(define (problem multirobot_47_90%_c2)
 (:domain multirobot)
 (:objects
  v0 r126
  v1
  v2
  v3
  v4
  v5
  v6
  v7 r120
  v8
  v9 r91
  v10 r136
  v11 r144
  v12
  v13
  v14
  v15 r109
  v16
  v17
  v18
  v19 r119
  v20
  v21
  v22 r124
  v23 r133
  v24
  v25 r111
  v26
  v27
  v28
  v29 r98
  v30
  v31 r140
  v32
  v33 r106
  v34
  v35
  v36 r121
  v37
  v38
  v39
  v40 r107
  v41
  v42 r100
  v43 r125
  v44 r141
  v45
  v46
  v47
  v48 r115
  v49 r101
  v50
  v51
  v52 r132
  v53
  v54 r134
  v55 r127
  v56 r117
  v57
  v58 r114
  v59
  v60 r94
  v61
  v62
  v63
  v64 r122
  v65
  v66
  v67
  v68
  v69 r137
  v70
  v71
  v72
  v73
  v74
  v75 r110
  v76
  v77
  v78 r108
  v79
  v80
  v81
  v82
  v83
  v84 r96
  v85
  v86
  v87
  v88 r102
  v89
  v90
  v91
  v92 r93
  v93 r104
  v94 r116
  v95 r142
  v96
  v97
  v98 r143
  v99
  v100 r103
  v101
  v102
  v103
  v104
  v105 r92
  v106 r97
  v107
  v108
  v109 r128
  v110
  v111 r135
  v112 r118
  v113 r95
  v114 r131
  v115
  v116
  v117
  v118
  v119 r99
  v120
  v121
  v122
  v123
  v124 r130
  v125
  v126 r139
  v127
  v128
  v129
  v130 r113
  v131
  v132 r112
  v133 r105
  v134
  v135
  v136
  v137 r129
  v138
  v139
  v140
  v141
  v142 r123
  v143
  v144 r138
 )
 (:init
  (at r126 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r120 v7)
  (free v8)
  (at r91 v9)
  (at r136 v10)
  (at r144 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r109 v15)
  (free v16)
  (free v17)
  (free v18)
  (at r119 v19)
  (free v20)
  (free v21)
  (at r124 v22)
  (at r133 v23)
  (free v24)
  (at r111 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r98 v29)
  (free v30)
  (at r140 v31)
  (free v32)
  (at r106 v33)
  (free v34)
  (free v35)
  (at r121 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r107 v40)
  (free v41)
  (at r100 v42)
  (at r125 v43)
  (at r141 v44)
  (free v45)
  (free v46)
  (free v47)
  (at r115 v48)
  (at r101 v49)
  (free v50)
  (free v51)
  (at r132 v52)
  (free v53)
  (at r134 v54)
  (at r127 v55)
  (at r117 v56)
  (free v57)
  (at r114 v58)
  (free v59)
  (at r94 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r122 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r137 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r110 v75)
  (free v76)
  (free v77)
  (at r108 v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r96 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r102 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r93 v92)
  (at r104 v93)
  (at r116 v94)
  (at r142 v95)
  (free v96)
  (free v97)
  (at r143 v98)
  (free v99)
  (at r103 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r92 v105)
  (at r97 v106)
  (free v107)
  (free v108)
  (at r128 v109)
  (free v110)
  (at r135 v111)
  (at r118 v112)
  (at r95 v113)
  (at r131 v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (at r99 v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r130 v124)
  (free v125)
  (at r139 v126)
  (free v127)
  (free v128)
  (free v129)
  (at r113 v130)
  (free v131)
  (at r112 v132)
  (at r105 v133)
  (free v134)
  (free v135)
  (free v136)
  (at r129 v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (at r123 v142)
  (free v143)
  (at r138 v144)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v21)
  (adjacent v0 v25)
  (adjacent v0 v124)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v17)
  (adjacent v1 v39)
  (adjacent v1 v55)
  (adjacent v1 v102)
  (adjacent v1 v137)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v9)
  (adjacent v3 v16)
  (adjacent v3 v66)
  (adjacent v4 v31)
  (adjacent v4 v47)
  (adjacent v4 v136)
  (adjacent v5 v10)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v32)
  (adjacent v6 v56)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v37)
  (adjacent v7 v80)
  (adjacent v8 v9)
  (adjacent v9 v15)
  (adjacent v9 v22)
  (adjacent v9 v35)
  (adjacent v9 v40)
  (adjacent v10 v11)
  (adjacent v11 v75)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v33)
  (adjacent v13 v64)
  (adjacent v13 v73)
  (adjacent v14 v15)
  (adjacent v15 v39)
  (adjacent v16 v113)
