(define (problem multirobot_45_90%_c9)
 (:domain multirobot)
 (:objects
  v0 r87
  v1
  v2
  v3 r149
  v4 r138
  v5
  v6
  v7 r158
  v8 r126
  v9
  v10
  v11
  v12 r124
  v13 r94
  v14 r150
  v15 r110
  v16 r165
  v17
  v18
  v19 r125
  v20
  v21 r102
  v22
  v23
  v24 r97
  v25
  v26 r144
  v27 r153
  v28
  v29 r112
  v30
  v31
  v32
  v33 r134
  v34 r147
  v35
  v36 r104
  v37
  v38 r139
  v39 r161
  v40 r91
  v41
  v42 r160
  v43
  v44 r111
  v45 r119
  v46 r89
  v47 r109
  v48
  v49
  v50
  v51 r145
  v52
  v53 r140
  v54
  v55 r167
  v56
  v57 r131
  v58
  v59 r96
  v60
  v61 r154
  v62 r168
  v63 r107
  v64 r143
  v65 r146
  v66 r163
  v67 r101
  v68
  v69
  v70 r99
  v71
  v72
  v73 r120
  v74 r127
  v75 r114
  v76 r162
  v77
  v78 r132
  v79
  v80
  v81 r137
  v82
  v83 r155
  v84
  v85 r117
  v86 r103
  v87 r88
  v88 r108
  v89 r128
  v90
  v91 r116
  v92
  v93 r136
  v94 r166
  v95
  v96
  v97 r130
  v98 r93
  v99 r169
  v100 r83
  v101 r151
  v102
  v103
  v104 r170
  v105
  v106
  v107 r133
  v108
  v109
  v110 r113
  v111
  v112
  v113
  v114 r95
  v115
  v116
  v117
  v118 r141
  v119 r92
  v120
  v121 r129
  v122 r98
  v123 r85
  v124
  v125 r105
  v126 r148
  v127
  v128
  v129 r157
  v130 r135
  v131 r115
  v132
  v133
  v134
  v135 r84
  v136
  v137 r159
  v138
  v139
  v140 r121
  v141
  v142 r156
  v143 r152
  v144
  v145
  v146
  v147 r122
  v148
  v149
  v150 r142
  v151 r90
  v152
  v153
  v154
  v155
  v156
  v157 r106
  v158
  v159
  v160
  v161 r100
  v162 r86
  v163 r164
  v164
  v165
  v166 r123
  v167 r118
  v168
  v169
  v170
 )
 (:init
  (at r87 v0)
  (free v1)
  (free v2)
  (at r149 v3)
  (at r138 v4)
  (free v5)
  (free v6)
  (at r158 v7)
  (at r126 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r124 v12)
  (at r94 v13)
  (at r150 v14)
  (at r110 v15)
  (at r165 v16)
  (free v17)
  (free v18)
  (at r125 v19)
  (free v20)
  (at r102 v21)
  (free v22)
  (free v23)
  (at r97 v24)
  (free v25)
  (at r144 v26)
  (at r153 v27)
  (free v28)
  (at r112 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r134 v33)
  (at r147 v34)
  (free v35)
  (at r104 v36)
  (free v37)
  (at r139 v38)
  (at r161 v39)
  (at r91 v40)
  (free v41)
  (at r160 v42)
  (free v43)
  (at r111 v44)
  (at r119 v45)
  (at r89 v46)
  (at r109 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r145 v51)
  (free v52)
  (at r140 v53)
  (free v54)
  (at r167 v55)
  (free v56)
  (at r131 v57)
  (free v58)
  (at r96 v59)
  (free v60)
  (at r154 v61)
  (at r168 v62)
  (at r107 v63)
  (at r143 v64)
  (at r146 v65)
  (at r163 v66)
  (at r101 v67)
  (free v68)
  (free v69)
  (at r99 v70)
  (free v71)
  (free v72)
  (at r120 v73)
  (at r127 v74)
  (at r114 v75)
  (at r162 v76)
  (free v77)
  (at r132 v78)
  (free v79)
  (free v80)
  (at r137 v81)
  (free v82)
  (at r155 v83)
  (free v84)
  (at r117 v85)
  (at r103 v86)
  (at r88 v87)
  (at r108 v88)
  (at r128 v89)
  (free v90)
  (at r116 v91)
  (free v92)
  (at r136 v93)
  (at r166 v94)
  (free v95)
  (free v96)
  (at r130 v97)
  (at r93 v98)
  (at r169 v99)
  (at r83 v100)
  (at r151 v101)
  (free v102)
  (free v103)
  (at r170 v104)
  (free v105)
  (free v106)
  (at r133 v107)
  (free v108)
  (free v109)
  (at r113 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r95 v114)
