(define (problem multirobot_45_90%_c4)
 (:domain multirobot)
 (:objects
  v0 r121
  v1 r130
  v2 r115
  v3 r80
  v4 r104
  v5
  v6 r97
  v7 r158
  v8 r100
  v9 r143
  v10
  v11
  v12 r140
  v13
  v14 r133
  v15 r76
  v16 r134
  v17 r164
  v18 r77
  v19 r75
  v20 r89
  v21 r152
  v22 r95
  v23
  v24 r165
  v25 r94
  v26 r129
  v27
  v28
  v29
  v30 r90
  v31
  v32
  v33
  v34 r160
  v35 r111
  v36 r151
  v37 r124
  v38 r125
  v39 r138
  v40
  v41
  v42 r159
  v43
  v44
  v45
  v46 r81
  v47 r148
  v48 r166
  v49
  v50
  v51 r123
  v52 r102
  v53
  v54
  v55
  v56
  v57 r107
  v58 r126
  v59 r154
  v60 r168
  v61 r136
  v62 r162
  v63
  v64 r128
  v65
  v66 r139
  v67
  v68
  v69 r142
  v70 r117
  v71 r127
  v72
  v73
  v74 r113
  v75
  v76
  v77 r109
  v78
  v79 r91
  v80 r88
  v81 r84
  v82 r144
  v83
  v84 r112
  v85 r131
  v86 r99
  v87
  v88
  v89
  v90
  v91 r141
  v92 r120
  v93
  v94
  v95
  v96
  v97
  v98
  v99
  v100 r135
  v101 r137
  v102
  v103
  v104 r92
  v105 r161
  v106
  v107 r145
  v108 r78
  v109 r93
  v110 r108
  v111 r147
  v112
  v113 r146
  v114
  v115 r82
  v116 r86
  v117
  v118
  v119
  v120
  v121 r110
  v122 r96
  v123 r122
  v124
  v125
  v126 r150
  v127
  v128
  v129 r157
  v130 r149
  v131 r101
  v132
  v133 r85
  v134 r153
  v135 r105
  v136 r79
  v137 r156
  v138 r155
  v139 r114
  v140
  v141
  v142
  v143 r118
  v144
  v145
  v146
  v147
  v148 r163
  v149
  v150 r132
  v151
  v152 r167
  v153
  v154 r106
  v155 r83
  v156
  v157
  v158 r119
  v159 r87
  v160
  v161
  v162 r116
  v163
  v164 r103
  v165
  v166
  v167
  v168 r98
 )
 (:init
  (at r121 v0)
  (at r130 v1)
  (at r115 v2)
  (at r80 v3)
  (at r104 v4)
  (free v5)
  (at r97 v6)
  (at r158 v7)
  (at r100 v8)
  (at r143 v9)
  (free v10)
  (free v11)
  (at r140 v12)
  (free v13)
  (at r133 v14)
  (at r76 v15)
  (at r134 v16)
  (at r164 v17)
  (at r77 v18)
  (at r75 v19)
  (at r89 v20)
  (at r152 v21)
  (at r95 v22)
  (free v23)
  (at r165 v24)
  (at r94 v25)
  (at r129 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r90 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r160 v34)
  (at r111 v35)
  (at r151 v36)
  (at r124 v37)
  (at r125 v38)
  (at r138 v39)
  (free v40)
  (free v41)
  (at r159 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r81 v46)
  (at r148 v47)
  (at r166 v48)
  (free v49)
  (free v50)
  (at r123 v51)
  (at r102 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r107 v57)
  (at r126 v58)
  (at r154 v59)
  (at r168 v60)
  (at r136 v61)
  (at r162 v62)
  (free v63)
  (at r128 v64)
  (free v65)
  (at r139 v66)
  (free v67)
  (free v68)
  (at r142 v69)
  (at r117 v70)
  (at r127 v71)
  (free v72)
  (free v73)
  (at r113 v74)
  (free v75)
  (free v76)
  (at r109 v77)
  (free v78)
  (at r91 v79)
  (at r88 v80)
  (at r84 v81)
  (at r144 v82)
  (free v83)
  (at r112 v84)
  (at r131 v85)
  (at r99 v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r141 v91)
  (at r120 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (at r135 v100)
  (at r137 v101)
  (free v102)
  (free v103)
  (at r92 v104)
  (at r161 v105)
  (free v106)
  (at r145 v107)
  (at r78 v108)
  (at r93 v109)
  (at r108 v110)
  (at r147 v111)
  (free v112)
  (at r146 v113)
  (free v114)
  (at r82 v115)
  (at r86 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (at r110 v121)
  (at r96 v122)
  (at r122 v123)
  (free v124)
  (free v125)
  (at r150 v126)
  (free v127)
  (free v128)
  (at r157 v129)
  (at r149 v130)
  (at r101 v131)
  (free v132)
  (at r85 v133)
  (at r153 v134)
  (at r105 v135)
  (at r79 v136)
  (at r156 v137)
  (at r155 v138)
  (at r114 v139)
  (free v140)
  (free v141)
  (free v142)
  (at r118 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r163 v148)
  (free v149)
  (at r132 v150)
  (free v151)
  (at r167 v152)
  (free v153)
  (at r106 v154)
  (at r83 v155)
  (free v156)
  (free v157)
  (at r119 v158)
  (at r87 v159)
  (free v160)
  (free v161)
  (at r116 v162)
  (free v163)
  (at r103 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r98 v168)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v21)
  (adjacent v0 v67)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v32)
  (adjacent v1 v49)
  (adjacent v1 v134)
  (adjacent v2 v3)
  (adjacent v2 v153)
  (adjacent v3 v4)
  (adjacent v3 v50)
  (adjacent v3 v73)
  (adjacent v4 v18)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v20)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v30)
  (adjacent v7 v48)
  (adjacent v7 v145)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v31)
  (adjacent v8 v53)
  (adjacent v9 v10)
  (adjacent v9 v29)
  (adjacent v9 v66)
  (adjacent v9 v80)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v12 v13)
  (adjacent v12 v66)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v13 v21)
  (adjacent v14 v15)
  (adjacent v14 v16)
  (adjacent v14 v27)
  (adjacent v14 v101)
  (adjacent v14 v119)
