(define (problem multirobot_47_90%_c6)
 (:domain multirobot)
 (:objects
  v0
  v1 r114
  v2 r158
  v3
  v4 r149
  v5
  v6 r153
  v7 r174
  v8
  v9 r91
  v10
  v11
  v12 r177
  v13
  v14 r165
  v15 r109
  v16 r170
  v17
  v18
  v19
  v20
  v21
  v22 r162
  v23 r168
  v24
  v25
  v26
  v27
  v28 r164
  v29
  v30
  v31
  v32
  v33 r128
  v34
  v35 r169
  v36 r147
  v37 r120
  v38 r161
  v39
  v40
  v41 r138
  v42 r151
  v43 r130
  v44 r152
  v45
  v46 r171
  v47
  v48 r104
  v49 r175
  v50 r142
  v51
  v52
  v53 r98
  v54 r93
  v55
  v56 r131
  v57
  v58
  v59 r146
  v60 r124
  v61 r135
  v62
  v63
  v64
  v65
  v66
  v67
  v68
  v69 r140
  v70
  v71 r173
  v72 r150
  v73
  v74 r121
  v75
  v76 r163
  v77 r148
  v78 r99
  v79 r92
  v80
  v81 r167
  v82 r144
  v83 r105
  v84 r136
  v85 r134
  v86 r166
  v87
  v88
  v89
  v90
  v91
  v92
  v93
  v94
  v95
  v96 r125
  v97
  v98
  v99 r143
  v100 r141
  v101
  v102 r115
  v103
  v104
  v105 r113
  v106
  v107 r107
  v108
  v109
  v110 r110
  v111 r122
  v112
  v113
  v114
  v115 r145
  v116 r133
  v117
  v118
  v119
  v120
  v121
  v122
  v123
  v124
  v125 r106
  v126
  v127 r103
  v128
  v129
  v130 r126
  v131 r95
  v132 r127
  v133 r172
  v134 r129
  v135
  v136 r100
  v137
  v138 r154
  v139 r101
  v140 r139
  v141 r117
  v142
  v143 r119
  v144
  v145
  v146
  v147
  v148
  v149
  v150
  v151 r157
  v152 r137
  v153
  v154 r108
  v155 r159
  v156 r111
  v157
  v158
  v159 r155
  v160
  v161 r112
  v162
  v163 r176
  v164
  v165
  v166 r178
  v167
  v168 r102
  v169
  v170 r160
  v171 r123
  v172 r96
  v173 r132
  v174 r118
  v175 r97
  v176 r156
  v177 r94
  v178 r116
 )
 (:init
  (free v0)
  (at r114 v1)
  (at r158 v2)
  (free v3)
  (at r149 v4)
  (free v5)
  (at r153 v6)
  (at r174 v7)
  (free v8)
  (at r91 v9)
  (free v10)
  (free v11)
  (at r177 v12)
  (free v13)
  (at r165 v14)
  (at r109 v15)
  (at r170 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r162 v22)
  (at r168 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r164 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r128 v33)
  (free v34)
  (at r169 v35)
  (at r147 v36)
  (at r120 v37)
  (at r161 v38)
  (free v39)
  (free v40)
  (at r138 v41)
  (at r151 v42)
  (at r130 v43)
  (at r152 v44)
  (free v45)
  (at r171 v46)
  (free v47)
  (at r104 v48)
  (at r175 v49)
  (at r142 v50)
  (free v51)
  (free v52)
  (at r98 v53)
  (at r93 v54)
  (free v55)
  (at r131 v56)
  (free v57)
  (free v58)
  (at r146 v59)
  (at r124 v60)
  (at r135 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r140 v69)
  (free v70)
  (at r173 v71)
  (at r150 v72)
  (free v73)
  (at r121 v74)
  (free v75)
  (at r163 v76)
  (at r148 v77)
  (at r99 v78)
  (at r92 v79)
  (free v80)
  (at r167 v81)
  (at r144 v82)
  (at r105 v83)
  (at r136 v84)
  (at r134 v85)
  (at r166 v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (at r125 v96)
  (free v97)
  (free v98)
  (at r143 v99)
  (at r141 v100)
  (free v101)
  (at r115 v102)
  (free v103)
  (free v104)
  (at r113 v105)
  (free v106)
  (at r107 v107)
  (free v108)
  (free v109)
  (at r110 v110)
  (at r122 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r145 v115)
  (at r133 v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (at r106 v125)
  (free v126)
  (at r103 v127)
