(define (problem multirobot_49_90%_c6)
 (:domain multirobot)
 (:objects
  v0
  v1 r145
  v2
  v3
  v4
  v5 r144
  v6 r158
  v7 r163
  v8
  v9
  v10
  v11 r120
  v12
  v13
  v14
  v15
  v16 r133
  v17
  v18
  v19
  v20
  v21 r124
  v22
  v23 r136
  v24
  v25
  v26
  v27
  v28 r137
  v29 r106
  v30
  v31 r159
  v32
  v33
  v34
  v35
  v36
  v37 r140
  v38 r129
  v39 r117
  v40
  v41
  v42
  v43 r151
  v44 r111
  v45
  v46
  v47
  v48 r162
  v49
  v50 r130
  v51
  v52
  v53
  v54
  v55
  v56 r148
  v57 r112
  v58
  v59
  v60 r156
  v61 r147
  v62
  v63 r118
  v64
  v65
  v66 r160
  v67
  v68
  v69
  v70 r123
  v71 r122
  v72 r157
  v73 r114
  v74
  v75
  v76
  v77
  v78
  v79 r103
  v80 r142
  v81 r138
  v82
  v83
  v84 r161
  v85
  v86 r149
  v87 r104
  v88 r139
  v89 r153
  v90 r155
  v91
  v92
  v93 r125
  v94
  v95
  v96
  v97
  v98 r131
  v99
  v100 r134
  v101
  v102 r128
  v103
  v104
  v105
  v106
  v107 r109
  v108
  v109 r135
  v110 r154
  v111 r146
  v112 r102
  v113
  v114
  v115
  v116
  v117 r107
  v118 r126
  v119
  v120
  v121
  v122
  v123
  v124 r141
  v125
  v126
  v127 r110
  v128 r101
  v129
  v130
  v131
  v132
  v133
  v134
  v135
  v136
  v137 r132
  v138
  v139 r143
  v140
  v141 r113
  v142 r115
  v143 r165
  v144 r116
  v145
  v146
  v147
  v148
  v149
  v150 r127
  v151
  v152
  v153
  v154
  v155 r108
  v156 r164
  v157
  v158 r121
  v159 r119
  v160
  v161 r105
  v162 r152
  v163
  v164
  v165 r150
 )
 (:init
  (free v0)
  (at r145 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r144 v5)
  (at r158 v6)
  (at r163 v7)
  (free v8)
  (free v9)
  (free v10)
  (at r120 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r133 v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r124 v21)
  (free v22)
  (at r136 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (at r137 v28)
  (at r106 v29)
  (free v30)
  (at r159 v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (at r140 v37)
  (at r129 v38)
  (at r117 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r151 v43)
  (at r111 v44)
  (free v45)
  (free v46)
  (free v47)
  (at r162 v48)
  (free v49)
  (at r130 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r148 v56)
  (at r112 v57)
  (free v58)
  (free v59)
  (at r156 v60)
  (at r147 v61)
  (free v62)
  (at r118 v63)
  (free v64)
  (free v65)
  (at r160 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r123 v70)
  (at r122 v71)
  (at r157 v72)
  (at r114 v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r103 v79)
  (at r142 v80)
  (at r138 v81)
  (free v82)
  (free v83)
  (at r161 v84)
  (free v85)
  (at r149 v86)
  (at r104 v87)
  (at r139 v88)
  (at r153 v89)
  (at r155 v90)
  (free v91)
  (free v92)
  (at r125 v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (at r131 v98)
  (free v99)
  (at r134 v100)
  (free v101)
  (at r128 v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (at r109 v107)
  (free v108)
  (at r135 v109)
  (at r154 v110)
  (at r146 v111)
  (at r102 v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (at r107 v117)
  (at r126 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r141 v124)
  (free v125)
  (free v126)
  (at r110 v127)
  (at r101 v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r132 v137)
  (free v138)
  (at r143 v139)
  (free v140)
  (at r113 v141)
  (at r115 v142)
  (at r165 v143)
  (at r116 v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (at r127 v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (at r108 v155)
  (at r164 v156)
  (free v157)
  (at r121 v158)
  (at r119 v159)
  (free v160)
  (at r105 v161)
  (at r152 v162)
  (free v163)
  (free v164)
  (at r150 v165)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v40)
  (adjacent v2 v44)
  (adjacent v2 v55)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v134)
  (adjacent v4 v5)
  (adjacent v4 v10)
  (adjacent v4 v63)
  (adjacent v4 v103)
  (adjacent v5 v6)
  (adjacent v5 v9)
  (adjacent v5 v10)
  (adjacent v5 v16)
  (adjacent v5 v31)
  (adjacent v5 v38)
  (adjacent v6 v7)
  (adjacent v6 v9)
  (adjacent v6 v38)
  (adjacent v6 v94)
  (adjacent v6 v150)
  (adjacent v7 v8)
  (adjacent v7 v25)
  (adjacent v7 v33)
  (adjacent v7 v68)
  (adjacent v8 v57)
  (adjacent v8 v62)
  (adjacent v9 v40)
  (adjacent v9 v71)
  (adjacent v9 v85)
  (adjacent v9 v113)
  (adjacent v10 v22)
  (adjacent v11 v12)
  (adjacent v11 v39)
  (adjacent v12 v13)
  (adjacent v12 v43)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v13 v30)
  (adjacent v13 v91)
  (adjacent v14 v15)
  (adjacent v14 v54)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v43)
  (adjacent v17 v18)
