(define (problem multirobot_45_90%_c6)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r93
  v3 r106
  v4 r87
  v5
  v6
  v7
  v8 r129
  v9
  v10
  v11 r116
  v12 r83
  v13 r118
  v14
  v15
  v16
  v17 r127
  v18 r105
  v19 r97
  v20
  v21
  v22 r132
  v23 r150
  v24
  v25 r101
  v26
  v27 r134
  v28 r115
  v29
  v30
  v31
  v32
  v33 r148
  v34 r104
  v35 r110
  v36 r98
  v37
  v38
  v39
  v40
  v41
  v42 r136
  v43 r92
  v44 r109
  v45
  v46 r128
  v47 r135
  v48 r121
  v49
  v50
  v51 r142
  v52
  v53 r112
  v54
  v55 r102
  v56
  v57
  v58 r140
  v59
  v60
  v61 r94
  v62 r147
  v63
  v64 r113
  v65 r149
  v66 r86
  v67
  v68 r152
  v69 r125
  v70
  v71
  v72
  v73
  v74
  v75 r103
  v76
  v77
  v78
  v79
  v80 r139
  v81 r119
  v82 r138
  v83 r145
  v84 r141
  v85 r114
  v86 r144
  v87 r123
  v88 r137
  v89 r100
  v90
  v91 r111
  v92
  v93 r90
  v94
  v95 r107
  v96 r96
  v97
  v98 r108
  v99
  v100 r146
  v101 r99
  v102
  v103
  v104
  v105
  v106
  v107 r126
  v108
  v109 r120
  v110
  v111
  v112 r117
  v113 r89
  v114
  v115
  v116
  v117
  v118
  v119
  v120 r84
  v121
  v122 r133
  v123
  v124 r91
  v125
  v126 r130
  v127
  v128
  v129
  v130 r151
  v131
  v132 r131
  v133 r85
  v134
  v135
  v136
  v137
  v138
  v139 r124
  v140
  v141 r122
  v142 r143
  v143
  v144
  v145
  v146 r95
  v147
  v148
  v149
  v150
  v151
  v152 r88
 )
 (:init
  (free v0)
  (free v1)
  (at r93 v2)
  (at r106 v3)
  (at r87 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r129 v8)
  (free v9)
  (free v10)
  (at r116 v11)
  (at r83 v12)
  (at r118 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r127 v17)
  (at r105 v18)
  (at r97 v19)
  (free v20)
  (free v21)
  (at r132 v22)
  (at r150 v23)
  (free v24)
  (at r101 v25)
  (free v26)
  (at r134 v27)
  (at r115 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r148 v33)
  (at r104 v34)
  (at r110 v35)
  (at r98 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (at r136 v42)
  (at r92 v43)
  (at r109 v44)
  (free v45)
  (at r128 v46)
  (at r135 v47)
  (at r121 v48)
  (free v49)
  (free v50)
  (at r142 v51)
  (free v52)
  (at r112 v53)
  (free v54)
  (at r102 v55)
  (free v56)
  (free v57)
  (at r140 v58)
  (free v59)
  (free v60)
  (at r94 v61)
  (at r147 v62)
  (free v63)
  (at r113 v64)
  (at r149 v65)
  (at r86 v66)
  (free v67)
  (at r152 v68)
  (at r125 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r103 v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (at r139 v80)
  (at r119 v81)
  (at r138 v82)
  (at r145 v83)
  (at r141 v84)
  (at r114 v85)
  (at r144 v86)
  (at r123 v87)
  (at r137 v88)
  (at r100 v89)
  (free v90)
  (at r111 v91)
  (free v92)
  (at r90 v93)
  (free v94)
  (at r107 v95)
  (at r96 v96)
  (free v97)
  (at r108 v98)
  (free v99)
  (at r146 v100)
  (at r99 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (at r126 v107)
  (free v108)
  (at r120 v109)
  (free v110)
  (free v111)
  (at r117 v112)
  (at r89 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r84 v120)
  (free v121)
  (at r133 v122)
  (free v123)
  (at r91 v124)
  (free v125)
  (at r130 v126)
  (free v127)
  (free v128)
  (free v129)
  (at r151 v130)
  (free v131)
  (at r131 v132)
  (at r85 v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (free v138)
  (at r124 v139)
  (free v140)
  (at r122 v141)
  (at r143 v142)
  (free v143)
  (free v144)
  (free v145)
  (at r95 v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (at r88 v152)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v13)
  (adjacent v0 v36)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v55)
  (adjacent v1 v68)
  (adjacent v2 v3)
  (adjacent v2 v44)
  (adjacent v2 v66)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v19)
  (adjacent v3 v38)
  (adjacent v3 v48)
  (adjacent v3 v74)
  (adjacent v3 v91)
  (adjacent v3 v125)
  (adjacent v3 v149)
  (adjacent v4 v8)
  (adjacent v4 v14)
  (adjacent v4 v131)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v20)
  (adjacent v9 v10)
  (adjacent v9 v31)
  (adjacent v9 v140)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v109)
  (adjacent v13 v35)
  (adjacent v14 v15)
  (adjacent v14 v47)
  (adjacent v15 v16)
  (adjacent v15 v60)
  (adjacent v15 v64)
  (adjacent v16 v17)
  (adjacent v16 v24)
  (adjacent v17 v18)
  (adjacent v17 v61)
  (adjacent v18 v19)
  (adjacent v19 v25)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v22 v141)
  (adjacent v23 v24)
