(define (problem multirobot_51_90%_c3)
 (:domain multirobot)
 (:objects
  v0
  v1 r146
  v2
  v3 r165
  v4 r108
  v5
  v6
  v7
  v8
  v9
  v10
  v11
  v12 r140
  v13 r130
  v14 r106
  v15 r147
  v16 r168
  v17 r141
  v18
  v19
  v20
  v21 r128
  v22 r178
  v23 r125
  v24
  v25 r122
  v26
  v27
  v28
  v29 r111
  v30
  v31
  v32
  v33 r119
  v34
  v35
  v36
  v37 r166
  v38 r99
  v39
  v40
  v41 r150
  v42 r114
  v43
  v44
  v45 r102
  v46
  v47
  v48
  v49
  v50 r116
  v51
  v52 r110
  v53 r173
  v54 r132
  v55 r162
  v56 r160
  v57
  v58 r161
  v59
  v60
  v61
  v62 r134
  v63 r91
  v64
  v65 r107
  v66
  v67 r157
  v68
  v69 r129
  v70
  v71 r164
  v72 r139
  v73 r171
  v74
  v75
  v76 r95
  v77 r118
  v78 r120
  v79 r138
  v80 r113
  v81
  v82 r144
  v83
  v84 r152
  v85 r167
  v86 r158
  v87 r142
  v88 r143
  v89
  v90
  v91 r176
  v92
  v93
  v94 r104
  v95 r149
  v96 r154
  v97
  v98
  v99
  v100
  v101 r177
  v102
  v103 r98
  v104
  v105 r101
  v106 r170
  v107 r94
  v108
  v109 r148
  v110
  v111
  v112
  v113
  v114
  v115 r156
  v116 r93
  v117
  v118 r163
  v119
  v120 r174
  v121
  v122
  v123
  v124 r133
  v125 r97
  v126
  v127
  v128 r92
  v129
  v130 r175
  v131 r112
  v132
  v133 r169
  v134 r117
  v135
  v136 r155
  v137 r131
  v138 r159
  v139
  v140
  v141
  v142 r115
  v143 r172
  v144
  v145 r135
  v146 r137
  v147 r153
  v148
  v149 r105
  v150
  v151
  v152
  v153
  v154
  v155 r121
  v156
  v157 r100
  v158
  v159 r151
  v160
  v161 r96
  v162
  v163 r136
  v164
  v165 r145
  v166
  v167
  v168
  v169
  v170
  v171 r103
  v172 r109
  v173
  v174
  v175 r126
  v176 r123
  v177 r124
  v178 r127
 )
 (:init
  (free v0)
  (at r146 v1)
  (free v2)
  (at r165 v3)
  (at r108 v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r140 v12)
  (at r130 v13)
  (at r106 v14)
  (at r147 v15)
  (at r168 v16)
  (at r141 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r128 v21)
  (at r178 v22)
  (at r125 v23)
  (free v24)
  (at r122 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r111 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r119 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r166 v37)
  (at r99 v38)
  (free v39)
  (free v40)
  (at r150 v41)
  (at r114 v42)
  (free v43)
  (free v44)
  (at r102 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r116 v50)
  (free v51)
  (at r110 v52)
  (at r173 v53)
  (at r132 v54)
  (at r162 v55)
  (at r160 v56)
  (free v57)
  (at r161 v58)
  (free v59)
  (free v60)
  (free v61)
  (at r134 v62)
  (at r91 v63)
  (free v64)
  (at r107 v65)
  (free v66)
  (at r157 v67)
  (free v68)
  (at r129 v69)
  (free v70)
  (at r164 v71)
  (at r139 v72)
  (at r171 v73)
  (free v74)
  (free v75)
  (at r95 v76)
  (at r118 v77)
  (at r120 v78)
  (at r138 v79)
  (at r113 v80)
  (free v81)
  (at r144 v82)
  (free v83)
  (at r152 v84)
  (at r167 v85)
  (at r158 v86)
  (at r142 v87)
  (at r143 v88)
  (free v89)
  (free v90)
  (at r176 v91)
  (free v92)
  (free v93)
  (at r104 v94)
  (at r149 v95)
  (at r154 v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r177 v101)
  (free v102)
  (at r98 v103)
  (free v104)
  (at r101 v105)
  (at r170 v106)
  (at r94 v107)
  (free v108)
  (at r148 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r156 v115)
  (at r93 v116)
  (free v117)
  (at r163 v118)
  (free v119)
  (at r174 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r133 v124)
  (at r97 v125)
  (free v126)
  (free v127)
  (at r92 v128)
