent v22 v116)
  (adjacent v23 v24)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v52)
  (adjacent v27 v28)
  (adjacent v27 v41)
  (adjacent v27 v42)
  (adjacent v28 v29)
  (adjacent v28 v66)
  (adjacent v29 v30)
  (adjacent v29 v39)
  (adjacent v30 v31)
  (adjacent v30 v95)
  (adjacent v31 v90)
  (adjacent v32 v115)
  (adjacent v32 v134)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v72)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v143)
  (adjacent v39 v40)
  (adjacent v39 v73)
  (adjacent v40 v41)
  (adjacent v40 v62)
  (adjacent v40 v131)
  (adjacent v42 v43)
  (adjacent v42 v98)
  (adjacent v43 v44)
  (adjacent v43 v100)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v68)
  (adjacent v47 v48)
  (adjacent v48 v155)
  (adjacent v49 v50)
  (adjacent v49 v77)
  (adjacent v50 v51)
  (adjacent v50 v123)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v94)
  (adjacent v57 v58)
  (adjacent v58 v139)
  (adjacent v59 v60)
  (adjacent v60 v91)
  (adjacent v60 v114)
  (adjacent v61 v108)
  (adjacent v62 v63)
  (adjacent v62 v66)
  (adjacent v62 v149)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v67)
  (adjacent v64 v124)
  (adjacent v64 v140)
  (adjacent v65 v76)
  (adjacent v67 v68)
  (adjacent v68 v99)
  (adjacent v68 v103)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v84)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v158)
  (adjacent v74 v159)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v84 v117)
  (adjacent v84 v147)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v161)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v91 v99)
  (adjacent v92 v93)
  (adjacent v92 v104)
  (adjacent v93 v94)
  (adjacent v93 v109)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v148)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v159)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v160)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v160 v161)
 )
 (:goal
  (and
  (at r140 v0)
  (free v1)
  (free v2)
  (at r91 v3)
  (free v4)
  (at r124 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r152 v9)
  (at r99 v10)
  (at r141 v11)
  (free v12)
  (at r82 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r113 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r85 v23)
  (free v24)
  (free v25)
  (at r98 v26)
  (at r139 v27)
  (at r90 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (at r87 v35)
  (at r133 v36)
  (at r103 v37)
  (at r129 v38)
  (free v39)
  (free v40)
  (at r105 v41)
  (free v42)
  (free v43)
  (free v44)
  (at r122 v45)
  (free v46)
  (at r161 v47)
  (free v48)
  (at r132 v49)
  (free v50)
  (free v51)
  (at r81 v52)
  (free v53)
  (free v54)
  (at r123 v55)
  (at r126 v56)
  (at r143 v57)
  (at r131 v58)
  (free v59)
  (at r112 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r80 v64)
  (at r120 v65)
  (at r115 v66)
  (free v67)
  (at r94 v68)
  (free v69)
  (at r135 v70)
  (at r160 v71)
  (at r88 v72)
  (free v73)
  (at r128 v74)
  (free v75)
  (free v76)
  (at r147 v77)
  (free v78)
  (free v79)
  (free v80)
  (at r92 v81)
  (at r97 v82)
  (at r86 v83)
  (at r142 v84)
  (free v85)
  (at r89 v86)
  (at r84 v87)
  (at r121 v88)
  (at r117 v89)
  (at r144 v90)
  (at r155 v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r159 v98)
  (at r138 v99)
  (at r149 v100)
  (at r114 v101)
  (at r108 v102)
  (free v103)
  (at r151 v104)
  (at r102 v105)
  (at r136 v106)
  (free v107)
  (at r156 v108)
  (at r106 v109)
  (free v110)
  (at r137 v111)
  (at r125 v112)
  (at r100 v113)
  (at r145 v114)
  (at r95 v115)
  (free v116)
  (free v117)
  (at r130 v118)
  (at r153 v119)
  (at r83 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r154 v125)
  (at r104 v126)
  (at r118 v127)
  (free v128)
  (at r150 v129)
  (at r148 v130)
  (at r77 v131)
  (at r157 v132)
  (free v133)
  (at r109 v134)
  (at r134 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r116 v139)
  (free v140)
  (free v141)
  (at r110 v142)
  (free v143)
  (at r127 v144)
  (free v145)
  (at r101 v146)
  (at r79 v147)
  (at r111 v148)
  (at r78 v149)
  (free v150)
  (free v151)
  (at r119 v152)
  (free v153)
  (free v154)
  (free v155)
  (at r96 v156)
  (at r107 v157)
  (free v158)
  (at r158 v159)
  (at r93 v160)
  (at r146 v161)
  )
 )
)