(define (problem multirobot_46_90%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1 r142
  v2
  v3
  v4 r157
  v5 r151
  v6 r97
  v7 r90
  v8 r130
  v9 r113
  v10
  v11 r135
  v12
  v13 r132
  v14
  v15 r145
  v16
  v17 r116
  v18
  v19 r136
  v20
  v21
  v22
  v23 r156
  v24 r144
  v25 r103
  v26 r121
  v27
  v28 r119
  v29
  v30 r106
  v31 r96
  v32
  v33
  v34
  v35 r134
  v36 r92
  v37 r158
  v38 r133
  v39 r123
  v40
  v41
  v42
  v43 r140
  v44 r122
  v45
  v46 r118
  v47
  v48
  v49 r99
  v50
  v51
  v52
  v53 r94
  v54 r110
  v55
  v56
  v57 r107
  v58
  v59 r155
  v60 r111
  v61 r115
  v62
  v63 r100
  v64
  v65 r159
  v66
  v67
  v68
  v69
  v70
  v71 r163
  v72
  v73 r98
  v74 r126
  v75
  v76
  v77 r87
  v78
  v79 r160
  v80
  v81 r152
  v82 r137
  v83
  v84 r101
  v85
  v86 r153
  v87
  v88
  v89
  v90 r161
  v91 r88
  v92
  v93 r147
  v94
  v95
  v96
  v97 r148
  v98
  v99
  v100 r138
  v101 r124
  v102
  v103
  v104 r128
  v105 r146
  v106
  v107 r162
  v108 r141
  v109
  v110
  v111
  v112
  v113 r154
  v114
  v115
  v116 r114
  v117 r117
  v118
  v119
  v120
  v121 r125
  v122
  v123
  v124 r149
  v125
  v126
  v127
  v128
  v129 r95
  v130 r150
  v131
  v132
  v133
  v134 r93
  v135
  v136 r127
  v137
  v138 r129
  v139 r139
  v140 r109
  v141
  v142
  v143 r86
  v144
  v145
  v146
  v147
  v148 r112
  v149 r91
  v150
  v151
  v152 r143
  v153 r89
  v154
  v155
  v156 r102
  v157 r120
  v158
  v159 r108
  v160
  v161 r131
  v162 r105
  v163 r104
 )
 (:init
  (free v0)
  (at r142 v1)
  (free v2)
  (free v3)
  (at r157 v4)
  (at r151 v5)
  (at r97 v6)
  (at r90 v7)
  (at r130 v8)
  (at r113 v9)
  (free v10)
  (at r135 v11)
  (free v12)
  (at r132 v13)
  (free v14)
  (at r145 v15)
  (free v16)
  (at r116 v17)
  (free v18)
  (at r136 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r156 v23)
  (at r144 v24)
  (at r103 v25)
  (at r121 v26)
  (free v27)
  (at r119 v28)
  (free v29)
  (at r106 v30)
  (at r96 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r134 v35)
  (at r92 v36)
  (at r158 v37)
  (at r133 v38)
  (at r123 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r140 v43)
  (at r122 v44)
  (free v45)
  (at r118 v46)
  (free v47)
  (free v48)
  (at r99 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r94 v53)
  (at r110 v54)
  (free v55)
  (free v56)
  (at r107 v57)
  (free v58)
  (at r155 v59)
  (at r111 v60)
  (at r115 v61)
  (free v62)
  (at r100 v63)
  (free v64)
  (at r159 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r163 v71)
  (free v72)
  (at r98 v73)
  (at r126 v74)
  (free v75)
  (free v76)
  (at r87 v77)
  (free v78)
  (at r160 v79)
  (free v80)
  (at r152 v81)
  (at r137 v82)
  (free v83)
  (at r101 v84)
  (free v85)
  (at r153 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r161 v90)
  (at r88 v91)
  (free v92)
  (at r147 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r148 v97)
  (free v98)
  (free v99)
  (at r138 v100)
  (at r124 v101)
  (free v102)
  (free v103)
  (at r128 v104)
  (at r146 v105)
  (free v106)
  (at r162 v107)
  (at r141 v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r154 v113)
  (free v114)
  (free v115)
  (at r114 v116)
  (at r117 v117)
  (free v118)
  (free v119)
  (free v120)
  (at r125 v121)
  (free v122)
  (free v123)
  (at r149 v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r95 v129)
  (at r150 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r93 v134)
  (free v135)
  (at r127 v136)
  (free v137)
  (at r129 v138)
  (at r139 v139)
  (at r109 v140)
  (free v141)
  (free v142)
  (at r86 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r112 v148)
  (at r91 v149)
  (free v150)
  (free v151)
  (at r143 v152)
  (at r89 v153)
  (free v154)
  (free v155)
  (at r102 v156)
  (at r120 v157)
  (free v158)
  (at r108 v159)
  (free v160)
  (at r131 v161)
  (at r105 v162)
  (at r104 v163)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v111)
  (adjacent v1 v121)
  (adjacent v1 v134)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v28)
  (adjacent v3 v38)
  (adjacent v4 v5)
  (adjacent v4 v38)
  (adjacent v5 v22)
  (adjacent v5 v25)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v23)
  (adjacent v6 v82)
  (adjacent v6 v95)
  (adjacent v7 v8)
  (adjacent v7 v37)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v75)
  (adjacent v9 v10)
  (adjacent v9 v68)
  (adjacent v10 v12)
  (adjacent v10 v33)
  (adjacent v10 v34)
  (adjacent v10 v141)
  (adjacent v11 v109)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v13 v116)
  (adjacent v14 v15)
  (adjacent v14 v74)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v17 v52)
  (adjacent v17 v129)
  (adjacent v18 v19)
  (adjacent v18 v110)
  (adjacent v19 v20)
  (adjacent v19 v86)
