(define (problem multirobot_47_90%_c0)
 (:domain multirobot)
 (:objects
  v0 r114
  v1 r105
  v2 r135
  v3 r131
  v4
  v5
  v6 r146
  v7 r103
  v8
  v9 r91
  v10 r100
  v11
  v12
  v13
  v14
  v15 r106
  v16 r128
  v17
  v18 r110
  v19 r160
  v20 r104
  v21
  v22 r109
  v23
  v24
  v25 r159
  v26
  v27 r148
  v28 r113
  v29
  v30
  v31 r108
  v32 r156
  v33 r97
  v34 r149
  v35 r144
  v36
  v37
  v38 r107
  v39 r154
  v40 r92
  v41
  v42
  v43 r133
  v44 r127
  v45 r143
  v46
  v47
  v48
  v49
  v50
  v51 r119
  v52 r140
  v53
  v54
  v55
  v56 r95
  v57
  v58
  v59
  v60 r126
  v61
  v62
  v63
  v64
  v65
  v66
  v67
  v68 r161
  v69
  v70 r139
  v71 r117
  v72 r122
  v73
  v74 r164
  v75 r125
  v76
  v77
  v78
  v79 r115
  v80 r155
  v81
  v82 r101
  v83 r123
  v84
  v85
  v86 r147
  v87
  v88
  v89
  v90
  v91 r96
  v92 r162
  v93 r157
  v94 r150
  v95 r120
  v96
  v97
  v98
  v99 r99
  v100
  v101 r124
  v102
  v103
  v104 r138
  v105 r141
  v106
  v107
  v108 r130
  v109
  v110
  v111
  v112 r142
  v113 r102
  v114 r134
  v115
  v116
  v117 r121
  v118 r153
  v119
  v120
  v121 r111
  v122 r116
  v123 r132
  v124
  v125
  v126 r158
  v127
  v128
  v129 r163
  v130
  v131
  v132
  v133
  v134
  v135
  v136
  v137
  v138 r145
  v139
  v140
  v141
  v142 r98
  v143
  v144
  v145
  v146 r93
  v147
  v148 r152
  v149
  v150
  v151
  v152 r94
  v153 r136
  v154 r118
  v155
  v156 r137
  v157 r151
  v158
  v159
  v160
  v161
  v162
  v163 r129
  v164 r112
 )
 (:init
  (at r114 v0)
  (at r105 v1)
  (at r135 v2)
  (at r131 v3)
  (free v4)
  (free v5)
  (at r146 v6)
  (at r103 v7)
  (free v8)
  (at r91 v9)
  (at r100 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r106 v15)
  (at r128 v16)
  (free v17)
  (at r110 v18)
  (at r160 v19)
  (at r104 v20)
  (free v21)
  (at r109 v22)
  (free v23)
  (free v24)
  (at r159 v25)
  (free v26)
  (at r148 v27)
  (at r113 v28)
  (free v29)
  (free v30)
  (at r108 v31)
  (at r156 v32)
  (at r97 v33)
  (at r149 v34)
  (at r144 v35)
  (free v36)
  (free v37)
  (at r107 v38)
  (at r154 v39)
  (at r92 v40)
  (free v41)
  (free v42)
  (at r133 v43)
  (at r127 v44)
  (at r143 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r119 v51)
  (at r140 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r95 v56)
  (free v57)
  (free v58)
  (free v59)
  (at r126 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r161 v68)
  (free v69)
  (at r139 v70)
  (at r117 v71)
  (at r122 v72)
  (free v73)
  (at r164 v74)
  (at r125 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r115 v79)
  (at r155 v80)
  (free v81)
  (at r101 v82)
  (at r123 v83)
  (free v84)
  (free v85)
  (at r147 v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r96 v91)
  (at r162 v92)
  (at r157 v93)
  (at r150 v94)
  (at r120 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r99 v99)
  (free v100)
  (at r124 v101)
  (free v102)
  (free v103)
  (at r138 v104)
  (at r141 v105)
  (free v106)
  (free v107)
  (at r130 v108)
  (free v109)
  (free v110)
  (free v111)
  (at r142 v112)
  (at r102 v113)
  (at r134 v114)
  (free v115)
  (free v116)
  (at r121 v117)
  (at r153 v118)
  (free v119)
  (free v120)
  (at r111 v121)
  (at r116 v122)
  (at r132 v123)
  (free v124)
  (free v125)
  (at r158 v126)
  (free v127)
  (free v128)
  (at r163 v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (at r145 v138)
  (free v139)
  (free v140)
  (free v141)
  (at r98 v142)
  (free v143)
  (free v144)
  (free v145)
  (at r93 v146)
  (free v147)
  (at r152 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r94 v152)
  (at r136 v153)
  (at r118 v154)
  (free v155)
  (at r137 v156)
  (at r151 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (at r129 v163)
  (at r112 v164)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v62)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v136)
  (adjacent v4 v24)
  (adjacent v5 v6)
  (adjacent v5 v22)
  (adjacent v5 v34)
  (adjacent v5 v113)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v15)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v53)
  (adjacent v10 v150)
  (adjacent v11 v14)
  (adjacent v11 v21)
  (adjacent v12 v13)
  (adjacent v12 v16)
  (adjacent v13 v14)
  (adjacent v13 v35)
  (adjacent v14 v32)
  (adjacent v15 v31)
  (adjacent v16 v17)
  (adjacent v16 v147)
  (adjacent v16 v157)
  (adjacent v17 v18)
  (adjacent v17 v45)
  (adjacent v17 v93)
  (adjacent v17 v113)
  (adjacent v18 v19)
  (adjacent v18 v25)
  (adjacent v18 v164)
  (adjacent v19 v20)
  (adjacent v19 v33)
  (adjacent v19 v41)
  (adjacent v19 v158)
  (adjacent v20 v21)
  (adjacent v21 v154)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v46)
  (adjacent v23 v69)
  (adjacent v23 v81)
  (adjacent v25 v26)
  (adjacent v25 v141)
  (adjacent v26 v27)
  (adjacent v26 v52)