  (free v129)
  (at r175 v130)
  (at r112 v131)
  (free v132)
  (at r169 v133)
  (at r117 v134)
  (free v135)
  (at r155 v136)
  (at r131 v137)
  (at r159 v138)
  (free v139)
  (free v140)
  (free v141)
  (at r115 v142)
  (at r172 v143)
  (free v144)
  (at r135 v145)
  (at r137 v146)
  (at r153 v147)
  (free v148)
  (at r105 v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (at r121 v155)
  (free v156)
  (at r100 v157)
  (free v158)
  (at r151 v159)
  (free v160)
  (at r96 v161)
  (free v162)
  (at r136 v163)
  (free v164)
  (at r145 v165)
  (free v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (at r103 v171)
  (at r109 v172)
  (free v173)
  (free v174)
  (at r126 v175)
  (at r123 v176)
  (at r124 v177)
  (at r127 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v79)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v12)
  (adjacent v1 v17)
  (adjacent v1 v22)
  (adjacent v1 v94)
  (adjacent v1 v173)
  (adjacent v2 v3)
  (adjacent v2 v156)
  (adjacent v3 v4)
  (adjacent v3 v18)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v6 v71)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v33)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v30)
  (adjacent v9 v23)
  (adjacent v10 v59)
  (adjacent v10 v61)
  (adjacent v11 v12)
  (adjacent v11 v13)
  (adjacent v11 v54)
  (adjacent v11 v99)
  (adjacent v12 v47)
  (adjacent v13 v14)
  (adjacent v13 v26)
  (adjacent v13 v128)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v46)
  (adjacent v15 v152)
  (adjacent v16 v17)
  (adjacent v16 v36)
  (adjacent v16 v57)
  (adjacent v17 v41)
  (adjacent v17 v60)
  (adjacent v18 v19)
  (adjacent v18 v27)
  (adjacent v18 v129)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v32)
  (adjacent v20 v76)
  (adjacent v20 v132)
  (adjacent v21 v22)
  (adjacent v21 v104)
  (adjacent v23 v24)
  (adjacent v23 v68)
  (adjacent v23 v72)
  (adjacent v24 v25)
  (adjacent v24 v77)
  (adjacent v25 v26)
  (adjacent v25 v157)
  (adjacent v26 v67)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v27 v88)
  (adjacent v27 v103)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v31)
  (adjacent v30 v35)
  (adjacent v30 v60)
  (adjacent v30 v98)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v78)
  (adjacent v34 v83)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v119)
  (adjacent v39 v40)
  (adjacent v39 v149)
  (adjacent v40 v41)
  (adjacent v40 v68)
  (adjacent v40 v98)
  (adjacent v40 v111)
  (adjacent v40 v121)
  (adjacent v41 v69)
  (adjacent v41 v89)
  (adjacent v42 v43)
  (adjacent v42 v53)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v123)
  (adjacent v45 v46)
  (adjacent v46 v80)
  (adjacent v46 v147)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v96)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v84)
  (adjacent v50 v153)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v114)
  (adjacent v57 v58)
  (adjacent v57 v165)
  (adjacent v58 v59)
  (adjacent v58 v97)
  (adjacent v59 v105)
  (adjacent v59 v113)
  (adjacent v60 v81)
  (adjacent v60 v104)
  (adjacent v61 v62)
  (adjacent v61 v148)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v119)
  (adjacent v63 v159)
  (adjacent v63 v172)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v118)
  (adjacent v66 v67)
  (adjacent v67 v79)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v141)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v80)
  (adjacent v75 v167)
  (adjacent v77 v78)
  (adjacent v77 v97)
