(define (problem multirobot_48_90%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1 r166
  v2 r159
  v3
  v4 r164
  v5
  v6
  v7 r100
  v8 r139
  v9 r136
  v10
  v11
  v12
  v13
  v14
  v15 r125
  v16 r110
  v17 r169
  v18 r127
  v19 r151
  v20
  v21 r150
  v22
  v23 r123
  v24 r105
  v25 r122
  v26
  v27
  v28 r145
  v29
  v30 r171
  v31
  v32 r172
  v33 r148
  v34 r153
  v35
  v36
  v37
  v38
  v39
  v40
  v41
  v42
  v43 r162
  v44
  v45 r156
  v46
  v47 r167
  v48 r135
  v49 r111
  v50
  v51 r103
  v52
  v53
  v54 r117
  v55
  v56
  v57
  v58 r129
  v59 r181
  v60 r106
  v61 r109
  v62
  v63 r116
  v64 r158
  v65
  v66 r138
  v67
  v68
  v69
  v70 r157
  v71
  v72
  v73 r97
  v74
  v75
  v76
  v77
  v78
  v79 r177
  v80 r161
  v81 r154
  v82 r118
  v83
  v84 r147
  v85 r132
  v86
  v87
  v88
  v89
  v90
  v91
  v92 r174
  v93 r143
  v94
  v95
  v96
  v97 r124
  v98
  v99
  v100 r101
  v101
  v102
  v103 r152
  v104
  v105
  v106
  v107 r108
  v108 r112
  v109
  v110 r170
  v111 r178
  v112
  v113
  v114
  v115 r134
  v116 r126
  v117 r113
  v118 r173
  v119 r119
  v120 r163
  v121 r98
  v122
  v123 r107
  v124
  v125 r165
  v126
  v127
  v128
  v129 r121
  v130 r168
  v131 r131
  v132
  v133 r155
  v134 r99
  v135
  v136 r176
  v137
  v138
  v139
  v140
  v141 r141
  v142 r160
  v143 r144
  v144 r142
  v145
  v146
  v147 r140
  v148
  v149 r115
  v150
  v151
  v152
  v153
  v154 r175
  v155
  v156
  v157 r149
  v158 r130
  v159
  v160 r104
  v161
  v162 r120
  v163
  v164
  v165
  v166
  v167 r137
  v168
  v169
  v170 r102
  v171
  v172 r114
  v173 r133
  v174 r128
  v175 r146
  v176 r180
  v177
  v178
  v179
  v180
  v181 r179
 )
 (:init
  (free v0)
  (at r166 v1)
  (at r159 v2)
  (free v3)
  (at r164 v4)
  (free v5)
  (free v6)
  (at r100 v7)
  (at r139 v8)
  (at r136 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r125 v15)
  (at r110 v16)
  (at r169 v17)
  (at r127 v18)
  (at r151 v19)
  (free v20)
  (at r150 v21)
  (free v22)
  (at r123 v23)
  (at r105 v24)
  (at r122 v25)
  (free v26)
  (free v27)
  (at r145 v28)
  (free v29)
  (at r171 v30)
  (free v31)
  (at r172 v32)
  (at r148 v33)
  (at r153 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r162 v43)
  (free v44)
  (at r156 v45)
  (free v46)
  (at r167 v47)
  (at r135 v48)
  (at r111 v49)
  (free v50)
  (at r103 v51)
  (free v52)
  (free v53)
  (at r117 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r129 v58)
  (at r181 v59)
  (at r106 v60)
  (at r109 v61)
  (free v62)
  (at r116 v63)
  (at r158 v64)
  (free v65)
  (at r138 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r157 v70)
  (free v71)
  (free v72)
  (at r97 v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r177 v79)
  (at r161 v80)
  (at r154 v81)
  (at r118 v82)
  (free v83)
  (at r147 v84)
  (at r132 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r174 v92)
  (at r143 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r124 v97)
  (free v98)
  (free v99)
  (at r101 v100)
  (free v101)
  (free v102)
  (at r152 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r108 v107)
  (at r112 v108)
  (free v109)
  (at r170 v110)
  (at r178 v111)
  (free v112)
  (free v113)
  (free v114)
  (at r134 v115)
  (at r126 v116)
  (at r113 v117)
  (at r173 v118)
  (at r119 v119)
  (at r163 v120)
  (at r98 v121)
  (free v122)
  (at r107 v123)
  (free v124)
  (at r165 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r121 v129)
  (at r168 v130)
  (at r131 v131)
  (free v132)
  (at r155 v133)
