(define (problem multirobot_45_90%_c1)
 (:domain multirobot)
 (:objects
  v0 r130
  v1 r109
  v2
  v3 r138
  v4
  v5 r111
  v6
  v7
  v8
  v9 r151
  v10 r147
  v11
  v12 r127
  v13 r102
  v14 r168
  v15
  v16 r100
  v17
  v18
  v19 r146
  v20 r159
  v21
  v22
  v23 r97
  v24
  v25
  v26 r99
  v27
  v28 r149
  v29
  v30
  v31
  v32
  v33 r160
  v34 r141
  v35
  v36
  v37 r164
  v38 r106
  v39 r133
  v40
  v41
  v42 r105
  v43
  v44
  v45
  v46
  v47
  v48
  v49
  v50
  v51 r145
  v52
  v53
  v54 r93
  v55
  v56
  v57
  v58
  v59 r124
  v60
  v61 r95
  v62
  v63
  v64 r107
  v65
  v66
  v67
  v68
  v69 r120
  v70 r114
  v71
  v72 r148
  v73 r163
  v74 r170
  v75 r158
  v76
  v77
  v78 r136
  v79
  v80
  v81 r166
  v82 r161
  v83
  v84 r174
  v85 r92
  v86
  v87 r155
  v88 r139
  v89 r173
  v90 r157
  v91
  v92 r98
  v93
  v94
  v95
  v96 r116
  v97 r135
  v98 r154
  v99 r175
  v100 r140
  v101 r176
  v102 r101
  v103
  v104 r156
  v105
  v106 r118
  v107
  v108
  v109
  v110 r153
  v111
  v112
  v113
  v114 r103
  v115
  v116 r142
  v117 r137
  v118
  v119
  v120
  v121 r91
  v122
  v123 r131
  v124 r167
  v125 r128
  v126 r134
  v127
  v128
  v129 r129
  v130 r150
  v131
  v132 r144
  v133 r113
  v134
  v135 r132
  v136 r96
  v137
  v138 r119
  v139
  v140 r171
  v141
  v142 r169
  v143
  v144 r122
  v145 r162
  v146
  v147
  v148 r123
  v149
  v150
  v151
  v152
  v153 r152
  v154 r115
  v155 r165
  v156 r104
  v157 r117
  v158
  v159 r143
  v160 r172
  v161
  v162
  v163 r112
  v164
  v165 r94
  v166
  v167 r108
  v168
  v169 r125
  v170 r121
  v171 r126
  v172
  v173
  v174 r110
  v175
  v176
 )
 (:init
  (at r130 v0)
  (at r109 v1)
  (free v2)
  (at r138 v3)
  (free v4)
  (at r111 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r151 v9)
  (at r147 v10)
  (free v11)
  (at r127 v12)
  (at r102 v13)
  (at r168 v14)
  (free v15)
  (at r100 v16)
  (free v17)
  (free v18)
  (at r146 v19)
  (at r159 v20)
  (free v21)
  (free v22)
  (at r97 v23)
  (free v24)
  (free v25)
  (at r99 v26)
  (free v27)
  (at r149 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r160 v33)
  (at r141 v34)
  (free v35)
  (free v36)
  (at r164 v37)
  (at r106 v38)
  (at r133 v39)
  (free v40)
  (free v41)
  (at r105 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r145 v51)
  (free v52)
  (free v53)
  (at r93 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r124 v59)
  (free v60)
  (at r95 v61)
  (free v62)
  (free v63)
  (at r107 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r120 v69)
  (at r114 v70)
  (free v71)
  (at r148 v72)
  (at r163 v73)
  (at r170 v74)
  (at r158 v75)
  (free v76)
  (free v77)
  (at r136 v78)
  (free v79)
  (free v80)
  (at r166 v81)
  (at r161 v82)
  (free v83)
  (at r174 v84)
  (at r92 v85)
  (free v86)
  (at r155 v87)
  (at r139 v88)
  (at r173 v89)
  (at r157 v90)
  (free v91)
  (at r98 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r116 v96)
  (at r135 v97)
  (at r154 v98)
  (at r175 v99)
  (at r140 v100)
  (at r176 v101)
  (at r101 v102)
  (free v103)
  (at r156 v104)
  (free v105)
  (at r118 v106)
  (free v107)
  (free v108)
  (free v109)
  (at r153 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r103 v114)
  (free v115)
  (at r142 v116)
  (at r137 v117)
  (free v118)
  (free v119)
  (free v120)
  (at r91 v121)
  (free v122)
  (at r131 v123)
  (at r167 v124)
  (at r128 v125)
  (at r134 v126)
  (free v127)
  (free v128)
  (at r129 v129)
  (at r150 v130)
  (free v131)
  (at r144 v132)
  (at r113 v133)
  (free v134)
  (at r132 v135)
  (at r96 v136)
  (free v137)
  (at r119 v138)
  (free v139)
  (at r171 v140)
  (free v141)
  (at r169 v142)
  (free v143)
  (at r122 v144)
  (at r162 v145)
  (free v146)
  (free v147)
  (at r123 v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (at r152 v153)
  (at r115 v154)
  (at r165 v155)
  (at r104 v156)
  (at r117 v157)
  (free v158)
  (at r143 v159)
  (at r172 v160)
  (free v161)
  (free v162)
  (at r112 v163)
  (free v164)
  (at r94 v165)
  (free v166)
  (at r108 v167)
  (free v168)
  (at r125 v169)
  (at r121 v170)
  (at r126 v171)
  (free v172)
  (free v173)
  (at r110 v174)
  (free v175)
  (free v176)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v25)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v41)
  (adjacent v2 v52)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v23)
  (adjacent v3 v27)
  (adjacent v3 v57)
  (adjacent v4 v14)
  (adjacent v5 v6)
  (adjacent v5 v8)
  (adjacent v5 v26)
  (adjacent v5 v88)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v7 v12)
  (adjacent v7 v70)
  (adjacent v8 v9)
  (adjacent v8 v17)
  (adjacent v8 v55)
  (adjacent v8 v95)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v22)
  (adjacent v10 v66)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v24)
  (adjacent v11 v47)
  (adjacent v11 v52)
  (adjacent v11 v58)
  (adjacent v12 v15)
  (adjacent v12 v64)
  (adjacent v12 v168)
  (adjacent v13 v14)
  (adjacent v13 v39)
  (adjacent v13 v167)