  (adjacent v23 v103)
  (adjacent v24 v85)
  (adjacent v24 v108)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v36)
  (adjacent v26 v49)
  (adjacent v27 v28)
  (adjacent v27 v69)
  (adjacent v28 v29)
  (adjacent v28 v37)
  (adjacent v28 v65)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v29 v39)
  (adjacent v29 v62)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v50)
  (adjacent v34 v139)
  (adjacent v35 v37)
  (adjacent v36 v43)
  (adjacent v37 v92)
  (adjacent v38 v50)
  (adjacent v39 v40)
  (adjacent v39 v125)
  (adjacent v40 v41)
  (adjacent v40 v51)
  (adjacent v41 v42)
  (adjacent v41 v75)
  (adjacent v42 v43)
  (adjacent v42 v64)
  (adjacent v43 v112)
  (adjacent v43 v129)
  (adjacent v44 v45)
  (adjacent v44 v79)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v152)
  (adjacent v50 v56)
  (adjacent v51 v52)
  (adjacent v51 v56)
  (adjacent v51 v63)
  (adjacent v52 v53)
  (adjacent v52 v57)
  (adjacent v52 v97)
  (adjacent v52 v104)
  (adjacent v53 v54)
  (adjacent v53 v85)
  (adjacent v54 v55)
  (adjacent v54 v84)
  (adjacent v56 v78)
  (adjacent v57 v58)
  (adjacent v57 v65)
  (adjacent v57 v86)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v111)
  (adjacent v62 v63)
  (adjacent v64 v96)
  (adjacent v66 v67)
  (adjacent v66 v110)
  (adjacent v67 v68)
  (adjacent v67 v109)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v128)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v90)
  (adjacent v75 v76)
  (adjacent v75 v135)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v79 v118)
  (adjacent v80 v81)
  (adjacent v80 v89)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v138)
  (adjacent v86 v87)
  (adjacent v86 v111)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v124)
  (adjacent v96 v132)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v117)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v134)
  (adjacent v101 v145)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v126)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v143)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v144)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v150)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v141 v144)
  (adjacent v142 v143)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
 )
 (:goal
  (and
  (at r151 v0)
  (free v1)
  (at r114 v2)
  (at r131 v3)
  (at r130 v4)
  (at r134 v5)
  (at r135 v6)
  (free v7)
  (free v8)
  (at r141 v9)
  (at r118 v10)
  (at r108 v11)
  (free v12)
  (at r94 v13)
  (at r107 v14)
  (free v15)
  (at r84 v16)
  (free v17)
  (at r98 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r128 v23)
  (at r115 v24)
  (at r96 v25)
  (free v26)
  (free v27)
  (at r117 v28)
  (free v29)
  (free v30)
  (at r100 v31)
  (at r125 v32)
  (free v33)
  (free v34)
  (at r122 v35)
  (free v36)
  (at r126 v37)
  (free v38)
  (at r102 v39)
  (free v40)
  (at r132 v41)
  (free v42)
  (at r97 v43)
  (at r139 v44)
  (free v45)
  (free v46)
  (free v47)
  (at r87 v48)
  (at r148 v49)
  (free v50)
  (at r89 v51)
  (at r116 v52)
  (free v53)
  (at r113 v54)
  (at r112 v55)
  (free v56)
  (at r92 v57)
  (at r109 v58)
  (at r123 v59)
  (free v60)
  (at r120 v61)
  (free v62)
  (at r142 v63)
  (free v64)
  (at r127 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r150 v70)
  (free v71)
  (at r91 v72)
  (at r111 v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (at r140 v78)
  (at r85 v79)
  (free v80)
  (at r138 v81)
  (at r149 v82)
  (at r104 v83)
  (free v84)
  (at r105 v85)
  (free v86)
  (free v87)
  (at r106 v88)
  (at r137 v89)
  (at r119 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (at r101 v95)
  (free v96)
  (free v97)
  (at r124 v98)
  (free v99)
  (free v100)
  (free v101)
  (at r90 v102)
  (free v103)
  (free v104)
  (at r152 v105)
  (at r144 v106)
  (free v107)
  (free v108)
  (at r143 v109)
  (at r146 v110)
  (at r88 v111)
  (free v112)
  (free v113)
  (at r83 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r147 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r136 v127)
  (at r93 v128)
  (free v129)
  (at r121 v130)
  (free v131)
  (at r95 v132)
  (free v133)
  (at r99 v134)
  (free v135)
  (free v136)
  (free v137)
  (at r129 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r103 v143)
  (at r133 v144)
  (free v145)
  (free v146)
  (at r86 v147)
  (free v148)
  (at r145 v149)
  (free v150)
  (at r110 v151)
  (free v152)
  )
 )
)