  (at r99 v134)
  (free v135)
  (at r176 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r141 v141)
  (at r160 v142)
  (at r144 v143)
  (at r142 v144)
  (free v145)
  (free v146)
  (at r140 v147)
  (free v148)
  (at r115 v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (at r175 v154)
  (free v155)
  (free v156)
  (at r149 v157)
  (at r130 v158)
  (free v159)
  (at r104 v160)
  (free v161)
  (at r120 v162)
  (free v163)
  (free v164)
  (free v165)
  (free v166)
  (at r137 v167)
  (free v168)
  (free v169)
  (at r102 v170)
  (free v171)
  (at r114 v172)
  (at r133 v173)
  (at r128 v174)
  (at r146 v175)
  (at r180 v176)
  (free v177)
  (free v178)
  (free v179)
  (free v180)
  (at r179 v181)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v30)
  (adjacent v0 v79)
  (adjacent v1 v2)
  (adjacent v1 v17)
  (adjacent v1 v80)
  (adjacent v1 v150)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v107)
  (adjacent v2 v175)
  (adjacent v3 v4)
  (adjacent v4 v10)
  (adjacent v4 v11)
  (adjacent v5 v6)
  (adjacent v5 v49)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v7 v8)
  (adjacent v7 v16)
  (adjacent v7 v23)
  (adjacent v8 v9)
  (adjacent v8 v109)
  (adjacent v9 v10)
  (adjacent v11 v12)
  (adjacent v11 v22)
  (adjacent v11 v29)
  (adjacent v11 v108)
  (adjacent v12 v13)
  (adjacent v12 v58)
  (adjacent v13 v14)
  (adjacent v13 v41)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v118)
  (adjacent v16 v80)
  (adjacent v16 v123)
  (adjacent v17 v18)
  (adjacent v17 v21)
  (adjacent v17 v31)
  (adjacent v17 v144)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v79)
  (adjacent v20 v30)
  (adjacent v21 v22)
  (adjacent v21 v46)
  (adjacent v21 v91)
  (adjacent v22 v35)
  (adjacent v22 v48)
  (adjacent v22 v70)
  (adjacent v22 v71)
  (adjacent v22 v78)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v90)
  (adjacent v25 v26)
  (adjacent v25 v77)
  (adjacent v26 v27)
  (adjacent v26 v143)
  (adjacent v27 v28)
  (adjacent v27 v44)
  (adjacent v28 v29)
  (adjacent v28 v34)
  (adjacent v28 v73)
  (adjacent v30 v65)
  (adjacent v31 v32)
  (adjacent v31 v135)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v97)
  (adjacent v35 v36)
  (adjacent v35 v155)
  (adjacent v35 v168)
  (adjacent v36 v37)
  (adjacent v36 v45)
  (adjacent v37 v38)
  (adjacent v37 v56)
  (adjacent v38 v39)
  (adjacent v38 v42)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v45)
  (adjacent v42 v43)
  (adjacent v42 v98)
  (adjacent v43 v44)
  (adjacent v44 v133)
  (adjacent v44 v168)
  (adjacent v45 v149)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v87)
  (adjacent v47 v149)
  (adjacent v48 v55)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v64)
  (adjacent v51 v52)
  (adjacent v51 v72)
  (adjacent v52 v53)
  (adjacent v52 v81)
  (adjacent v52 v101)
  (adjacent v52 v120)
  (adjacent v53 v54)
  (adjacent v53 v59)
  (adjacent v53 v78)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v146)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v132)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v181)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v147)
  (adjacent v78 v119)
  (adjacent v81 v82)
  (adjacent v81 v126)
  (adjacent v82 v83)
  (adjacent v82 v108)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v88)
  (adjacent v84 v134)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v167)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v100)
  (adjacent v89 v114)
  (adjacent v90 v131)
