(define (problem multirobot_48_90%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r125
  v3 r94
  v4
  v5
  v6 r118
  v7
  v8
  v9 r139
  v10
  v11 r86
  v12
  v13 r109
  v14
  v15 r89
  v16
  v17
  v18 r112
  v19
  v20 r150
  v21 r84
  v22
  v23
  v24 r129
  v25 r145
  v26 r142
  v27 r96
  v28
  v29
  v30
  v31
  v32 r103
  v33 r153
  v34
  v35 r100
  v36 r124
  v37 r113
  v38 r131
  v39 r91
  v40
  v41 r158
  v42 r135
  v43 r160
  v44 r148
  v45 r82
  v46 r98
  v47
  v48
  v49 r110
  v50 r95
  v51
  v52
  v53 r116
  v54 r132
  v55 r92
  v56
  v57 r123
  v58 r119
  v59 r155
  v60 r126
  v61
  v62 r85
  v63 r149
  v64
  v65 r115
  v66
  v67
  v68
  v69
  v70 r157
  v71
  v72
  v73
  v74 r88
  v75
  v76 r105
  v77 r117
  v78
  v79
  v80 r130
  v81
  v82
  v83
  v84 r111
  v85 r143
  v86
  v87 r114
  v88 r133
  v89
  v90
  v91
  v92 r90
  v93
  v94 r83
  v95 r97
  v96 r121
  v97
  v98
  v99 r144
  v100
  v101 r106
  v102
  v103
  v104 r138
  v105
  v106 r161
  v107
  v108
  v109 r81
  v110
  v111
  v112
  v113 r87
  v114
  v115
  v116
  v117
  v118
  v119
  v120
  v121 r128
  v122
  v123 r159
  v124 r136
  v125
  v126
  v127
  v128 r156
  v129 r137
  v130
  v131 r104
  v132 r151
  v133
  v134
  v135 r102
  v136
  v137 r99
  v138 r152
  v139 r93
  v140 r140
  v141
  v142 r120
  v143 r147
  v144 r108
  v145
  v146 r154
  v147 r146
  v148 r122
  v149
  v150 r127
  v151
  v152
  v153
  v154 r134
  v155
  v156 r107
  v157
  v158 r141
  v159
  v160
  v161 r101
 )
 (:init
  (free v0)
  (free v1)
  (at r125 v2)
  (at r94 v3)
  (free v4)
  (free v5)
  (at r118 v6)
  (free v7)
  (free v8)
  (at r139 v9)
  (free v10)
  (at r86 v11)
  (free v12)
  (at r109 v13)
  (free v14)
  (at r89 v15)
  (free v16)
  (free v17)
  (at r112 v18)
  (free v19)
  (at r150 v20)
  (at r84 v21)
  (free v22)
  (free v23)
  (at r129 v24)
  (at r145 v25)
  (at r142 v26)
  (at r96 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r103 v32)
  (at r153 v33)
  (free v34)
  (at r100 v35)
  (at r124 v36)
  (at r113 v37)
  (at r131 v38)
  (at r91 v39)
  (free v40)
  (at r158 v41)
  (at r135 v42)
  (at r160 v43)
  (at r148 v44)
  (at r82 v45)
  (at r98 v46)
  (free v47)
  (free v48)
  (at r110 v49)
  (at r95 v50)
  (free v51)
  (free v52)
  (at r116 v53)
  (at r132 v54)
  (at r92 v55)
  (free v56)
  (at r123 v57)
  (at r119 v58)
  (at r155 v59)
  (at r126 v60)
  (free v61)
  (at r85 v62)
  (at r149 v63)
  (free v64)
  (at r115 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r157 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r88 v74)
  (free v75)
  (at r105 v76)
  (at r117 v77)
  (free v78)
  (free v79)
  (at r130 v80)
  (free v81)
  (free v82)
  (free v83)
  (at r111 v84)
  (at r143 v85)
  (free v86)
  (at r114 v87)
  (at r133 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r90 v92)
  (free v93)
  (at r83 v94)
  (at r97 v95)
  (at r121 v96)
  (free v97)
  (free v98)
  (at r144 v99)
  (free v100)
  (at r106 v101)
  (free v102)
  (free v103)
  (at r138 v104)
  (free v105)
  (at r161 v106)
  (free v107)
  (free v108)
  (at r81 v109)
  (free v110)
  (free v111)
  (free v112)
  (at r87 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (free v120)
  (at r128 v121)
  (free v122)
  (at r159 v123)
  (at r136 v124)
  (free v125)
  (free v126)
  (free v127)
  (at r156 v128)
  (at r137 v129)
  (free v130)
  (at r104 v131)
  (at r151 v132)
  (free v133)
  (free v134)
  (at r102 v135)
  (free v136)
  (at r99 v137)
  (at r152 v138)
  (at r93 v139)
  (at r140 v140)
  (free v141)
  (at r120 v142)
  (at r147 v143)
  (at r108 v144)
  (free v145)
  (at r154 v146)
  (at r146 v147)
  (at r122 v148)
  (free v149)
  (at r127 v150)
  (free v151)
  (free v152)
  (free v153)
  (at r134 v154)
  (free v155)
  (at r107 v156)
  (free v157)
  (at r141 v158)
  (free v159)
  (free v160)
  (at r101 v161)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v129)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v11)
  (adjacent v1 v59)
  (adjacent v1 v63)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v26)
  (adjacent v4 v5)
  (adjacent v4 v23)
  (adjacent v5 v6)
  (adjacent v5 v9)
  (adjacent v5 v32)
  (adjacent v5 v135)
  (adjacent v6 v7)
  (adjacent v6 v21)
  (adjacent v6 v45)
  (adjacent v6 v126)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v7 v52)
  (adjacent v8 v10)
  (adjacent v8 v16)
  (adjacent v8 v53)
  (adjacent v9 v31)
  (adjacent v10 v11)
  (adjacent v10 v130)
  (adjacent v11 v12)
  (adjacent v11 v60)
  (adjacent v12 v13)
  (adjacent v12 v51)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v22)
  (adjacent v14 v38)
  (adjacent v15 v30)
  (adjacent v15 v84)
  (adjacent v15 v152)
  (adjacent v15 v159)
  (adjacent v16 v17)
  (adjacent v16 v109)
