(define (problem multirobot_47_90%_c7)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r151
  v3 r135
  v4
  v5 r143
  v6 r100
  v7 r92
  v8
  v9 r112
  v10
  v11
  v12 r165
  v13
  v14 r167
  v15 r173
  v16 r138
  v17
  v18
  v19 r176
  v20 r158
  v21 r147
  v22 r162
  v23 r93
  v24
  v25
  v26 r187
  v27
  v28
  v29
  v30 r104
  v31 r174
  v32 r142
  v33
  v34
  v35 r129
  v36
  v37
  v38
  v39 r166
  v40 r140
  v41 r157
  v42
  v43
  v44 r184
  v45 r110
  v46
  v47 r182
  v48 r161
  v49 r106
  v50
  v51 r154
  v52
  v53
  v54
  v55 r128
  v56
  v57 r148
  v58
  v59 r136
  v60 r170
  v61 r137
  v62 r116
  v63
  v64 r179
  v65
  v66
  v67
  v68 r152
  v69 r111
  v70 r181
  v71 r186
  v72
  v73 r153
  v74
  v75
  v76 r96
  v77 r145
  v78 r127
  v79
  v80
  v81
  v82 r185
  v83
  v84
  v85
  v86 r141
  v87 r131
  v88
  v89 r150
  v90 r130
  v91
  v92
  v93 r97
  v94 r163
  v95
  v96 r120
  v97 r123
  v98 r107
  v99
  v100
  v101
  v102
  v103 r98
  v104 r94
  v105 r146
  v106
  v107
  v108
  v109 r101
  v110 r171
  v111 r159
  v112
  v113
  v114 r139
  v115
  v116 r125
  v117
  v118
  v119 r172
  v120 r118
  v121 r124
  v122 r121
  v123
  v124
  v125 r169
  v126 r109
  v127
  v128 r102
  v129 r105
  v130 r133
  v131
  v132
  v133
  v134 r156
  v135 r103
  v136 r177
  v137
  v138 r108
  v139 r99
  v140
  v141 r114
  v142 r178
  v143
  v144
  v145
  v146
  v147
  v148 r95
  v149
  v150 r164
  v151 r149
  v152
  v153
  v154
  v155 r122
  v156 r134
  v157 r160
  v158 r144
  v159 r126
  v160 r168
  v161 r119
  v162
  v163 r175
  v164 r113
  v165
  v166
  v167
  v168
  v169 r155
  v170
  v171
  v172 r180
  v173
  v174
  v175
  v176
  v177 r183
  v178 r188
  v179 r117
  v180
  v181
  v182 r132
  v183
  v184
  v185 r189
  v186
  v187
  v188
  v189 r115
 )
 (:init
  (free v0)
  (free v1)
  (at r151 v2)
  (at r135 v3)
  (free v4)
  (at r143 v5)
  (at r100 v6)
  (at r92 v7)
  (free v8)
  (at r112 v9)
  (free v10)
  (free v11)
  (at r165 v12)
  (free v13)
  (at r167 v14)
  (at r173 v15)
  (at r138 v16)
  (free v17)
  (free v18)
  (at r176 v19)
  (at r158 v20)
  (at r147 v21)
  (at r162 v22)
  (at r93 v23)
  (free v24)
  (free v25)
  (at r187 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r104 v30)
  (at r174 v31)
  (at r142 v32)
  (free v33)
  (free v34)
  (at r129 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r166 v39)
  (at r140 v40)
  (at r157 v41)
  (free v42)
  (free v43)
  (at r184 v44)
  (at r110 v45)
  (free v46)
  (at r182 v47)
  (at r161 v48)
  (at r106 v49)
  (free v50)
  (at r154 v51)
  (free v52)
  (free v53)
  (free v54)
  (at r128 v55)
  (free v56)
  (at r148 v57)
  (free v58)
  (at r136 v59)
  (at r170 v60)
  (at r137 v61)
  (at r116 v62)
  (free v63)
  (at r179 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r152 v68)
  (at r111 v69)
  (at r181 v70)
  (at r186 v71)
  (free v72)
  (at r153 v73)
  (free v74)
  (free v75)
  (at r96 v76)
  (at r145 v77)
  (at r127 v78)
  (free v79)
  (free v80)
  (free v81)
  (at r185 v82)
  (free v83)
  (free v84)
  (free v85)
  (at r141 v86)
  (at r131 v87)
  (free v88)
  (at r150 v89)
  (at r130 v90)
  (free v91)
  (free v92)
  (at r97 v93)
  (at r163 v94)
  (free v95)
  (at r120 v96)
  (at r123 v97)
  (at r107 v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r98 v103)
  (at r94 v104)
  (at r146 v105)
  (free v106)
  (free v107)
  (free v108)
  (at r101 v109)
  (at r171 v110)
  (at r159 v111)
  (free v112)
  (free v113)
  (at r139 v114)
  (free v115)
  (at r125 v116)
  (free v117)
  (free v118)
  (at r172 v119)
  (at r118 v120)
  (at r124 v121)
  (at r121 v122)
  (free v123)
