(define (problem multirobot_48_90%_c3)
 (:domain multirobot)
 (:objects
  v0 r144
  v1 r133
  v2 r156
  v3 r111
  v4
  v5
  v6 r115
  v7 r113
  v8 r108
  v9 r126
  v10
  v11
  v12 r150
  v13
  v14 r114
  v15 r141
  v16
  v17 r103
  v18
  v19 r125
  v20
  v21
  v22 r121
  v23 r99
  v24
  v25
  v26
  v27
  v28 r104
  v29
  v30
  v31 r149
  v32 r146
  v33 r142
  v34 r112
  v35
  v36
  v37 r117
  v38
  v39 r158
  v40 r93
  v41
  v42
  v43
  v44
  v45
  v46
  v47 r134
  v48 r106
  v49 r122
  v50 r123
  v51
  v52 r124
  v53
  v54 r95
  v55
  v56
  v57 r155
  v58
  v59
  v60 r91
  v61
  v62
  v63
  v64
  v65 r90
  v66 r159
  v67
  v68 r88
  v69
  v70
  v71
  v72
  v73
  v74 r151
  v75 r154
  v76
  v77
  v78
  v79
  v80 r89
  v81
  v82
  v83
  v84
  v85 r118
  v86
  v87
  v88
  v89 r147
  v90 r145
  v91 r105
  v92 r139
  v93 r131
  v94 r87
  v95 r130
  v96 r135
  v97 r96
  v98 r129
  v99 r127
  v100
  v101 r109
  v102
  v103
  v104
  v105
  v106 r116
  v107 r132
  v108
  v109
  v110 r138
  v111
  v112 r92
  v113 r102
  v114
  v115 r152
  v116
  v117
  v118
  v119
  v120 r120
  v121 r101
  v122 r119
  v123
  v124
  v125
  v126
  v127
  v128
  v129
  v130 r137
  v131 r153
  v132 r148
  v133
  v134
  v135 r98
  v136 r140
  v137
  v138
  v139
  v140 r157
  v141 r94
  v142
  v143
  v144
  v145
  v146
  v147
  v148 r143
  v149 r97
  v150 r107
  v151
  v152
  v153 r136
  v154
  v155
  v156 r100
  v157 r110
  v158 r128
  v159
 )
 (:init
  (at r144 v0)
  (at r133 v1)
  (at r156 v2)
  (at r111 v3)
  (free v4)
  (free v5)
  (at r115 v6)
  (at r113 v7)
  (at r108 v8)
  (at r126 v9)
  (free v10)
  (free v11)
  (at r150 v12)
  (free v13)
  (at r114 v14)
  (at r141 v15)
  (free v16)
  (at r103 v17)
  (free v18)
  (at r125 v19)
  (free v20)
  (free v21)
  (at r121 v22)
  (at r99 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r104 v28)
  (free v29)
  (free v30)
  (at r149 v31)
  (at r146 v32)
  (at r142 v33)
  (at r112 v34)
  (free v35)
  (free v36)
  (at r117 v37)
  (free v38)
  (at r158 v39)
  (at r93 v40)
  (free v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r134 v47)
  (at r106 v48)
  (at r122 v49)
  (at r123 v50)
  (free v51)
  (at r124 v52)
  (free v53)
  (at r95 v54)
  (free v55)
  (free v56)
  (at r155 v57)
  (free v58)
  (free v59)
  (at r91 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r90 v65)
  (at r159 v66)
  (free v67)
  (at r88 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r151 v74)
  (at r154 v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (at r89 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (at r118 v85)
  (free v86)
  (free v87)
  (free v88)
  (at r147 v89)
  (at r145 v90)
  (at r105 v91)
  (at r139 v92)
  (at r131 v93)
  (at r87 v94)
  (at r130 v95)
  (at r135 v96)
  (at r96 v97)
  (at r129 v98)
  (at r127 v99)
  (free v100)
  (at r109 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (at r116 v106)
  (at r132 v107)
  (free v108)
  (free v109)
  (at r138 v110)
  (free v111)
  (at r92 v112)
  (at r102 v113)
  (free v114)
  (at r152 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r120 v120)
  (at r101 v121)
  (at r119 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (at r137 v130)
  (at r153 v131)
  (at r148 v132)
  (free v133)
  (free v134)
  (at r98 v135)
  (at r140 v136)
  (free v137)
  (free v138)
  (free v139)
  (at r157 v140)
  (at r94 v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (at r143 v148)
  (at r97 v149)
  (at r107 v150)
  (free v151)
  (free v152)
  (at r136 v153)
  (free v154)
  (free v155)
  (at r100 v156)
  (at r110 v157)
  (at r128 v158)
  (free v159)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v7)
  (adjacent v0 v8)
  (adjacent v0 v12)
  (adjacent v0 v65)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v123)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v7)
  (adjacent v3 v122)
  (adjacent v4 v19)
  (adjacent v4 v20)
  (adjacent v5 v6)
  (adjacent v6 v12)
  (adjacent v7 v13)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v8 v25)
  (adjacent v8 v56)
  (adjacent v8 v83)
  (adjacent v9 v10)
  (adjacent v9 v47)
  (adjacent v9 v100)
  (adjacent v10 v11)
  (adjacent v10 v23)
  (adjacent v10 v61)
  (adjacent v10 v73)
  (adjacent v10 v82)
  (adjacent v11 v26)
  (adjacent v11 v27)
  (adjacent v11 v115)
  (adjacent v12 v21)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v24)
  (adjacent v13 v108)
  (adjacent v14 v15)
  (adjacent v14 v37)
  (adjacent v14 v46)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v60)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v18 v40)
  (adjacent v20 v33)