  (adjacent v17 v18)
  (adjacent v17 v31)
  (adjacent v17 v121)
  (adjacent v18 v19)
  (adjacent v18 v70)
  (adjacent v19 v20)
  (adjacent v19 v144)
  (adjacent v19 v145)
  (adjacent v20 v21)
  (adjacent v20 v131)
  (adjacent v21 v22)
  (adjacent v21 v46)
  (adjacent v21 v104)
  (adjacent v22 v125)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v44)
  (adjacent v25 v26)
  (adjacent v25 v39)
  (adjacent v25 v104)
  (adjacent v26 v27)
  (adjacent v26 v54)
  (adjacent v26 v77)
  (adjacent v26 v105)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v100)
  (adjacent v29 v30)
  (adjacent v29 v96)
  (adjacent v30 v61)
  (adjacent v30 v95)
  (adjacent v31 v76)
  (adjacent v31 v94)
  (adjacent v31 v106)
  (adjacent v31 v160)
  (adjacent v32 v33)
  (adjacent v32 v131)
  (adjacent v33 v34)
  (adjacent v33 v93)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v53)
  (adjacent v37 v38)
  (adjacent v38 v83)
  (adjacent v38 v101)
  (adjacent v39 v40)
  (adjacent v39 v86)
  (adjacent v40 v41)
  (adjacent v40 v45)
  (adjacent v40 v52)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v128)
  (adjacent v44 v60)
  (adjacent v44 v108)
  (adjacent v45 v68)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v105)
  (adjacent v53 v97)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v67)
  (adjacent v56 v57)
  (adjacent v56 v64)
  (adjacent v56 v69)
  (adjacent v56 v139)
  (adjacent v56 v150)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v161)
  (adjacent v61 v62)
  (adjacent v61 v87)
  (adjacent v61 v96)
  (adjacent v62 v63)
  (adjacent v63 v134)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v92)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v103)
  (adjacent v75 v76)
  (adjacent v75 v95)
  (adjacent v77 v78)
  (adjacent v77 v130)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v115)
  (adjacent v84 v85)
  (adjacent v84 v149)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v101 v114)
  (adjacent v102 v103)
  (adjacent v104 v129)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v120)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v132)
  (adjacent v113 v161)
  (adjacent v114 v140)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v153)
  (adjacent v125 v160)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v135 v154)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v153)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
 )
 (:goal
  (and
  (at r159 v0)
  (free v1)
  (at r100 v2)
  (at r95 v3)
  (free v4)
  (at r118 v5)
  (free v6)
  (at r113 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r150 v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r125 v18)
  (at r127 v19)
  (at r101 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r98 v24)
  (free v25)
  (at r152 v26)
  (at r94 v27)
  (free v28)
  (free v29)
  (at r126 v30)
  (at r144 v31)
  (free v32)
  (at r111 v33)
  (free v34)
  (at r83 v35)
  (at r124 v36)
  (free v37)
  (at r123 v38)
  (at r148 v39)
  (at r90 v40)
  (free v41)
  (at r147 v42)
  (free v43)
  (at r153 v44)
  (free v45)
  (at r143 v46)
  (at r145 v47)
  (free v48)
  (at r97 v49)
  (at r108 v50)
  (at r107 v51)
  (free v52)
  (at r103 v53)
  (at r84 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r92 v62)
  (at r157 v63)
  (free v64)
  (at r109 v65)
  (at r122 v66)
  (at r142 v67)
  (at r99 v68)
  (at r110 v69)
  (free v70)
  (free v71)
  (at r130 v72)
  (free v73)
  (at r114 v74)
  (free v75)
  (at r161 v76)
  (at r131 v77)
  (at r81 v78)
  (at r117 v79)
  (at r119 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (at r115 v85)
  (at r132 v86)
  (at r89 v87)
  (free v88)
  (free v89)
  (at r116 v90)
  (at r86 v91)
  (free v92)
  (at r96 v93)
  (free v94)
  (free v95)
  (at r102 v96)
  (at r146 v97)
  (free v98)
  (free v99)
  (at r149 v100)
  (at r136 v101)
  (at r93 v102)
  (at r135 v103)
  (at r158 v104)
  (free v105)
  (free v106)
  (at r156 v107)
  (free v108)
  (free v109)
  (at r112 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r106 v114)
  (free v115)
  (at r128 v116)
  (free v117)
  (at r91 v118)
  (free v119)
  (free v120)
  (at r139 v121)
  (at r155 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r160 v127)
  (free v128)
  (free v129)
  (at r141 v130)
  (free v131)
  (at r129 v132)
  (free v133)
  (at r120 v134)
  (at r134 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r154 v139)
  (at r87 v140)
  (free v141)
  (at r137 v142)
  (at r105 v143)
  (at r85 v144)
  (at r88 v145)
  (free v146)
  (at r151 v147)
  (at r121 v148)
  (free v149)
  (free v150)
  (at r133 v151)
  (at r138 v152)
  (free v153)
  (free v154)
  (free v155)
  (at r82 v156)
  (free v157)
  (free v158)
  (free v159)
  (at r140 v160)
  (at r104 v161)
  )
 )
)