  (adjacent v90 v141)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v138)
  (adjacent v93 v94)
  (adjacent v93 v139)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v122)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v148)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v117)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v127)
  (adjacent v105 v106)
  (adjacent v105 v167)
  (adjacent v106 v107)
  (adjacent v108 v113)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v140)
  (adjacent v112 v113)
  (adjacent v112 v161)
  (adjacent v112 v169)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v120 v156)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v123 v134)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v166)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v162)
  (adjacent v139 v140)
  (adjacent v139 v148)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v157 v174)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (at r181 v3)
  (at r173 v4)
  (free v5)
  (at r142 v6)
  (free v7)
  (at r109 v8)
  (at r150 v9)
  (at r143 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r105 v15)
  (free v16)
  (free v17)
  (at r153 v18)
  (at r117 v19)
  (at r125 v20)
  (free v21)
  (at r140 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r141 v29)
  (free v30)
  (free v31)
  (at r114 v32)
  (free v33)
  (at r130 v34)
  (free v35)
  (free v36)
  (at r126 v37)
  (at r127 v38)
  (free v39)
  (at r174 v40)
  (free v41)
  (at r149 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r160 v46)
  (at r106 v47)
  (free v48)
  (free v49)
  (at r128 v50)
  (at r99 v51)
  (free v52)
  (at r164 v53)
  (free v54)
  (at r154 v55)
  (at r102 v56)
  (free v57)
  (at r97 v58)
  (free v59)
  (at r168 v60)
  (free v61)
  (at r135 v62)
  (at r158 v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r98 v70)
  (at r104 v71)
  (at r107 v72)
  (at r129 v73)
  (free v74)
  (at r118 v75)
  (at r103 v76)
  (free v77)
  (free v78)
  (at r144 v79)
  (free v80)
  (free v81)
  (at r162 v82)
  (at r176 v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (at r156 v89)
  (free v90)
  (free v91)
  (at r169 v92)
  (at r148 v93)
  (free v94)
  (free v95)
  (at r171 v96)
  (free v97)
  (at r111 v98)
  (free v99)
  (free v100)
  (at r120 v101)
  (free v102)
  (at r116 v103)
  (at r110 v104)
  (free v105)
  (at r121 v106)
  (at r115 v107)
  (at r139 v108)
  (at r179 v109)
  (free v110)
  (free v111)
  (at r100 v112)
  (free v113)
  (free v114)
  (at r161 v115)
  (at r113 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r108 v120)
  (at r170 v121)
  (free v122)
  (at r155 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r146 v127)
  (at r175 v128)
  (free v129)
  (at r134 v130)
  (free v131)
  (at r122 v132)
  (free v133)
  (at r159 v134)
  (free v135)
  (at r123 v136)
  (at r165 v137)
  (free v138)
  (at r101 v139)
  (free v140)
  (free v141)
  (at r167 v142)
  (free v143)
  (at r131 v144)
  (free v145)
  (at r166 v146)
  (free v147)
  (at r119 v148)
  (at r138 v149)
  (at r152 v150)
  (at r132 v151)
  (free v152)
  (at r124 v153)
  (free v154)
  (free v155)
  (free v156)
  (at r145 v157)
  (at r180 v158)
  (free v159)
  (at r137 v160)
  (free v161)
  (at r133 v162)
  (free v163)
  (at r178 v164)
  (free v165)
  (at r136 v166)
  (at r112 v167)
  (at r177 v168)
  (at r147 v169)
  (free v170)
  (free v171)
  (free v172)
  (at r157 v173)
  (free v174)
  (free v175)
  (free v176)
  (at r151 v177)
  (at r172 v178)
  (at r163 v179)
  (free v180)
  (free v181)
  )
 )
)