(define (problem multirobot_46_90%_c6)
 (:domain multirobot)
 (:objects
  v0 r96
  v1 r111
  v2 r157
  v3
  v4 r146
  v5
  v6 r109
  v7
  v8
  v9 r130
  v10 r147
  v11
  v12 r138
  v13
  v14 r155
  v15
  v16 r95
  v17
  v18
  v19 r133
  v20
  v21 r124
  v22
  v23 r141
  v24 r107
  v25
  v26
  v27
  v28
  v29 r159
  v30
  v31 r158
  v32
  v33 r88
  v34
  v35 r114
  v36
  v37 r113
  v38
  v39
  v40
  v41 r163
  v42 r154
  v43
  v44
  v45 r149
  v46
  v47
  v48 r105
  v49 r94
  v50 r101
  v51
  v52
  v53 r145
  v54
  v55
  v56 r115
  v57
  v58 r131
  v59 r86
  v60 r153
  v61 r90
  v62 r97
  v63 r150
  v64 r139
  v65
  v66
  v67 r81
  v68
  v69
  v70 r91
  v71 r156
  v72 r119
  v73
  v74
  v75 r168
  v76 r128
  v77 r108
  v78 r135
  v79 r164
  v80
  v81
  v82 r136
  v83
  v84 r148
  v85 r134
  v86
  v87 r84
  v88
  v89
  v90 r100
  v91 r161
  v92
  v93 r99
  v94
  v95
  v96
  v97 r110
  v98
  v99 r129
  v100
  v101 r143
  v102
  v103 r87
  v104
  v105
  v106
  v107 r82
  v108 r171
  v109 r126
  v110
  v111 r112
  v112
  v113 r125
  v114 r123
  v115 r104
  v116 r83
  v117
  v118
  v119 r92
  v120 r98
  v121
  v122
  v123 r172
  v124
  v125
  v126 r103
  v127 r169
  v128
  v129 r127
  v130
  v131
  v132
  v133 r120
  v134
  v135 r132
  v136
  v137 r160
  v138
  v139
  v140 r142
  v141 r166
  v142
  v143 r151
  v144 r106
  v145 r162
  v146
  v147 r89
  v148 r152
  v149
  v150
  v151 r116
  v152 r167
  v153 r85
  v154
  v155
  v156 r118
  v157
  v158 r165
  v159 r122
  v160
  v161 r93
  v162 r102
  v163
  v164
  v165 r144
  v166
  v167 r121
  v168 r137
  v169 r170
  v170 r117
  v171 r140
  v172
 )
 (:init
  (at r96 v0)
  (at r111 v1)
  (at r157 v2)
  (free v3)
  (at r146 v4)
  (free v5)
  (at r109 v6)
  (free v7)
  (free v8)
  (at r130 v9)
  (at r147 v10)
  (free v11)
  (at r138 v12)
  (free v13)
  (at r155 v14)
  (free v15)
  (at r95 v16)
  (free v17)
  (free v18)
  (at r133 v19)
  (free v20)
  (at r124 v21)
  (free v22)
  (at r141 v23)
  (at r107 v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r159 v29)
  (free v30)
  (at r158 v31)
  (free v32)
  (at r88 v33)
  (free v34)
  (at r114 v35)
  (free v36)
  (at r113 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r163 v41)
  (at r154 v42)
  (free v43)
  (free v44)
  (at r149 v45)
  (free v46)
  (free v47)
  (at r105 v48)
  (at r94 v49)
  (at r101 v50)
  (free v51)
  (free v52)
  (at r145 v53)
  (free v54)
  (free v55)
  (at r115 v56)
  (free v57)
  (at r131 v58)
  (at r86 v59)
  (at r153 v60)
  (at r90 v61)
  (at r97 v62)
  (at r150 v63)
  (at r139 v64)
  (free v65)
  (free v66)
  (at r81 v67)
  (free v68)
  (free v69)
  (at r91 v70)
  (at r156 v71)
  (at r119 v72)
  (free v73)
  (free v74)
  (at r168 v75)
  (at r128 v76)
  (at r108 v77)
  (at r135 v78)
  (at r164 v79)
  (free v80)
  (free v81)
  (at r136 v82)
  (free v83)
  (at r148 v84)
  (at r134 v85)
  (free v86)
  (at r84 v87)
  (free v88)
  (free v89)
  (at r100 v90)
  (at r161 v91)
  (free v92)
  (at r99 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r110 v97)
  (free v98)
  (at r129 v99)
  (free v100)
  (at r143 v101)
  (free v102)
  (at r87 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r82 v107)
  (at r171 v108)
  (at r126 v109)
  (free v110)
  (at r112 v111)
  (free v112)
  (at r125 v113)
  (at r123 v114)
  (at r104 v115)
  (at r83 v116)
  (free v117)
  (free v118)
  (at r92 v119)
  (at r98 v120)