  (adjacent v15 v97)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v17 v18)
  (adjacent v17 v89)
  (adjacent v17 v130)
  (adjacent v18 v22)
  (adjacent v21 v28)
  (adjacent v22 v23)
  (adjacent v22 v62)
  (adjacent v22 v154)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v120)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v49)
  (adjacent v26 v52)
  (adjacent v28 v29)
  (adjacent v28 v37)
  (adjacent v28 v87)
  (adjacent v29 v43)
  (adjacent v29 v44)
  (adjacent v30 v31)
  (adjacent v30 v44)
  (adjacent v32 v33)
  (adjacent v32 v65)
  (adjacent v32 v155)
  (adjacent v33 v34)
  (adjacent v33 v81)
  (adjacent v33 v90)
  (adjacent v34 v35)
  (adjacent v34 v38)
  (adjacent v34 v45)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v139)
  (adjacent v37 v156)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v80)
  (adjacent v39 v144)
  (adjacent v40 v41)
  (adjacent v40 v58)
  (adjacent v40 v163)
  (adjacent v41 v42)
  (adjacent v41 v79)
  (adjacent v42 v43)
  (adjacent v42 v72)
  (adjacent v42 v96)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v156)
  (adjacent v48 v129)
  (adjacent v50 v51)
  (adjacent v50 v57)
  (adjacent v50 v63)
  (adjacent v50 v109)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v53 v125)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v148)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v118)
  (adjacent v61 v154)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v98)
  (adjacent v71 v102)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v124)
  (adjacent v77 v135)
  (adjacent v78 v79)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v95)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v88)
  (adjacent v85 v108)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v153)
  (adjacent v92 v93)
  (adjacent v92 v116)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v121)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v102 v115)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v116)
  (adjacent v106 v107)
  (adjacent v106 v117)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v164)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v140)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v118 v152)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v168)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v149)
  (adjacent v133 v157)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v155)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
 )
 (:goal
  (and
  (at r162 v0)
  (free v1)
  (at r115 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r134 v7)
  (free v8)
  (free v9)
  (at r167 v10)
  (free v11)
  (at r113 v12)
  (at r140 v13)
  (at r105 v14)
  (at r118 v15)
  (at r110 v16)
  (at r165 v17)
  (at r150 v18)
  (free v19)
  (free v20)
  (free v21)
  (at r153 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r114 v27)
  (free v28)
  (free v29)
  (at r98 v30)
  (at r109 v31)
  (at r151 v32)
  (at r119 v33)
  (at r133 v34)
  (at r106 v35)
  (at r91 v36)
  (at r132 v37)
  (at r168 v38)
  (free v39)
  (free v40)
  (at r89 v41)
  (free v42)
  (free v43)
  (at r111 v44)
  (free v45)
  (at r94 v46)
  (free v47)
  (at r164 v48)
  (free v49)
  (at r81 v50)
  (free v51)
  (free v52)
  (at r148 v53)
  (free v54)
  (at r163 v55)
  (free v56)
  (at r93 v57)
  (free v58)
  (at r100 v59)
  (free v60)
  (at r78 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r85 v65)
  (at r131 v66)
  (at r121 v67)
  (free v68)
  (free v69)
  (at r102 v70)
  (at r99 v71)
  (at r129 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r104 v76)
  (at r160 v77)
  (at r125 v78)
  (at r76 v79)
  (free v80)
  (at r117 v81)
  (free v82)
  (free v83)
  (at r136 v84)
  (at r103 v85)
  (free v86)
  (at r161 v87)
  (at r154 v88)
  (free v89)
  (free v90)
  (at r83 v91)
  (at r87 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r159 v96)
  (at r108 v97)
  (at r107 v98)
  (free v99)
  (free v100)
  (at r77 v101)
  (at r141 v102)
  (free v103)
  (at r156 v104)
  (free v105)
  (free v106)
  (free v107)
  (at r144 v108)
  (at r79 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r96 v116)
  (at r138 v117)
  (at r92 v118)
  (free v119)
  (at r139 v120)
  (free v121)
  (at r90 v122)
  (at r80 v123)
  (free v124)
  (at r88 v125)
  (at r122 v126)
  (free v127)
  (free v128)
  (at r157 v129)
  (free v130)
  (at r143 v131)
  (at r120 v132)
  (at r149 v133)
  (at r116 v134)
  (at r75 v135)
  (at r126 v136)
  (free v137)
  (at r97 v138)
  (at r135 v139)
  (free v140)
  (at r95 v141)
  (free v142)
  (free v143)
  (at r127 v144)
  (free v145)
  (at r101 v146)
  (free v147)
  (at r147 v148)
  (free v149)
  (at r128 v150)
  (at r152 v151)
  (at r158 v152)
  (at r137 v153)
  (free v154)
  (at r124 v155)
  (at r130 v156)
  (at r142 v157)
  (at r112 v158)
  (free v159)
  (at r123 v160)
  (at r82 v161)
  (free v162)
  (at r86 v163)
  (at r146 v164)
  (at r155 v165)
  (at r145 v166)
  (at r166 v167)
  (at r84 v168)
  )
 )
)