  (adjacent v80 v120)
  (adjacent v81 v82)
  (adjacent v81 v178)
  (adjacent v82 v83)
  (adjacent v82 v122)
  (adjacent v82 v157)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v158)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v95)
  (adjacent v88 v129)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v122)
  (adjacent v95 v96)
  (adjacent v99 v100)
  (adjacent v99 v131)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v112)
  (adjacent v103 v148)
  (adjacent v104 v158)
  (adjacent v105 v106)
  (adjacent v105 v138)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v140)
  (adjacent v109 v164)
  (adjacent v109 v168)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v130)
  (adjacent v120 v121)
  (adjacent v122 v137)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (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 v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r104 v2)
  (free v3)
  (at r167 v4)
  (free v5)
  (free v6)
  (at r175 v7)
  (free v8)
  (at r177 v9)
  (free v10)
  (at r146 v11)
  (free v12)
  (at r158 v13)
  (free v14)
  (at r121 v15)
  (at r95 v16)
  (free v17)
  (at r147 v18)
  (at r112 v19)
  (free v20)
  (at r131 v21)
  (free v22)
  (at r162 v23)
  (at r100 v24)
  (free v25)
  (free v26)
  (at r142 v27)
  (free v28)
  (at r91 v29)
  (at r107 v30)
  (free v31)
  (free v32)
  (at r125 v33)
  (free v34)
  (at r120 v35)
  (free v36)
  (free v37)
  (at r156 v38)
  (at r109 v39)
  (free v40)
  (free v41)
  (at r111 v42)
  (free v43)
  (free v44)
  (at r106 v45)
  (at r155 v46)
  (at r161 v47)
  (at r105 v48)
  (at r171 v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r110 v55)
  (free v56)
  (free v57)
  (at r159 v58)
  (at r143 v59)
  (at r102 v60)
  (at r140 v61)
  (at r103 v62)
  (free v63)
  (at r118 v64)
  (free v65)
  (free v66)
  (at r124 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r178 v74)
  (at r128 v75)
  (at r123 v76)
  (free v77)
  (at r141 v78)
  (free v79)
  (at r169 v80)
  (free v81)
  (at r108 v82)
  (at r136 v83)
  (free v84)
  (free v85)
  (at r173 v86)
  (at r145 v87)
  (at r99 v88)
  (at r93 v89)
  (at r132 v90)
  (at r133 v91)
  (free v92)
  (free v93)
  (free v94)
  (at r144 v95)
  (at r165 v96)
  (free v97)
  (at r96 v98)
  (at r152 v99)
  (free v100)
  (at r116 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (at r97 v107)
  (free v108)
  (at r92 v109)
  (free v110)
  (at r119 v111)
  (free v112)
  (free v113)
  (at r115 v114)
  (at r139 v115)
  (at r149 v116)
  (free v117)
  (at r170 v118)
  (at r168 v119)
  (at r164 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r150 v124)
  (at r113 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r127 v129)
  (at r138 v130)
  (at r174 v131)
  (at r126 v132)
  (at r148 v133)
  (at r114 v134)
  (free v135)
  (at r94 v136)
  (free v137)
  (at r157 v138)
  (free v139)
  (free v140)
  (at r101 v141)
  (free v142)
  (at r117 v143)
  (free v144)
  (free v145)
  (free v146)
  (at r160 v147)
  (at r163 v148)
  (free v149)
  (at r98 v150)
  (free v151)
  (free v152)
  (at r134 v153)
  (at r153 v154)
  (at r166 v155)
  (free v156)
  (at r172 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (free v162)
  (at r130 v163)
  (free v164)
  (at r135 v165)
  (free v166)
  (free v167)
  (at r129 v168)
  (free v169)
  (free v170)
  (at r154 v171)
  (at r122 v172)
  (free v173)
  (free v174)
  (at r176 v175)
  (free v176)
  (at r151 v177)
  (at r137 v178)
  )
 )
)