  (free v128)
  (free v129)
  (at r126 v130)
  (at r95 v131)
  (at r127 v132)
  (at r172 v133)
  (at r129 v134)
  (free v135)
  (at r100 v136)
  (free v137)
  (at r154 v138)
  (at r101 v139)
  (at r139 v140)
  (at r117 v141)
  (free v142)
  (at r119 v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r157 v151)
  (at r137 v152)
  (free v153)
  (at r108 v154)
  (at r159 v155)
  (at r111 v156)
  (free v157)
  (free v158)
  (at r155 v159)
  (free v160)
  (at r112 v161)
  (free v162)
  (at r176 v163)
  (free v164)
  (free v165)
  (at r178 v166)
  (free v167)
  (at r102 v168)
  (free v169)
  (at r160 v170)
  (at r123 v171)
  (at r96 v172)
  (at r132 v173)
  (at r118 v174)
  (at r97 v175)
  (at r156 v176)
  (at r94 v177)
  (at r116 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v11)
  (adjacent v0 v119)
  (adjacent v0 v136)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v54)
  (adjacent v2 v3)
  (adjacent v2 v26)
  (adjacent v2 v37)
  (adjacent v2 v45)
  (adjacent v2 v54)
  (adjacent v3 v4)
  (adjacent v3 v21)
  (adjacent v4 v17)
  (adjacent v4 v55)
  (adjacent v4 v63)
  (adjacent v5 v12)
  (adjacent v5 v113)
  (adjacent v6 v7)
  (adjacent v6 v86)
  (adjacent v7 v8)
  (adjacent v7 v86)
  (adjacent v7 v142)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v9 v22)
  (adjacent v9 v31)
  (adjacent v9 v38)
  (adjacent v9 v163)
  (adjacent v10 v11)
  (adjacent v10 v66)
  (adjacent v12 v13)
  (adjacent v12 v25)
  (adjacent v12 v116)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v158)
  (adjacent v15 v16)
  (adjacent v15 v91)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v16 v30)
  (adjacent v16 v39)
  (adjacent v16 v103)
  (adjacent v17 v18)
  (adjacent v17 v30)
  (adjacent v18 v29)
  (adjacent v19 v20)
  (adjacent v19 v65)
  (adjacent v20 v21)
  (adjacent v21 v38)
  (adjacent v21 v118)
  (adjacent v21 v131)
  (adjacent v22 v23)
  (adjacent v22 v46)
  (adjacent v22 v99)
  (adjacent v22 v135)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v76)
  (adjacent v28 v29)
  (adjacent v28 v84)
  (adjacent v30 v97)
  (adjacent v30 v164)
  (adjacent v31 v32)
  (adjacent v31 v53)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v69)
  (adjacent v37 v70)
  (adjacent v39 v40)
  (adjacent v39 v52)
  (adjacent v40 v41)
  (adjacent v40 v59)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v53)
  (adjacent v42 v85)
  (adjacent v43 v44)
  (adjacent v43 v60)
  (adjacent v44 v45)
  (adjacent v44 v171)
  (adjacent v45 v67)
  (adjacent v45 v75)
  (adjacent v46 v47)
  (adjacent v46 v66)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v150)
  (adjacent v50 v51)
  (adjacent v50 v77)
  (adjacent v50 v110)
  (adjacent v51 v52)
  (adjacent v51 v74)
  (adjacent v53 v84)
  (adjacent v54 v111)
  (adjacent v55 v56)
  (adjacent v55 v111)
  (adjacent v55 v130)
  (adjacent v56 v57)
  (adjacent v56 v83)
  (adjacent v57 v58)
  (adjacent v57 v62)
  (adjacent v57 v87)
  (adjacent v58 v59)
  (adjacent v59 v139)
  (adjacent v60 v61)
  (adjacent v60 v92)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v138)
  (adjacent v64 v65)
  (adjacent v64 v117)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v104)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v98)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v85)