  (adjacent v20 v21)
  (adjacent v20 v39)
  (adjacent v20 v48)
  (adjacent v20 v117)
  (adjacent v21 v22)
  (adjacent v21 v36)
  (adjacent v21 v154)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v23 v99)
  (adjacent v24 v25)
  (adjacent v24 v26)
  (adjacent v24 v110)
  (adjacent v24 v128)
  (adjacent v26 v27)
  (adjacent v26 v63)
  (adjacent v26 v67)
  (adjacent v27 v98)
  (adjacent v28 v29)
  (adjacent v28 v42)
  (adjacent v29 v30)
  (adjacent v29 v51)
  (adjacent v29 v59)
  (adjacent v29 v89)
  (adjacent v29 v117)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v41)
  (adjacent v32 v47)
  (adjacent v32 v144)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v37)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v85)
  (adjacent v41 v58)
  (adjacent v42 v43)
  (adjacent v42 v75)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v88)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v163)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v103)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v90)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v59 v64)
  (adjacent v59 v76)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v96)
  (adjacent v63 v89)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v104)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v120)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v100)
  (adjacent v78 v118)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v158)
  (adjacent v82 v83)
  (adjacent v82 v135)
  (adjacent v83 v84)
  (adjacent v83 v152)
  (adjacent v84 v85)
  (adjacent v85 v119)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v122)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v120)
  (adjacent v91 v135)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v99)
  (adjacent v94 v142)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v153)
  (adjacent v100 v101)
  (adjacent v100 v151)
  (adjacent v101 v102)
  (adjacent v101 v127)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v159)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v137)
  (adjacent v110 v128)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v145)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v118 v119)
  (adjacent v118 v146)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v136)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v136)
  (adjacent v127 v147)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
 )
 (:goal
  (and
  (at r154 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r135 v7)
  (free v8)
  (free v9)
  (free v10)
  (at r147 v11)
  (at r128 v12)
  (at r143 v13)
  (at r95 v14)
  (at r117 v15)
  (free v16)
  (free v17)
  (at r87 v18)
  (at r109 v19)
  (at r102 v20)
  (at r139 v21)
  (free v22)
  (free v23)
  (at r112 v24)
  (free v25)
  (at r140 v26)
  (at r133 v27)
  (at r146 v28)
  (at r116 v29)
  (free v30)
  (at r163 v31)
  (free v32)
  (at r141 v33)
  (free v34)
  (at r153 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r91 v39)
  (free v40)
  (at r130 v41)
  (free v42)
  (at r151 v43)
  (free v44)
  (at r156 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r104 v50)
  (at r159 v51)
  (free v52)
  (at r86 v53)
  (free v54)
  (at r118 v55)
  (free v56)
  (free v57)
  (at r101 v58)
  (at r111 v59)
  (at r98 v60)
  (free v61)
  (free v62)
  (at r138 v63)
  (free v64)
  (at r121 v65)
  (free v66)
  (at r136 v67)
  (at r123 v68)
  (at r155 v69)
  (at r108 v70)
  (free v71)
  (at r161 v72)
  (free v73)
  (at r131 v74)
  (at r88 v75)
  (free v76)
  (at r124 v77)
  (at r162 v78)
  (free v79)
  (at r92 v80)
  (free v81)
  (free v82)
  (at r122 v83)
  (at r132 v84)
  (free v85)
  (at r89 v86)
  (free v87)
  (free v88)
  (at r142 v89)
  (at r137 v90)
  (free v91)
  (at r103 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r114 v96)
  (free v97)
  (at r144 v98)
  (at r126 v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (at r149 v104)
  (free v105)
  (at r129 v106)
  (free v107)
  (free v108)
  (free v109)
  (at r150 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r100 v115)
  (at r152 v116)
  (at r148 v117)
  (at r96 v118)
  (free v119)
  (at r94 v120)
  (at r157 v121)
  (at r160 v122)
  (at r134 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (at r127 v128)
  (free v129)
  (at r97 v130)
  (free v131)
  (at r106 v132)
  (free v133)
  (free v134)
  (free v135)
  (at r120 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r125 v143)
  (at r119 v144)
  (at r105 v145)
  (at r110 v146)
  (at r113 v147)
  (free v148)
  (free v149)
  (at r93 v150)
  (at r107 v151)
  (free v152)
  (at r115 v153)
  (free v154)
  (at r145 v155)
  (at r90 v156)
  (free v157)
  (free v158)
  (at r99 v159)
  (at r158 v160)
  (free v161)
  (free v162)
  (free v163)
  )
 )
)