  (adjacent v20 v151)
  (adjacent v21 v22)
  (adjacent v21 v24)
  (adjacent v21 v45)
  (adjacent v22 v23)
  (adjacent v22 v47)
  (adjacent v22 v50)
  (adjacent v22 v129)
  (adjacent v23 v48)
  (adjacent v23 v66)
  (adjacent v25 v26)
  (adjacent v26 v125)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v30 v31)
  (adjacent v30 v41)
  (adjacent v30 v76)
  (adjacent v31 v32)
  (adjacent v31 v57)
  (adjacent v31 v104)
  (adjacent v32 v33)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v64)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v46)
  (adjacent v38 v63)
  (adjacent v39 v40)
  (adjacent v39 v109)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v49)
  (adjacent v43 v44)
  (adjacent v43 v84)
  (adjacent v44 v45)
  (adjacent v44 v146)
  (adjacent v46 v132)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v98)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v64)
  (adjacent v53 v83)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v99)
  (adjacent v55 v127)
  (adjacent v55 v159)
  (adjacent v57 v58)
  (adjacent v57 v99)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v72)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v128)
  (adjacent v64 v65)
  (adjacent v65 v123)
  (adjacent v66 v67)
  (adjacent v66 v152)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v87)
  (adjacent v70 v71)
  (adjacent v70 v93)
  (adjacent v70 v122)
  (adjacent v71 v72)
  (adjacent v72 v77)
  (adjacent v72 v136)
  (adjacent v72 v149)
  (adjacent v73 v74)
  (adjacent v73 v92)
  (adjacent v73 v124)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v124)
  (adjacent v78 v125)
  (adjacent v79 v80)
  (adjacent v79 v86)
  (adjacent v79 v150)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v156)
  (adjacent v87 v88)
  (adjacent v87 v139)
  (adjacent v87 v155)
  (adjacent v88 v89)
  (adjacent v88 v128)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v133)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v105)
  (adjacent v102 v121)
  (adjacent v103 v104)
  (adjacent v104 v114)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v140)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v126)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v124 v147)
  (adjacent v125 v137)
  (adjacent v126 v127)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
 )
 (:goal
  (and
  (at r128 v0)
  (at r92 v1)
  (at r142 v2)
  (at r136 v3)
  (at r145 v4)
  (at r150 v5)
  (free v6)
  (free v7)
  (at r98 v8)
  (free v9)
  (at r130 v10)
  (free v11)
  (free v12)
  (at r155 v13)
  (at r123 v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (at r152 v19)
  (free v20)
  (at r157 v21)
  (at r105 v22)
  (at r115 v23)
  (free v24)
  (at r131 v25)
  (free v26)
  (free v27)
  (at r111 v28)
  (at r94 v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (at r89 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r96 v40)
  (free v41)
  (at r143 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r144 v46)
  (at r129 v47)
  (at r112 v48)
  (at r117 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r138 v53)
  (at r118 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r91 v58)
  (at r120 v59)
  (free v60)
  (at r116 v61)
  (free v62)
  (at r97 v63)
  (at r153 v64)
  (free v65)
  (free v66)
  (at r93 v67)
  (at r100 v68)
  (at r154 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r87 v75)
  (at r149 v76)
  (free v77)
  (at r147 v78)
  (free v79)
  (free v80)
  (at r110 v81)
  (free v82)
  (at r106 v83)
  (at r125 v84)
  (free v85)
  (at r158 v86)
  (free v87)
  (at r127 v88)
  (free v89)
  (at r126 v90)
  (at r141 v91)
  (free v92)
  (free v93)
  (at r104 v94)
  (free v95)
  (free v96)
  (at r151 v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (at r102 v104)
  (at r119 v105)
  (free v106)
  (at r107 v107)
  (free v108)
  (at r122 v109)
  (at r137 v110)
  (at r159 v111)
  (at r140 v112)
  (free v113)
  (free v114)
  (at r135 v115)
  (free v116)
  (free v117)
  (at r103 v118)
  (at r148 v119)
  (at r95 v120)
  (free v121)
  (free v122)
  (at r146 v123)
  (at r88 v124)
  (free v125)
  (free v126)
  (at r101 v127)
  (free v128)
  (free v129)
  (at r109 v130)
  (free v131)
  (at r121 v132)
  (free v133)
  (at r90 v134)
  (free v135)
  (at r133 v136)
  (at r114 v137)
  (free v138)
  (free v139)
  (at r139 v140)
  (free v141)
  (free v142)
  (free v143)
  (at r132 v144)
  (at r113 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r124 v151)
  (free v152)
  (at r134 v153)
  (at r156 v154)
  (free v155)
  (free v156)
  (free v157)
  (at r99 v158)
  (at r108 v159)
  )
 )
)