(define (problem multirobot_47_90%_c4)
 (:domain multirobot)
 (:objects
  v0 r99
  v1 r126
  v2 r157
  v3 r124
  v4
  v5
  v6
  v7
  v8 r150
  v9
  v10
  v11
  v12 r120
  v13 r153
  v14
  v15 r130
  v16
  v17 r104
  v18
  v19 r107
  v20 r95
  v21
  v22
  v23
  v24
  v25
  v26 r106
  v27
  v28
  v29
  v30 r166
  v31
  v32 r111
  v33
  v34
  v35 r116
  v36
  v37
  v38 r170
  v39
  v40
  v41 r94
  v42 r146
  v43
  v44 r164
  v45 r140
  v46
  v47
  v48 r132
  v49
  v50
  v51
  v52
  v53 r105
  v54 r167
  v55 r168
  v56 r128
  v57 r108
  v58
  v59 r109
  v60 r172
  v61
  v62
  v63
  v64
  v65 r145
  v66
  v67
  v68 r160
  v69
  v70
  v71
  v72
  v73
  v74
  v75 r169
  v76
  v77
  v78
  v79 r101
  v80 r118
  v81 r159
  v82 r110
  v83 r119
  v84 r158
  v85 r131
  v86 r122
  v87
  v88
  v89 r125
  v90
  v91
  v92 r141
  v93
  v94
  v95
  v96
  v97
  v98 r93
  v99
  v100 r113
  v101 r127
  v102
  v103 r147
  v104
  v105 r154
  v106
  v107 r136
  v108
  v109 r138
  v110
  v111 r98
  v112 r162
  v113 r161
  v114 r142
  v115 r149
  v116 r151
  v117
  v118
  v119
  v120 r103
  v121 r163
  v122 r171
  v123
  v124 r143
  v125 r129
  v126
  v127
  v128 r134
  v129
  v130 r152
  v131
  v132 r156
  v133
  v134 r114
  v135 r137
  v136
  v137
  v138
  v139 r102
  v140 r135
  v141
  v142
  v143
  v144
  v145 r133
  v146 r117
  v147 r144
  v148 r123
  v149 r139
  v150 r155
  v151
  v152 r96
  v153 r121
  v154
  v155
  v156
  v157 r100
  v158 r148
  v159
  v160
  v161
  v162
  v163
  v164
  v165 r165
  v166
  v167 r97
  v168
  v169
  v170 r112
  v171 r115
  v172
 )
 (:init
  (at r99 v0)
  (at r126 v1)
  (at r157 v2)
  (at r124 v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r150 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r120 v12)
  (at r153 v13)
  (free v14)
  (at r130 v15)
  (free v16)
  (at r104 v17)
  (free v18)
  (at r107 v19)
  (at r95 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r106 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r166 v30)
  (free v31)
  (at r111 v32)
  (free v33)
  (free v34)
  (at r116 v35)
  (free v36)
  (free v37)
  (at r170 v38)
  (free v39)
  (free v40)
  (at r94 v41)
  (at r146 v42)
  (free v43)
  (at r164 v44)
  (at r140 v45)
  (free v46)
  (free v47)
  (at r132 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r105 v53)
  (at r167 v54)
  (at r168 v55)
  (at r128 v56)
  (at r108 v57)
  (free v58)
  (at r109 v59)
  (at r172 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r145 v65)
  (free v66)
  (free v67)
  (at r160 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r169 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r101 v79)
  (at r118 v80)
  (at r159 v81)
  (at r110 v82)
  (at r119 v83)
  (at r158 v84)
  (at r131 v85)
  (at r122 v86)
  (free v87)
  (free v88)
  (at r125 v89)
  (free v90)
  (free v91)
  (at r141 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r93 v98)
  (free v99)
  (at r113 v100)
  (at r127 v101)
  (free v102)
  (at r147 v103)
  (free v104)
  (at r154 v105)
  (free v106)
  (at r136 v107)
  (free v108)
  (at r138 v109)
  (free v110)
  (at r98 v111)
  (at r162 v112)
  (at r161 v113)
  (at r142 v114)
  (at r149 v115)
  (at r151 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r103 v120)
  (at r163 v121)
  (at r171 v122)
  (free v123)
  (at r143 v124)
  (at r129 v125)
  (free v126)
  (free v127)
  (at r134 v128)
  (free v129)
  (at r152 v130)
  (free v131)
  (at r156 v132)
  (free v133)
  (at r114 v134)
  (at r137 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r102 v139)
  (at r135 v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (at r133 v145)
  (at r117 v146)
  (at r144 v147)
  (at r123 v148)
  (at r139 v149)
  (at r155 v150)
  (free v151)
  (at r96 v152)
  (at r121 v153)
  (free v154)
  (free v155)
  (free v156)
  (at r100 v157)
  (at r148 v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (free v163)
  (free v164)
  (at r165 v165)
  (free v166)
  (at r97 v167)
  (free v168)
  (free v169)
  (at r112 v170)
  (at r115 v171)
  (free v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v67)
  (adjacent v0 v97)
  (adjacent v0 v156)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v9)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v14)
  (adjacent v2 v102)
  (adjacent v2 v116)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v15)
  (adjacent v3 v51)
  (adjacent v4 v5)
  (adjacent v5 v16)
  (adjacent v5 v37)
  (adjacent v5 v56)
  (adjacent v6 v7)
  (adjacent v6 v35)
  (adjacent v6 v43)
  (adjacent v7 v8)
  (adjacent v7 v21)
  (adjacent v7 v60)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v10 v61)
  (adjacent v10 v80)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v11 v27)
  (adjacent v11 v28)
  (adjacent v11 v153)
  (adjacent v11 v154)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v15 v48)
  (adjacent v15 v49)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v38)
  (adjacent v18 v19)
  (adjacent v18 v56)