  (free v121)
  (free v122)
  (at r172 v123)
  (free v124)
  (free v125)
  (at r103 v126)
  (at r169 v127)
  (free v128)
  (at r127 v129)
  (free v130)
  (free v131)
  (free v132)
  (at r120 v133)
  (free v134)
  (at r132 v135)
  (free v136)
  (at r160 v137)
  (free v138)
  (free v139)
  (at r142 v140)
  (at r166 v141)
  (free v142)
  (at r151 v143)
  (at r106 v144)
  (at r162 v145)
  (free v146)
  (at r89 v147)
  (at r152 v148)
  (free v149)
  (free v150)
  (at r116 v151)
  (at r167 v152)
  (at r85 v153)
  (free v154)
  (free v155)
  (at r118 v156)
  (free v157)
  (at r165 v158)
  (at r122 v159)
  (free v160)
  (at r93 v161)
  (at r102 v162)
  (free v163)
  (free v164)
  (at r144 v165)
  (free v166)
  (at r121 v167)
  (at r137 v168)
  (at r170 v169)
  (at r117 v170)
  (at r140 v171)
  (free v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v79)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v20)
  (adjacent v2 v51)
  (adjacent v2 v145)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v140)
  (adjacent v4 v37)
  (adjacent v4 v98)
  (adjacent v5 v6)
  (adjacent v5 v19)
  (adjacent v5 v142)
  (adjacent v6 v7)
  (adjacent v6 v87)
  (adjacent v7 v8)
  (adjacent v7 v14)
  (adjacent v8 v9)
  (adjacent v8 v37)
  (adjacent v8 v109)
  (adjacent v9 v10)
  (adjacent v9 v13)
  (adjacent v9 v41)
  (adjacent v10 v11)
  (adjacent v11 v25)
  (adjacent v11 v44)
  (adjacent v11 v56)
  (adjacent v12 v13)
  (adjacent v12 v63)
  (adjacent v12 v151)
  (adjacent v14 v15)
  (adjacent v14 v61)
  (adjacent v15 v16)
  (adjacent v15 v124)
  (adjacent v16 v17)
  (adjacent v16 v52)
  (adjacent v17 v18)
  (adjacent v17 v28)
  (adjacent v17 v35)
  (adjacent v17 v57)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v20 v42)
  (adjacent v20 v73)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v22 v23)
  (adjacent v22 v36)
  (adjacent v22 v115)
  (adjacent v23 v24)
  (adjacent v23 v60)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v29)
  (adjacent v27 v28)
  (adjacent v28 v93)
  (adjacent v28 v167)
  (adjacent v29 v30)
  (adjacent v29 v121)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v133)
  (adjacent v32 v33)
  (adjacent v32 v38)
  (adjacent v33 v34)
  (adjacent v34 v45)
  (adjacent v34 v168)
  (adjacent v35 v36)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v86)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v42 v118)
  (adjacent v43 v44)
  (adjacent v44 v146)
  (adjacent v45 v46)
  (adjacent v45 v70)
  (adjacent v45 v110)
  (adjacent v46 v47)
  (adjacent v46 v80)
  (adjacent v47 v48)
  (adjacent v47 v88)
  (adjacent v47 v164)
  (adjacent v48 v49)
  (adjacent v48 v87)
  (adjacent v48 v123)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v64)
  (adjacent v51 v121)
  (adjacent v51 v149)
  (adjacent v52 v53)
  (adjacent v52 v134)
  (adjacent v53 v54)
  (adjacent v53 v81)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v69)
  (adjacent v56 v80)
  (adjacent v56 v116)
  (adjacent v56 v150)
  (adjacent v57 v58)
  (adjacent v57 v72)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v172)
  (adjacent v60 v113)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v122)
  (adjacent v63 v119)
  (adjacent v64 v65)
  (adjacent v64 v99)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v120)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v104)
  (adjacent v72 v154)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v158)