  (free v115)
  (free v116)
  (free v117)
  (at r141 v118)
  (at r92 v119)
  (free v120)
  (at r129 v121)
  (at r98 v122)
  (at r85 v123)
  (free v124)
  (at r105 v125)
  (at r148 v126)
  (free v127)
  (free v128)
  (at r157 v129)
  (at r135 v130)
  (at r115 v131)
  (free v132)
  (free v133)
  (free v134)
  (at r84 v135)
  (free v136)
  (at r159 v137)
  (free v138)
  (free v139)
  (at r121 v140)
  (free v141)
  (at r156 v142)
  (at r152 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r122 v147)
  (free v148)
  (free v149)
  (at r142 v150)
  (at r90 v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (free v156)
  (at r106 v157)
  (free v158)
  (free v159)
  (free v160)
  (at r100 v161)
  (at r86 v162)
  (at r164 v163)
  (free v164)
  (free v165)
  (at r123 v166)
  (at r118 v167)
  (free v168)
  (free v169)
  (free v170)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v7)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v18)
  (adjacent v2 v44)
  (adjacent v2 v53)
  (adjacent v2 v99)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v10)
  (adjacent v3 v64)
  (adjacent v3 v97)
  (adjacent v4 v74)
  (adjacent v4 v90)
  (adjacent v5 v6)
  (adjacent v5 v155)
  (adjacent v6 v73)
  (adjacent v6 v79)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v30)
  (adjacent v8 v38)
  (adjacent v8 v52)
  (adjacent v8 v55)
  (adjacent v9 v10)
  (adjacent v9 v31)
  (adjacent v9 v149)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v32)
  (adjacent v11 v86)
  (adjacent v11 v91)
  (adjacent v11 v95)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v31)
  (adjacent v13 v93)
  (adjacent v14 v15)
  (adjacent v14 v65)
  (adjacent v14 v96)
  (adjacent v15 v16)
  (adjacent v15 v22)
  (adjacent v15 v23)
  (adjacent v16 v17)
  (adjacent v16 v39)
  (adjacent v17 v112)
  (adjacent v17 v142)
  (adjacent v18 v19)
  (adjacent v18 v63)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v24)
  (adjacent v21 v25)
  (adjacent v21 v63)
  (adjacent v22 v54)
  (adjacent v22 v56)
  (adjacent v23 v24)
  (adjacent v23 v64)
  (adjacent v24 v62)
  (adjacent v24 v96)
  (adjacent v24 v162)
  (adjacent v25 v26)
  (adjacent v25 v116)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v70)
  (adjacent v27 v80)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v92)
  (adjacent v35 v36)
  (adjacent v35 v45)
  (adjacent v35 v83)
  (adjacent v36 v37)
  (adjacent v36 v117)
  (adjacent v36 v148)
  (adjacent v36 v154)
  (adjacent v37 v38)
  (adjacent v37 v132)
  (adjacent v38 v81)
  (adjacent v39 v40)
  (adjacent v39 v51)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v106)
  (adjacent v43 v44)
  (adjacent v44 v66)
  (adjacent v44 v121)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v69)
  (adjacent v48 v49)
  (adjacent v48 v139)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v80)
  (adjacent v51 v82)
  (adjacent v51 v104)
  (adjacent v52 v53)
  (adjacent v52 v65)
  (adjacent v54 v55)
  (adjacent v54 v113)
  (adjacent v56 v57)
  (adjacent v56 v125)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v117)
  (adjacent v66 v67)
  (adjacent v66 v98)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v124)
  (adjacent v70 v163)
  (adjacent v71 v72)
  (adjacent v71 v122)
  (adjacent v72 v73)