  (adjacent v19 v20)
  (adjacent v20 v63)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v40)
  (adjacent v23 v24)
  (adjacent v23 v34)
  (adjacent v23 v117)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v42)
  (adjacent v26 v27)
  (adjacent v26 v39)
  (adjacent v26 v154)
  (adjacent v27 v57)
  (adjacent v27 v105)
  (adjacent v28 v29)
  (adjacent v28 v89)
  (adjacent v29 v30)
  (adjacent v29 v50)
  (adjacent v29 v159)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v38)
  (adjacent v31 v103)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v109)
  (adjacent v36 v37)
  (adjacent v36 v73)
  (adjacent v37 v39)
  (adjacent v38 v64)
  (adjacent v39 v88)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v72)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v123)
  (adjacent v45 v46)
  (adjacent v45 v119)
  (adjacent v45 v149)
  (adjacent v46 v47)
  (adjacent v46 v162)
  (adjacent v47 v48)
  (adjacent v47 v79)
  (adjacent v47 v100)
  (adjacent v49 v50)
  (adjacent v49 v68)
  (adjacent v49 v82)
  (adjacent v49 v163)
  (adjacent v50 v55)
  (adjacent v51 v52)
  (adjacent v51 v101)
  (adjacent v51 v104)
  (adjacent v51 v172)
  (adjacent v52 v53)
  (adjacent v52 v138)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v137)
  (adjacent v56 v118)
  (adjacent v57 v58)
  (adjacent v57 v80)
  (adjacent v57 v141)
  (adjacent v58 v59)
  (adjacent v58 v81)
  (adjacent v59 v60)
  (adjacent v60 v94)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v81)
  (adjacent v66 v160)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v95)
  (adjacent v70 v98)
  (adjacent v71 v72)
  (adjacent v72 v124)
  (adjacent v72 v125)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v81 v132)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v115)
  (adjacent v87 v88)
  (adjacent v87 v131)
  (adjacent v88 v137)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v116)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v108)
  (adjacent v94 v142)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v109 v148)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v136)
  (adjacent v113 v114)
  (adjacent v113 v155)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v124)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v155)
  (adjacent v128 v129)
  (adjacent v128 v136)
  (adjacent v129 v130)
  (adjacent v129 v135)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v140 v167)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v168)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (free v0)
  (at r141 v1)
  (at r113 v2)
  (at r160 v3)
  (at r167 v4)
  (free v5)
  (at r128 v6)
  (at r101 v7)
  (free v8)
  (at r93 v9)
  (free v10)
  (at r133 v11)
  (free v12)
  (at r96 v13)
  (free v14)
  (at r117 v15)
  (free v16)
  (free v17)
  (at r104 v18)
  (at r125 v19)
  (at r146 v20)
  (at r155 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r114 v28)
  (at r171 v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r108 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (at r110 v40)
  (at r151 v41)
  (at r111 v42)
  (free v43)
  (at r132 v44)
  (at r123 v45)
  (at r137 v46)
  (free v47)
  (at r147 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r144 v52)
  (at r109 v53)
  (free v54)
  (at r158 v55)
  (at r136 v56)
  (free v57)
  (free v58)
  (free v59)
  (at r154 v60)
  (free v61)
  (at r164 v62)
  (free v63)
  (free v64)
  (at r140 v65)
  (at r105 v66)
  (free v67)
  (free v68)
  (at r98 v69)
  (at r153 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r131 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (at r97 v82)
  (free v83)
  (at r118 v84)
  (free v85)
  (at r134 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r100 v90)
  (at r116 v91)
  (free v92)
  (free v93)
  (at r165 v94)
  (free v95)
  (at r148 v96)
  (at r150 v97)
  (free v98)
  (at r162 v99)
  (at r156 v100)
  (at r172 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (at r126 v106)
  (at r170 v107)
  (free v108)
  (at r121 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r143 v115)
  (at r95 v116)
  (free v117)
  (free v118)
  (at r149 v119)
  (free v120)
  (free v121)
  (at r145 v122)
  (at r161 v123)
  (at r129 v124)
  (free v125)
  (free v126)
  (at r102 v127)
  (at r130 v128)
  (at r166 v129)
  (free v130)
  (free v131)
  (at r115 v132)
  (free v133)
  (at r103 v134)
  (free v135)
  (at r99 v136)
  (at r127 v137)
  (free v138)
  (free v139)
  (at r112 v140)
  (at r106 v141)
  (at r163 v142)
  (at r159 v143)
  (free v144)
  (free v145)
  (at r169 v146)
  (at r138 v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (at r124 v152)
  (free v153)
  (at r152 v154)
  (at r119 v155)
  (free v156)
  (at r122 v157)
  (free v158)
  (free v159)
  (at r168 v160)
  (at r120 v161)
  (free v162)
  (at r107 v163)
  (at r139 v164)
  (free v165)
  (free v166)
  (at r142 v167)
  (free v168)
  (at r135 v169)
  (at r157 v170)
  (at r94 v171)
  (free v172)
  )
 )
)