  (adjacent v16 v129)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v101)
  (adjacent v18 v125)
  (adjacent v19 v20)
  (adjacent v19 v36)
  (adjacent v19 v45)
  (adjacent v20 v21)
  (adjacent v20 v30)
  (adjacent v21 v46)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v26)
  (adjacent v25 v138)
  (adjacent v26 v27)
  (adjacent v26 v64)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v47)
  (adjacent v28 v48)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v30 v87)
  (adjacent v30 v109)
  (adjacent v31 v32)
  (adjacent v31 v76)
  (adjacent v31 v88)
  (adjacent v32 v34)
  (adjacent v33 v34)
  (adjacent v33 v69)
  (adjacent v34 v77)
  (adjacent v35 v36)
  (adjacent v36 v67)
  (adjacent v37 v38)
  (adjacent v38 v49)
  (adjacent v38 v65)
  (adjacent v39 v46)
  (adjacent v40 v41)
  (adjacent v40 v100)
  (adjacent v41 v42)
  (adjacent v41 v70)
  (adjacent v41 v90)
  (adjacent v42 v43)
  (adjacent v42 v93)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v48)
  (adjacent v45 v92)
  (adjacent v46 v74)
  (adjacent v46 v91)
  (adjacent v47 v76)
  (adjacent v48 v101)
  (adjacent v48 v102)
  (adjacent v49 v50)
  (adjacent v49 v63)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v65)
  (adjacent v51 v95)
  (adjacent v52 v53)
  (adjacent v52 v58)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v66)
  (adjacent v55 v57)
  (adjacent v55 v123)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v79)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v99)
  (adjacent v70 v71)
  (adjacent v70 v108)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v100)
  (adjacent v74 v75)
  (adjacent v75 v120)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v81)
  (adjacent v79 v82)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v94)
  (adjacent v85 v86)
  (adjacent v85 v94)
  (adjacent v86 v87)
  (adjacent v86 v103)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v93)
  (adjacent v89 v124)
  (adjacent v90 v144)
  (adjacent v91 v92)
  (adjacent v94 v114)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v119)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v130)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v130 v137)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
 )
 (:goal
  (and
  (at r105 v0)
  (at r139 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r127 v7)
  (free v8)
  (free v9)
  (at r107 v10)
  (at r94 v11)
  (at r110 v12)
  (at r113 v13)
  (at r98 v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (at r106 v20)
  (free v21)
  (free v22)
  (at r118 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r102 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r99 v34)
  (at r143 v35)
  (free v36)
  (free v37)
  (at r144 v38)
  (at r97 v39)
  (free v40)
  (at r128 v41)
  (free v42)
  (at r116 v43)
  (free v44)
  (free v45)
  (at r126 v46)
  (free v47)
  (at r103 v48)
  (free v49)
  (at r136 v50)
  (at r112 v51)
  (free v52)
  (at r100 v53)
  (free v54)
  (free v55)
  (free v56)
  (at r122 v57)
  (at r137 v58)
  (free v59)
  (free v60)
  (at r115 v61)
  (at r109 v62)
  (free v63)
  (at r91 v64)
  (at r95 v65)
  (free v66)
  (at r141 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (at r129 v72)
  (free v73)
  (free v74)
  (at r132 v75)
  (at r92 v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r125 v81)
  (at r140 v82)
  (at r101 v83)
  (free v84)
  (free v85)
  (free v86)
  (at r104 v87)
  (at r130 v88)
  (at r133 v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (at r124 v96)
  (free v97)
  (at r131 v98)
  (free v99)
  (free v100)
  (at r93 v101)
  (at r135 v102)
  (free v103)
  (at r120 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r142 v110)
  (free v111)
  (free v112)
  (at r138 v113)
  (free v114)
  (free v115)
  (at r108 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (at r123 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r134 v127)
  (free v128)
  (at r117 v129)
  (free v130)
  (at r121 v131)
  (free v132)
  (at r111 v133)
  (free v134)
  (at r96 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r119 v140)
  (free v141)
  (free v142)
  (at r114 v143)
  (free v144)
  )
 )
)