  (free v124)
  (at r169 v125)
  (at r109 v126)
  (free v127)
  (at r102 v128)
  (at r105 v129)
  (at r133 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r156 v134)
  (at r103 v135)
  (at r177 v136)
  (free v137)
  (at r108 v138)
  (at r99 v139)
  (free v140)
  (at r114 v141)
  (at r178 v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r95 v148)
  (free v149)
  (at r164 v150)
  (at r149 v151)
  (free v152)
  (free v153)
  (free v154)
  (at r122 v155)
  (at r134 v156)
  (at r160 v157)
  (at r144 v158)
  (at r126 v159)
  (at r168 v160)
  (at r119 v161)
  (free v162)
  (at r175 v163)
  (at r113 v164)
  (free v165)
  (free v166)
  (free v167)
  (free v168)
  (at r155 v169)
  (free v170)
  (free v171)
  (at r180 v172)
  (free v173)
  (free v174)
  (free v175)
  (free v176)
  (at r183 v177)
  (at r188 v178)
  (at r117 v179)
  (free v180)
  (free v181)
  (at r132 v182)
  (free v183)
  (free v184)
  (at r189 v185)
  (free v186)
  (free v187)
  (free v188)
  (at r115 v189)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v20)
  (adjacent v1 v170)
  (adjacent v2 v3)
  (adjacent v2 v18)
  (adjacent v2 v19)
  (adjacent v2 v96)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v21)
  (adjacent v3 v41)
  (adjacent v3 v80)
  (adjacent v4 v14)
  (adjacent v4 v22)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v5 v86)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v85)
  (adjacent v9 v79)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v10 v141)
  (adjacent v10 v174)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v12 v92)
  (adjacent v12 v180)
  (adjacent v13 v14)
  (adjacent v13 v57)
  (adjacent v13 v92)
  (adjacent v14 v87)
  (adjacent v14 v123)
  (adjacent v15 v16)
  (adjacent v15 v129)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v17 v18)
  (adjacent v18 v34)
  (adjacent v18 v69)
  (adjacent v18 v74)
  (adjacent v19 v20)
  (adjacent v20 v28)
  (adjacent v20 v82)
  (adjacent v20 v100)
  (adjacent v21 v91)
  (adjacent v21 v168)
  (adjacent v22 v23)
  (adjacent v22 v42)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v169)
  (adjacent v25 v26)
  (adjacent v25 v93)
  (adjacent v26 v27)
  (adjacent v26 v46)
  (adjacent v27 v88)
  (adjacent v27 v158)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v72)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v156)
  (adjacent v34 v114)
  (adjacent v35 v36)
  (adjacent v35 v50)
  (adjacent v35 v51)
  (adjacent v36 v37)
  (adjacent v36 v54)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v45)
  (adjacent v39 v58)
  (adjacent v40 v41)
  (adjacent v41 v142)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v84)
  (adjacent v44 v45)
  (adjacent v45 v63)
  (adjacent v45 v170)
  (adjacent v46 v47)
  (adjacent v46 v55)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v122)
  (adjacent v49 v50)
  (adjacent v49 v167)
  (adjacent v50 v101)
  (adjacent v50 v108)
  (adjacent v51 v52)
  (adjacent v51 v130)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v75)
  (adjacent v53 v139)
  (adjacent v55 v56)
  (adjacent v55 v113)
  (adjacent v55 v179)
  (adjacent v56 v57)
  (adjacent v56 v62)
  (adjacent v56 v71)
  (adjacent v56 v87)
  (adjacent v56 v124)
  (adjacent v57 v165)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v70)
  (adjacent v60 v61)
  (adjacent v60 v86)
  (adjacent v60 v119)
  (adjacent v61 v62)
  (adjacent v62 v189)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v95)
  (adjacent v66 v67)
  (adjacent v66 v133)
  (adjacent v66 v164)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v81)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v75 v179)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v123)
