(define (problem multirobot_46_90%_c1)
 (:domain multirobot)
 (:objects
  v0 r166
  v1 r153
  v2
  v3
  v4 r157
  v5 r134
  v6
  v7
  v8
  v9 r80
  v10 r133
  v11 r86
  v12
  v13
  v14
  v15
  v16
  v17 r125
  v18 r101
  v19
  v20
  v21
  v22
  v23
  v24
  v25 r158
  v26 r93
  v27
  v28 r106
  v29 r139
  v30 r143
  v31 r95
  v32
  v33 r163
  v34
  v35 r132
  v36
  v37
  v38 r90
  v39
  v40 r155
  v41
  v42
  v43
  v44 r170
  v45 r141
  v46 r171
  v47 r99
  v48 r91
  v49 r81
  v50 r127
  v51
  v52 r107
  v53 r162
  v54 r89
  v55 r105
  v56
  v57 r108
  v58 r147
  v59 r159
  v60 r160
  v61 r124
  v62
  v63
  v64
  v65 r129
  v66
  v67 r168
  v68
  v69
  v70
  v71 r122
  v72
  v73 r146
  v74 r152
  v75 r82
  v76 r144
  v77 r103
  v78 r136
  v79 r109
  v80
  v81 r154
  v82
  v83 r140
  v84 r145
  v85 r137
  v86
  v87 r151
  v88 r84
  v89
  v90
  v91
  v92 r102
  v93
  v94
  v95 r88
  v96 r113
  v97 r150
  v98
  v99 r111
  v100
  v101 r79
  v102 r128
  v103 r169
  v104
  v105 r96
  v106
  v107 r135
  v108
  v109
  v110
  v111 r138
  v112
  v113
  v114 r83
  v115 r167
  v116 r117
  v117
  v118 r97
  v119
  v120
  v121 r126
  v122
  v123
  v124
  v125 r115
  v126
  v127
  v128 r161
  v129
  v130 r98
  v131 r114
  v132 r130
  v133 r142
  v134
  v135 r148
  v136 r92
  v137 r121
  v138 r116
  v139 r100
  v140
  v141
  v142 r85
  v143
  v144
  v145 r119
  v146 r87
  v147 r172
  v148 r165
  v149 r149
  v150
  v151 r156
  v152
  v153 r104
  v154 r123
  v155 r94
  v156 r112
  v157
  v158
  v159
  v160 r110
  v161
  v162 r164
  v163
  v164
  v165
  v166
  v167
  v168 r118
  v169
  v170
  v171 r131
  v172 r120
 )
 (:init
  (at r166 v0)
  (at r153 v1)
  (free v2)
  (free v3)
  (at r157 v4)
  (at r134 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r80 v9)
  (at r133 v10)
  (at r86 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (at r125 v17)
  (at r101 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (at r158 v25)
  (at r93 v26)
  (free v27)
  (at r106 v28)
  (at r139 v29)
  (at r143 v30)
  (at r95 v31)
  (free v32)
  (at r163 v33)
  (free v34)
  (at r132 v35)
  (free v36)
  (free v37)
  (at r90 v38)
  (free v39)
  (at r155 v40)
  (free v41)
  (free v42)
  (free v43)
  (at r170 v44)
  (at r141 v45)
  (at r171 v46)
  (at r99 v47)
  (at r91 v48)
  (at r81 v49)
  (at r127 v50)
  (free v51)
  (at r107 v52)
  (at r162 v53)
  (at r89 v54)
  (at r105 v55)
  (free v56)
  (at r108 v57)
  (at r147 v58)
  (at r159 v59)
  (at r160 v60)
  (at r124 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r129 v65)
  (free v66)
  (at r168 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r122 v71)
  (free v72)
  (at r146 v73)
  (at r152 v74)
  (at r82 v75)
  (at r144 v76)
  (at r103 v77)
  (at r136 v78)
  (at r109 v79)
  (free v80)
  (at r154 v81)
  (free v82)
  (at r140 v83)
  (at r145 v84)
  (at r137 v85)
  (free v86)
  (at r151 v87)
  (at r84 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r102 v92)
  (free v93)
  (free v94)
  (at r88 v95)
  (at r113 v96)
  (at r150 v97)
  (free v98)
  (at r111 v99)
  (free v100)
  (at r79 v101)
  (at r128 v102)
  (at r169 v103)
  (free v104)
  (at r96 v105)
  (free v106)
  (at r135 v107)
  (free v108)
  (free v109)
  (free v110)
  (at r138 v111)
  (free v112)
  (free v113)
  (at r83 v114)
  (at r167 v115)
  (at r117 v116)
  (free v117)
  (at r97 v118)
  (free v119)
  (free v120)
  (at r126 v121)
  (free v122)
  (free v123)