  (adjacent v86 v92)
  (adjacent v87 v139)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v97)
  (adjacent v90 v105)
  (adjacent v90 v159)
  (adjacent v91 v92)
  (adjacent v91 v119)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v100)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v114)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v157)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v127)
  (adjacent v112 v113)
  (adjacent v113 v153)
  (adjacent v114 v115)
  (adjacent v114 v120)
  (adjacent v116 v117)
  (adjacent v116 v147)
  (adjacent v117 v118)
  (adjacent v120 v126)
  (adjacent v120 v148)
  (adjacent v122 v123)
  (adjacent v123 v143)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v148)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v163)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v149 v158)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r156 v0)
  (at r146 v1)
  (at r162 v2)
  (free v3)
  (at r120 v4)
  (free v5)
  (at r134 v6)
  (free v7)
  (free v8)
  (at r132 v9)
  (at r107 v10)
  (at r135 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r106 v15)
  (at r125 v16)
  (at r99 v17)
  (at r171 v18)
  (at r100 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r150 v23)
  (free v24)
  (at r127 v25)
  (at r104 v26)
  (free v27)
  (at r130 v28)
  (free v29)
  (at r168 v30)
  (at r166 v31)
  (at r94 v32)
  (at r158 v33)
  (at r144 v34)
  (free v35)
  (at r148 v36)
  (free v37)
  (at r102 v38)
  (at r111 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r143 v43)
  (at r136 v44)
  (free v45)
  (free v46)
  (at r113 v47)
  (at r152 v48)
  (free v49)
  (at r145 v50)
  (at r103 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r159 v56)
  (at r139 v57)
  (at r160 v58)
  (at r142 v59)
  (at r114 v60)
  (at r147 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r164 v69)
  (at r126 v70)
  (at r90 v71)
  (at r92 v72)
  (at r169 v73)
  (free v74)
  (at r122 v75)
  (free v76)
  (at r87 v77)
  (at r161 v78)
  (free v79)
  (free v80)
  (at r167 v81)
  (free v82)
  (free v83)
  (at r115 v84)
  (free v85)
  (at r121 v86)
  (at r83 v87)
  (at r155 v88)
  (at r138 v89)
  (free v90)
  (at r141 v91)
  (free v92)
  (at r153 v93)
  (at r89 v94)
  (at r81 v95)
  (at r157 v96)
  (at r97 v97)
  (at r149 v98)
  (at r84 v99)
  (at r123 v100)
  (at r112 v101)
  (free v102)
  (at r154 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r124 v107)
  (free v108)
  (free v109)
  (at r93 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r108 v116)
  (at r172 v117)
  (at r96 v118)
  (free v119)
  (at r131 v120)
  (at r118 v121)
  (free v122)
  (at r86 v123)
  (at r165 v124)
  (free v125)
  (free v126)
  (free v127)
  (at r170 v128)
  (free v129)
  (at r151 v130)
  (free v131)
  (at r119 v132)
  (free v133)
  (at r110 v134)
  (at r105 v135)
  (at r140 v136)
  (at r137 v137)
  (free v138)
  (at r88 v139)
  (free v140)
  (free v141)
  (free v142)
  (at r82 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r91 v148)
  (free v149)
  (at r109 v150)
  (at r128 v151)
  (at r85 v152)
  (free v153)
  (at r95 v154)
  (free v155)
  (free v156)
  (at r163 v157)
  (free v158)
  (at r101 v159)
  (free v160)
  (free v161)
  (at r133 v162)
  (free v163)
  (at r116 v164)
  (free v165)
  (free v166)
  (at r117 v167)
  (free v168)
  (free v169)
  (free v170)
  (at r98 v171)
  (at r129 v172)
  )
 )
)