  (adjacent v73 v107)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v87)
  (adjacent v75 v95)
  (adjacent v76 v77)
  (adjacent v76 v131)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v81 v82)
  (adjacent v82 v161)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v94)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v105)
  (adjacent v91 v92)
  (adjacent v91 v143)
  (adjacent v93 v94)
  (adjacent v96 v152)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v99 v151)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v162)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v107 v170)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v118)
  (adjacent v115 v116)
  (adjacent v117 v164)
  (adjacent v118 v119)
  (adjacent v118 v138)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v163)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
 )
 (:goal
  (and
  (at r109 v0)
  (free v1)
  (at r161 v2)
  (free v3)
  (at r93 v4)
  (at r119 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r138 v9)
  (at r130 v10)
  (free v11)
  (at r164 v12)
  (at r133 v13)
  (free v14)
  (free v15)
  (at r168 v16)
  (at r155 v17)
  (at r141 v18)
  (at r140 v19)
  (at r106 v20)
  (at r143 v21)
  (free v22)
  (at r120 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r136 v27)
  (at r142 v28)
  (free v29)
  (at r132 v30)
  (at r152 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r116 v35)
  (at r94 v36)
  (free v37)
  (free v38)
  (at r99 v39)
  (at r112 v40)
  (at r134 v41)
  (at r148 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r150 v50)
  (at r149 v51)
  (at r135 v52)
  (at r87 v53)
  (at r158 v54)
  (free v55)
  (at r170 v56)
  (at r115 v57)
  (free v58)
  (at r121 v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (at r126 v66)
  (free v67)
  (free v68)
  (at r103 v69)
  (at r113 v70)
  (free v71)
  (free v72)
  (at r166 v73)
  (at r111 v74)
  (free v75)
  (at r160 v76)
  (at r122 v77)
  (at r92 v78)
  (at r129 v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r91 v84)
  (at r95 v85)
  (at r146 v86)
  (at r137 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r162 v91)
  (at r98 v92)
  (at r157 v93)
  (at r165 v94)
  (at r107 v95)
  (at r84 v96)
  (at r105 v97)
  (free v98)
  (at r163 v99)
  (at r147 v100)
  (free v101)
  (free v102)
  (at r127 v103)
  (at r169 v104)
  (at r90 v105)
  (free v106)
  (at r123 v107)
  (free v108)
  (at r118 v109)
  (at r101 v110)
  (at r156 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r85 v115)
  (at r102 v116)
  (free v117)
  (at r96 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r124 v125)
  (at r97 v126)
  (free v127)
  (at r153 v128)
  (at r167 v129)
  (at r145 v130)
  (at r108 v131)
  (free v132)
  (free v133)
  (at r88 v134)
  (at r117 v135)
  (at r139 v136)
  (at r131 v137)
  (free v138)
  (at r110 v139)
  (free v140)
  (at r114 v141)
  (at r128 v142)
  (at r100 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r154 v147)
  (free v148)
  (free v149)
  (at r86 v150)
  (at r83 v151)
  (at r89 v152)
  (free v153)
  (free v154)
  (at r151 v155)
  (free v156)
  (at r159 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (at r104 v162)
  (free v163)
  (free v164)
  (free v165)
  (free v166)
  (at r125 v167)
  (free v168)
  (free v169)
  (at r144 v170)
  )
 )
)