  (free v124)
  (at r115 v125)
  (free v126)
  (free v127)
  (at r161 v128)
  (free v129)
  (at r98 v130)
  (at r114 v131)
  (at r130 v132)
  (at r142 v133)
  (free v134)
  (at r148 v135)
  (at r92 v136)
  (at r121 v137)
  (at r116 v138)
  (at r100 v139)
  (free v140)
  (free v141)
  (at r85 v142)
  (free v143)
  (free v144)
  (at r119 v145)
  (at r87 v146)
  (at r172 v147)
  (at r165 v148)
  (at r149 v149)
  (free v150)
  (at r156 v151)
  (free v152)
  (at r104 v153)
  (at r123 v154)
  (at r94 v155)
  (at r112 v156)
  (free v157)
  (free v158)
  (free v159)
  (at r110 v160)
  (free v161)
  (at r164 v162)
  (free v163)
  (free v164)
  (free v165)
  (free v166)
  (free v167)
  (at r118 v168)
  (free v169)
  (free v170)
  (at r131 v171)
  (at r120 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v30)
  (adjacent v0 v39)
  (adjacent v0 v65)
  (adjacent v0 v112)
  (adjacent v1 v2)
  (adjacent v1 v142)
  (adjacent v2 v3)
  (adjacent v2 v16)
  (adjacent v2 v17)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v4 v5)
  (adjacent v4 v39)
  (adjacent v4 v148)
  (adjacent v5 v6)
  (adjacent v5 v15)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v7 v102)
  (adjacent v8 v46)
  (adjacent v9 v10)
  (adjacent v9 v27)
  (adjacent v9 v40)
  (adjacent v9 v49)
  (adjacent v9 v169)
  (adjacent v10 v11)
  (adjacent v10 v31)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v12 v13)
  (adjacent v12 v24)
  (adjacent v13 v14)
  (adjacent v13 v119)
  (adjacent v14 v15)
  (adjacent v14 v54)
  (adjacent v14 v167)
  (adjacent v15 v28)
  (adjacent v15 v116)
  (adjacent v16 v23)
  (adjacent v17 v18)
  (adjacent v17 v32)
  (adjacent v17 v48)
  (adjacent v17 v60)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v125)
  (adjacent v20 v21)
  (adjacent v20 v115)
  (adjacent v21 v22)
  (adjacent v21 v72)
  (adjacent v21 v160)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v22 v79)
  (adjacent v22 v126)
  (adjacent v23 v71)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v94)
  (adjacent v25 v166)
  (adjacent v26 v27)
  (adjacent v27 v34)
  (adjacent v27 v38)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v115)
  (adjacent v32 v33)
  (adjacent v32 v35)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v55)
  (adjacent v35 v95)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v45)
  (adjacent v37 v166)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v66)
  (adjacent v41 v84)
  (adjacent v42 v43)
  (adjacent v42 v120)
  (adjacent v43 v44)
  (adjacent v43 v133)
  (adjacent v44 v45)
  (adjacent v45 v157)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v129)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v59)
  (adjacent v50 v89)
  (adjacent v50 v113)
  (adjacent v51 v52)
  (adjacent v51 v80)
  (adjacent v51 v85)
  (adjacent v51 v170)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v84)
  (adjacent v53 v111)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v78)
  (adjacent v63 v90)
  (adjacent v63 v108)
  (adjacent v64 v65)
  (adjacent v64 v83)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v136)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v130)
  (adjacent v76 v77)
  (adjacent v76 v81)
  (adjacent v77 v78)
  (adjacent v77 v128)
  (adjacent v78 v156)
  (adjacent v79 v80)
  (adjacent v79 v101)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v155)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v114)
  (adjacent v95 v96)