  (adjacent v17 v32)
  (adjacent v17 v77)
  (adjacent v18 v19)
  (adjacent v18 v24)
  (adjacent v18 v41)
  (adjacent v19 v20)
  (adjacent v19 v37)
  (adjacent v20 v21)
  (adjacent v20 v55)
  (adjacent v21 v72)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v78)
  (adjacent v24 v122)
  (adjacent v25 v26)
  (adjacent v25 v42)
  (adjacent v26 v27)
  (adjacent v26 v51)
  (adjacent v27 v28)
  (adjacent v27 v56)
  (adjacent v27 v88)
  (adjacent v28 v29)
  (adjacent v28 v50)
  (adjacent v28 v79)
  (adjacent v28 v102)
  (adjacent v29 v30)
  (adjacent v30 v79)
  (adjacent v31 v32)
  (adjacent v31 v80)
  (adjacent v31 v102)
  (adjacent v31 v128)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v94)
  (adjacent v35 v36)
  (adjacent v35 v53)
  (adjacent v36 v37)
  (adjacent v36 v39)
  (adjacent v37 v108)
  (adjacent v39 v93)
  (adjacent v41 v42)
  (adjacent v44 v45)
  (adjacent v44 v159)
  (adjacent v45 v46)
  (adjacent v45 v52)
  (adjacent v45 v141)
  (adjacent v46 v47)
  (adjacent v46 v67)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v101)
  (adjacent v50 v143)
  (adjacent v51 v52)
  (adjacent v51 v64)
  (adjacent v52 v58)
  (adjacent v52 v112)
  (adjacent v53 v54)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v63)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v86)
  (adjacent v67 v134)
  (adjacent v67 v136)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v76)
  (adjacent v69 v90)
  (adjacent v70 v71)
  (adjacent v70 v87)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v116)
  (adjacent v77 v78)
  (adjacent v78 v117)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v121)
  (adjacent v81 v165)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v151)
  (adjacent v84 v85)
  (adjacent v84 v95)
  (adjacent v85 v133)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v135)
  (adjacent v91 v92)
  (adjacent v91 v107)
  (adjacent v92 v93)
  (adjacent v94 v133)
  (adjacent v94 v144)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v132)
  (adjacent v100 v101)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v135)
  (adjacent v109 v142)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v143)
  (adjacent v112 v155)
  (adjacent v112 v156)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v129)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v142)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v151 v160)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
 )
 (:goal
  (and
  (at r132 v0)
  (at r125 v1)
  (at r160 v2)
  (at r126 v3)
  (free v4)
  (free v5)
  (at r128 v6)
  (at r110 v7)
  (free v8)
  (at r102 v9)
  (at r111 v10)
  (free v11)
  (free v12)
  (at r106 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (at r161 v23)
  (free v24)
  (at r138 v25)
  (free v26)
  (at r112 v27)
  (free v28)
  (free v29)
  (at r155 v30)
  (free v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (at r108 v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r146 v43)
  (free v44)
  (free v45)
  (at r120 v46)
  (at r104 v47)
  (free v48)
  (free v49)
  (at r113 v50)
  (at r135 v51)
  (at r140 v52)
  (at r148 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r127 v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (at r129 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r109 v70)
  (at r143 v71)
  (at r159 v72)
  (at r103 v73)
  (free v74)
  (at r118 v75)
  (free v76)
  (free v77)
  (at r153 v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (at r164 v85)
  (at r101 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r139 v90)
  (at r119 v91)
  (at r130 v92)
  (at r165 v93)
  (free v94)
  (at r131 v95)
  (free v96)
  (at r163 v97)
  (free v98)
  (free v99)
  (free v100)
  (at r150 v101)
  (at r114 v102)
  (free v103)
  (free v104)
  (free v105)
  (at r105 v106)
  (free v107)
  (free v108)
  (free v109)
  (at r142 v110)
  (free v111)
  (free v112)
  (at r147 v113)
  (at r157 v114)
  (at r152 v115)
  (free v116)
  (free v117)
  (at r158 v118)
  (at r156 v119)
  (at r107 v120)
  (free v121)
  (at r116 v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (at r123 v130)
  (at r151 v131)
  (free v132)
  (at r134 v133)
  (at r115 v134)
  (at r136 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r154 v140)
  (free v141)
  (at r121 v142)
  (free v143)
  (free v144)
  (free v145)
  (at r144 v146)
  (at r122 v147)
  (free v148)
  (at r124 v149)
  (free v150)
  (at r141 v151)
  (at r133 v152)
  (free v153)
  (free v154)
  (free v155)
  (at r149 v156)
  (free v157)
  (at r162 v158)
  (free v159)
  (free v160)
  (at r145 v161)
  (at r137 v162)
  (free v163)
  (free v164)
  (at r117 v165)
  )
 )
)