  (adjacent v14 v15)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v65)
  (adjacent v19 v20)
  (adjacent v19 v32)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v24 v140)
  (adjacent v25 v26)
  (adjacent v25 v63)
  (adjacent v25 v96)
  (adjacent v25 v113)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v118)
  (adjacent v30 v31)
  (adjacent v30 v33)
  (adjacent v30 v40)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v51)
  (adjacent v34 v35)
  (adjacent v34 v95)
  (adjacent v35 v36)
  (adjacent v35 v73)
  (adjacent v35 v122)
  (adjacent v36 v37)
  (adjacent v36 v40)
  (adjacent v37 v38)
  (adjacent v37 v147)
  (adjacent v38 v39)
  (adjacent v41 v42)
  (adjacent v41 v81)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v141)
  (adjacent v45 v46)
  (adjacent v45 v48)
  (adjacent v45 v53)
  (adjacent v45 v72)
  (adjacent v45 v139)
  (adjacent v46 v47)
  (adjacent v47 v56)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v53)
  (adjacent v53 v54)
  (adjacent v53 v79)
  (adjacent v53 v80)
  (adjacent v54 v55)
  (adjacent v54 v88)
  (adjacent v54 v138)
  (adjacent v56 v57)
  (adjacent v56 v174)
  (adjacent v57 v80)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v93)
  (adjacent v59 v94)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v89)
  (adjacent v62 v63)
  (adjacent v63 v69)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v134)
  (adjacent v71 v173)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v99)
  (adjacent v76 v112)
  (adjacent v76 v137)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v155)
  (adjacent v79 v87)
  (adjacent v81 v82)
  (adjacent v81 v133)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v128)
  (adjacent v86 v87)
  (adjacent v86 v121)
  (adjacent v88 v100)
  (adjacent v89 v90)
  (adjacent v89 v161)
  (adjacent v90 v91)
  (adjacent v90 v94)
  (adjacent v90 v106)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v107)
  (adjacent v95 v129)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v119)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v113 v160)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v142)
  (adjacent v118 v148)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v176)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v129 v151)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v156)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v149 v152)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
 )
 (:goal
  (and
  (free v0)
  (at r166 v1)
  (at r107 v2)
  (at r146 v3)
  (at r140 v4)
  (free v5)
  (at r138 v6)
  (free v7)
  (free v8)
  (at r160 v9)
  (free v10)
  (at r126 v11)
  (at r145 v12)
  (at r113 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r159 v17)
  (at r133 v18)
  (at r173 v19)
  (free v20)
  (at r103 v21)
  (at r148 v22)
  (free v23)
  (at r158 v24)
  (free v25)
  (free v26)
  (at r109 v27)
  (at r142 v28)
  (at r156 v29)
  (at r108 v30)
  (free v31)
  (free v32)
  (at r171 v33)
  (free v34)
  (at r127 v35)
  (at r104 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r157 v43)
  (free v44)
  (at r117 v45)
  (at r98 v46)
  (free v47)
  (at r105 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r143 v57)
  (free v58)
  (free v59)
  (at r144 v60)
  (free v61)
  (at r163 v62)
  (free v63)
  (at r131 v64)
  (at r124 v65)
  (at r99 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r164 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r151 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r106 v79)
  (free v80)
  (at r91 v81)
  (free v82)
  (at r111 v83)
  (free v84)
  (at r170 v85)
  (at r101 v86)
  (free v87)
  (at r132 v88)
  (at r121 v89)
  (at r118 v90)
  (at r93 v91)
  (at r161 v92)
  (free v93)
  (at r123 v94)
  (at r162 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r102 v99)
  (at r149 v100)
  (free v101)
  (at r136 v102)
  (free v103)
  (free v104)
  (at r125 v105)
  (at r115 v106)
  (at r128 v107)
  (at r95 v108)
  (free v109)
  (at r137 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r172 v114)
  (at r94 v115)
  (at r116 v116)
  (free v117)
  (at r169 v118)
  (free v119)
  (at r147 v120)
  (free v121)
  (at r112 v122)
  (free v123)
  (at r92 v124)
  (free v125)
  (at r130 v126)
  (at r150 v127)
  (at r174 v128)
  (free v129)
  (free v130)
  (free v131)
  (at r167 v132)
  (at r152 v133)
  (at r119 v134)
  (free v135)
  (at r129 v136)
  (free v137)
  (at r165 v138)
  (free v139)
  (at r139 v140)
  (free v141)
  (at r141 v142)
  (free v143)
  (at r153 v144)
  (at r168 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r134 v151)
  (at r155 v152)
  (at r122 v153)
  (at r176 v154)
  (free v155)
  (free v156)
  (at r114 v157)
  (at r135 v158)
  (at r97 v159)
  (at r100 v160)
  (free v161)
  (free v162)
  (free v163)
  (free v164)
  (at r154 v165)
  (free v166)
  (free v167)
  (free v168)
  (free v169)
  (at r110 v170)
  (free v171)
  (at r120 v172)
  (at r96 v173)
  (free v174)
  (at r175 v175)
  (free v176)
  )
 )
)