  (adjacent v27 v28)
  (adjacent v27 v32)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v29 v30)
  (adjacent v29 v89)
  (adjacent v29 v122)
  (adjacent v29 v129)
  (adjacent v30 v31)
  (adjacent v31 v33)
  (adjacent v31 v42)
  (adjacent v33 v140)
  (adjacent v34 v35)
  (adjacent v34 v59)
  (adjacent v34 v97)
  (adjacent v35 v130)
  (adjacent v36 v37)
  (adjacent v36 v75)
  (adjacent v36 v92)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v68)
  (adjacent v39 v40)
  (adjacent v39 v131)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v63)
  (adjacent v44 v45)
  (adjacent v45 v148)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v82)
  (adjacent v47 v88)
  (adjacent v47 v98)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v142)
  (adjacent v51 v151)
  (adjacent v52 v76)
  (adjacent v53 v54)
  (adjacent v53 v104)
  (adjacent v54 v55)
  (adjacent v54 v99)
  (adjacent v55 v56)
  (adjacent v55 v74)
  (adjacent v55 v89)
  (adjacent v55 v137)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v83)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v130)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v75)
  (adjacent v62 v121)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v114)
  (adjacent v66 v67)
  (adjacent v66 v96)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v123)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v126)
  (adjacent v74 v155)
  (adjacent v76 v77)
  (adjacent v76 v107)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v84)
  (adjacent v80 v81)
  (adjacent v80 v90)
  (adjacent v82 v83)
  (adjacent v82 v114)
  (adjacent v82 v147)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v105)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v97)
  (adjacent v92 v98)
  (adjacent v93 v94)
  (adjacent v93 v143)
  (adjacent v93 v146)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v98 v106)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v127)
  (adjacent v105 v106)
  (adjacent v106 v112)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v157)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v115)
  (adjacent v111 v112)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v124)
  (adjacent v121 v143)
  (adjacent v122 v123)
  (adjacent v122 v156)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v144)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
 )
 (:goal
  (and
  (at r110 v0)
  (at r158 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r133 v5)
  (free v6)
  (free v7)
  (at r116 v8)
  (free v9)
  (free v10)
  (at r130 v11)
  (at r151 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (at r97 v17)
  (at r98 v18)
  (free v19)
  (at r122 v20)
  (free v21)
  (free v22)
  (at r108 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r161 v27)
  (free v28)
  (free v29)
  (free v30)
  (at r148 v31)
  (at r147 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r156 v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r143 v41)
  (free v42)
  (free v43)
  (at r131 v44)
  (at r140 v45)
  (free v46)
  (free v47)
  (at r101 v48)
  (at r146 v49)
  (free v50)
  (at r149 v51)
  (at r107 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r113 v56)
  (free v57)
  (at r111 v58)
  (free v59)
  (at r144 v60)
  (free v61)
  (free v62)
  (at r127 v63)
  (at r129 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r112 v68)
  (at r134 v69)
  (free v70)
  (at r141 v71)
  (at r93 v72)
  (at r120 v73)
  (free v74)
  (free v75)
  (free v76)
  (at r157 v77)
  (free v78)
  (free v79)
  (at r102 v80)
  (free v81)
  (at r153 v82)
  (free v83)
  (at r162 v84)
  (at r118 v85)
  (free v86)
  (free v87)
  (at r100 v88)
  (at r91 v89)
  (at r94 v90)
  (free v91)
  (free v92)
  (at r96 v93)
  (at r92 v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (at r114 v99)
  (at r105 v100)
  (at r95 v101)
  (free v102)
  (free v103)
  (free v104)
  (at r119 v105)
  (free v106)
  (free v107)
  (at r163 v108)
  (free v109)
  (at r160 v110)
  (at r155 v111)
  (at r138 v112)
  (free v113)
  (at r125 v114)
  (free v115)
  (free v116)
  (at r103 v117)
  (free v118)
  (at r104 v119)
  (free v120)
  (at r115 v121)
  (at r128 v122)
  (free v123)
  (free v124)
  (at r121 v125)
  (free v126)
  (free v127)
  (at r109 v128)
  (at r99 v129)
  (free v130)
  (at r154 v131)
  (free v132)
  (at r135 v133)
  (free v134)
  (free v135)
  (at r136 v136)
  (free v137)
  (at r106 v138)
  (at r142 v139)
  (at r132 v140)
  (free v141)
  (free v142)
  (free v143)
  (at r150 v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (at r137 v149)
  (free v150)
  (free v151)
  (at r117 v152)
  (free v153)
  (at r124 v154)
  (at r123 v155)
  (at r159 v156)
  (at r139 v157)
  (at r145 v158)
  (free v159)
  (at r126 v160)
  (at r164 v161)
  (free v162)
  (free v163)
  (at r152 v164)
  )
 )
)