  (adjacent v79 v118)
  (adjacent v80 v81)
  (adjacent v81 v107)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v134)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v149)
  (adjacent v111 v112)
  (adjacent v111 v178)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v114 v148)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v171)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v138)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v173)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v184)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v147 v155)
  (adjacent v147 v183)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v151 v157)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
 )
 (:goal
  (and
  (at r166 v0)
  (at r152 v1)
  (at r184 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r164 v6)
  (free v7)
  (free v8)
  (at r105 v9)
  (at r107 v10)
  (at r128 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r111 v15)
  (at r178 v16)
  (free v17)
  (at r127 v18)
  (free v19)
  (at r154 v20)
  (at r126 v21)
  (at r168 v22)
  (free v23)
  (at r173 v24)
  (at r144 v25)
  (at r174 v26)
  (free v27)
  (at r185 v28)
  (at r130 v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r117 v34)
  (at r156 v35)
  (free v36)
  (at r136 v37)
  (free v38)
  (at r92 v39)
  (at r132 v40)
  (at r155 v41)
  (free v42)
  (free v43)
  (at r137 v44)
  (free v45)
  (free v46)
  (at r123 v47)
  (at r116 v48)
  (free v49)
  (at r171 v50)
  (free v51)
  (free v52)
  (at r104 v53)
  (at r151 v54)
  (free v55)
  (at r181 v56)
  (free v57)
  (free v58)
  (at r180 v59)
  (free v60)
  (at r148 v61)
  (at r101 v62)
  (free v63)
  (at r113 v64)
  (at r110 v65)
  (at r125 v66)
  (free v67)
  (at r186 v68)
  (at r139 v69)
  (at r98 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r95 v77)
  (at r99 v78)
  (free v79)
  (free v80)
  (at r100 v81)
  (free v82)
  (at r133 v83)
  (at r121 v84)
  (free v85)
  (free v86)
  (at r142 v87)
  (free v88)
  (at r102 v89)
  (free v90)
  (free v91)
  (free v92)
  (at r119 v93)
  (at r115 v94)
  (at r112 v95)
  (at r187 v96)
  (at r94 v97)
  (at r122 v98)
  (at r124 v99)
  (free v100)
  (at r103 v101)
  (at r169 v102)
  (at r134 v103)
  (free v104)
  (at r138 v105)
  (at r131 v106)
  (free v107)
  (at r167 v108)
  (at r106 v109)
  (free v110)
  (free v111)
  (at r140 v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r141 v117)
  (free v118)
  (at r129 v119)
  (at r109 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r175 v124)
  (at r93 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r172 v129)
  (free v130)
  (free v131)
  (free v132)
  (at r159 v133)
  (free v134)
  (free v135)
  (at r157 v136)
  (free v137)
  (at r97 v138)
  (at r114 v139)
  (at r163 v140)
  (free v141)
  (free v142)
  (free v143)
  (at r189 v144)
  (at r176 v145)
  (free v146)
  (at r170 v147)
  (free v148)
  (at r179 v149)
  (free v150)
  (at r150 v151)
  (free v152)
  (at r108 v153)
  (at r177 v154)
  (at r188 v155)
  (at r96 v156)
  (free v157)
  (free v158)
  (free v159)
  (at r153 v160)
  (at r149 v161)
  (free v162)
  (at r162 v163)
  (at r118 v164)
  (free v165)
  (at r183 v166)
  (free v167)
  (free v168)
  (free v169)
  (at r146 v170)
  (free v171)
  (at r182 v172)
  (at r158 v173)
  (at r161 v174)
  (free v175)
  (free v176)
  (free v177)
  (free v178)
  (at r165 v179)
  (at r120 v180)
  (at r145 v181)
  (free v182)
  (at r143 v183)
  (free v184)
  (at r147 v185)
  (free v186)
  (free v187)
  (at r160 v188)
  (at r135 v189)
  )
 )
)