  (adjacent v85 v157)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v112)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v100)
  (adjacent v97 v124)
  (adjacent v98 v99)
  (adjacent v99 v123)
  (adjacent v99 v149)
  (adjacent v100 v101)
  (adjacent v100 v112)
  (adjacent v101 v102)
  (adjacent v101 v175)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v151)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v143)
  (adjacent v134 v169)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v148)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v170)
  (adjacent v149 v150)
  (adjacent v150 v178)
  (adjacent v151 v152)
  (adjacent v151 v174)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v165 v170)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r108 v2)
  (at r159 v3)
  (at r170 v4)
  (free v5)
  (free v6)
  (at r150 v7)
  (at r139 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r176 v12)
  (free v13)
  (free v14)
  (free v15)
  (at r152 v16)
  (free v17)
  (at r123 v18)
  (at r100 v19)
  (free v20)
  (free v21)
  (at r97 v22)
  (free v23)
  (free v24)
  (free v25)
  (at r169 v26)
  (at r160 v27)
  (free v28)
  (at r106 v29)
  (at r140 v30)
  (at r121 v31)
  (at r146 v32)
  (at r144 v33)
  (at r157 v34)
  (free v35)
  (free v36)
  (at r162 v37)
  (at r133 v38)
  (free v39)
  (at r147 v40)
  (at r167 v41)
  (free v42)
  (at r161 v43)
  (free v44)
  (at r102 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r105 v50)
  (free v51)
  (free v52)
  (at r98 v53)
  (at r166 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r135 v63)
  (free v64)
  (free v65)
  (at r136 v66)
  (at r172 v67)
  (at r141 v68)
  (free v69)
  (at r173 v70)
  (free v71)
  (at r115 v72)
  (at r155 v73)
  (at r91 v74)
  (at r94 v75)
  (at r153 v76)
  (at r110 v77)
  (free v78)
  (at r129 v79)
  (at r125 v80)
  (at r120 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (at r95 v86)
  (at r132 v87)
  (at r101 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r118 v92)
  (at r92 v93)
  (at r96 v94)
  (at r107 v95)
  (free v96)
  (at r154 v97)
  (at r122 v98)
  (at r103 v99)
  (at r117 v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r143 v105)
  (at r175 v106)
  (at r163 v107)
  (at r111 v108)
  (free v109)
  (at r126 v110)
  (free v111)
  (at r149 v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r171 v117)
  (free v118)
  (at r113 v119)
  (at r109 v120)
  (free v121)
  (at r148 v122)
  (free v123)
  (at r134 v124)
  (free v125)
  (at r137 v126)
  (free v127)
  (at r104 v128)
  (at r127 v129)
  (at r138 v130)
  (free v131)
  (at r131 v132)
  (free v133)
  (at r145 v134)
  (at r168 v135)
  (at r174 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r116 v143)
  (free v144)
  (free v145)
  (at r151 v146)
  (free v147)
  (at r156 v148)
  (free v149)
  (free v150)
  (at r128 v151)
  (at r164 v152)
  (at r124 v153)
  (free v154)
  (free v155)
  (at r158 v156)
  (at r119 v157)
  (free v158)
  (free v159)
  (at r178 v160)
  (free v161)
  (free v162)
  (at r177 v163)
  (at r114 v164)
  (free v165)
  (free v166)
  (at r165 v167)
  (at r142 v168)
  (free v169)
  (at r130 v170)
  (free v171)
  (free v172)
  (at r99 v173)
  (free v174)
  (at r93 v175)
  (at r112 v176)
  (free v177)
  (free v178)
  )
 )
)