  (adjacent v95 v129)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v109)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v143)
  (adjacent v100 v101)
  (adjacent v101 v132)
  (adjacent v102 v103)
  (adjacent v102 v137)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v114)
  (adjacent v106 v126)
  (adjacent v107 v108)
  (adjacent v108 v149)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v115 v168)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v165)
  (adjacent v120 v121)
  (adjacent v120 v148)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v127)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v159)
  (adjacent v127 v128)
  (adjacent v128 v147)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v158)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v167)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v167 v172)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r144 v0)
  (free v1)
  (free v2)
  (free v3)
  (at r133 v4)
  (free v5)
  (at r130 v6)
  (free v7)
  (free v8)
  (at r158 v9)
  (at r86 v10)
  (at r96 v11)
  (free v12)
  (free v13)
  (at r149 v14)
  (at r172 v15)
  (at r156 v16)
  (at r162 v17)
  (at r169 v18)
  (at r101 v19)
  (free v20)
  (free v21)
  (at r137 v22)
  (free v23)
  (at r83 v24)
  (at r150 v25)
  (free v26)
  (at r160 v27)
  (at r136 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r166 v34)
  (at r82 v35)
  (at r126 v36)
  (at r123 v37)
  (free v38)
  (at r146 v39)
  (at r171 v40)
  (at r118 v41)
  (free v42)
  (free v43)
  (free v44)
  (at r115 v45)
  (free v46)
  (free v47)
  (at r103 v48)
  (at r102 v49)
  (free v50)
  (at r107 v51)
  (at r100 v52)
  (free v53)
  (at r99 v54)
  (at r147 v55)
  (free v56)
  (free v57)
  (at r121 v58)
  (at r95 v59)
  (at r87 v60)
  (free v61)
  (at r111 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r117 v66)
  (free v67)
  (at r145 v68)
  (free v69)
  (free v70)
  (at r153 v71)
  (free v72)
  (at r138 v73)
  (free v74)
  (free v75)
  (free v76)
  (at r119 v77)
  (at r125 v78)
  (free v79)
  (at r143 v80)
  (at r110 v81)
  (free v82)
  (at r129 v83)
  (at r151 v84)
  (free v85)
  (at r88 v86)
  (free v87)
  (free v88)
  (at r106 v89)
  (at r139 v90)
  (free v91)
  (free v92)
  (at r140 v93)
  (free v94)
  (at r124 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r93 v103)
  (free v104)
  (free v105)
  (at r161 v106)
  (at r91 v107)
  (at r128 v108)
  (free v109)
  (at r163 v110)
  (at r116 v111)
  (at r109 v112)
  (at r159 v113)
  (free v114)
  (at r84 v115)
  (free v116)
  (free v117)
  (free v118)
  (at r105 v119)
  (at r152 v120)
  (free v121)
  (at r142 v122)
  (at r164 v123)
  (free v124)
  (at r135 v125)
  (at r81 v126)
  (at r165 v127)
  (at r98 v128)
  (free v129)
  (free v130)
  (at r168 v131)
  (free v132)
  (free v133)
  (free v134)
  (at r89 v135)
  (at r112 v136)
  (at r90 v137)
  (at r141 v138)
  (at r134 v139)
  (free v140)
  (at r170 v141)
  (at r148 v142)
  (free v143)
  (free v144)
  (at r157 v145)
  (free v146)
  (at r79 v147)
  (at r131 v148)
  (at r167 v149)
  (at r120 v150)
  (at r85 v151)
  (free v152)
  (at r94 v153)
  (free v154)
  (at r114 v155)
  (free v156)
  (at r127 v157)
  (at r132 v158)
  (at r122 v159)
  (at r154 v160)
  (free v161)
  (at r97 v162)
  (at r80 v163)
  (free v164)
  (free v165)
  (free v166)
  (free v167)
  (at r155 v168)
  (at r108 v169)
  (at r113 v170)
  (at r104 v171)
  (at r92 v172)
  )
 )
)