(define (problem multirobot_51_90%_c8)
 (:domain multirobot)
 (:objects
  v0
  v1 r172
  v2 r171
  v3
  v4 r101
  v5
  v6
  v7
  v8
  v9 r143
  v10
  v11
  v12 r146
  v13
  v14 r167
  v15
  v16 r105
  v17
  v18 r132
  v19
  v20 r98
  v21 r133
  v22 r131
  v23 r149
  v24 r159
  v25
  v26
  v27
  v28 r156
  v29
  v30 r177
  v31
  v32 r113
  v33 r115
  v34
  v35 r121
  v36
  v37
  v38 r148
  v39 r114
  v40 r154
  v41 r92
  v42
  v43 r138
  v44 r139
  v45 r104
  v46
  v47 r140
  v48 r95
  v49
  v50 r129
  v51 r165
  v52
  v53 r135
  v54
  v55 r162
  v56 r153
  v57 r111
  v58
  v59 r163
  v60 r161
  v61
  v62
  v63 r125
  v64 r175
  v65 r144
  v66 r126
  v67
  v68 r119
  v69
  v70
  v71
  v72 r118
  v73
  v74
  v75
  v76 r181
  v77
  v78 r170
  v79 r157
  v80 r150
  v81
  v82 r127
  v83
  v84
  v85
  v86 r136
  v87
  v88
  v89 r166
  v90 r112
  v91
  v92 r174
  v93 r91
  v94
  v95
  v96 r110
  v97
  v98
  v99 r106
  v100
  v101
  v102 r164
  v103
  v104 r134
  v105
  v106
  v107 r179
  v108 r128
  v109 r103
  v110
  v111
  v112 r151
  v113
  v114 r180
  v115
  v116
  v117 r93
  v118
  v119
  v120 r137
  v121 r117
  v122 r96
  v123
  v124
  v125 r100
  v126
  v127 r130
  v128 r145
  v129
  v130 r158
  v131
  v132
  v133 r97
  v134 r124
  v135
  v136
  v137
  v138 r108
  v139 r116
  v140 r122
  v141
  v142
  v143 r109
  v144 r168
  v145
  v146
  v147
  v148
  v149
  v150
  v151
  v152
  v153 r182
  v154 r120
  v155 r141
  v156
  v157 r169
  v158 r99
  v159
  v160 r123
  v161 r155
  v162
  v163
  v164 r178
  v165
  v166
  v167 r176
  v168 r160
  v169 r152
  v170 r102
  v171
  v172
  v173 r142
  v174
  v175 r107
  v176 r173
  v177
  v178
  v179 r147
  v180
  v181
  v182 r94
 )
 (:init
  (free v0)
  (at r172 v1)
  (at r171 v2)
  (free v3)
  (at r101 v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (at r143 v9)
  (free v10)
  (free v11)
  (at r146 v12)
  (free v13)
  (at r167 v14)
  (free v15)
  (at r105 v16)
  (free v17)
  (at r132 v18)
  (free v19)
  (at r98 v20)
  (at r133 v21)
  (at r131 v22)
  (at r149 v23)
  (at r159 v24)
  (free v25)
  (free v26)
  (free v27)
  (at r156 v28)
  (free v29)
  (at r177 v30)
  (free v31)
  (at r113 v32)
  (at r115 v33)
  (free v34)
  (at r121 v35)
  (free v36)
  (free v37)
  (at r148 v38)
  (at r114 v39)
  (at r154 v40)
  (at r92 v41)
  (free v42)
  (at r138 v43)
  (at r139 v44)
  (at r104 v45)
  (free v46)
  (at r140 v47)
  (at r95 v48)
  (free v49)
  (at r129 v50)
  (at r165 v51)
  (free v52)
  (at r135 v53)
  (free v54)
  (at r162 v55)
  (at r153 v56)
  (at r111 v57)
  (free v58)
  (at r163 v59)
  (at r161 v60)
  (free v61)
  (free v62)
  (at r125 v63)
  (at r175 v64)
  (at r144 v65)
  (at r126 v66)
  (free v67)
  (at r119 v68)
  (free v69)
  (free v70)
  (free v71)
  (at r118 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r181 v76)
  (free v77)
  (at r170 v78)
  (at r157 v79)
  (at r150 v80)
  (free v81)
  (at r127 v82)
  (free v83)
  (free v84)
  (free v85)
  (at r136 v86)
  (free v87)
  (free v88)
  (at r166 v89)
  (at r112 v90)
  (free v91)
  (at r174 v92)
  (at r91 v93)
  (free v94)
  (free v95)
  (at r110 v96)
  (free v97)
  (free v98)
  (at r106 v99)
  (free v100)
  (free v101)
  (at r164 v102)
  (free v103)
  (at r134 v104)
  (free v105)
  (free v106)
  (at r179 v107)
  (at r128 v108)
  (at r103 v109)
  (free v110)
  (free v111)
  (at r151 v112)
  (free v113)
  (at r180 v114)
  (free v115)
  (free v116)
  (at r93 v117)
  (free v118)
  (free v119)
  (at r137 v120)
  (at r117 v121)
  (at r96 v122)
  (free v123)
  (free v124)
  (at r100 v125)
  (free v126)
  (at r130 v127)
  (at r145 v128)
  (free v129)
  (at r158 v130)
  (free v131)
  (free v132)
  (at r97 v133)
  (at r124 v134)
  (free v135)
  (free v136)
  (free v137)
  (at r108 v138)
  (at r116 v139)
  (at r122 v140)
  (free v141)
  (free v142)
  (at r109 v143)
  (at r168 v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (at r182 v153)
  (at r120 v154)
  (at r141 v155)
  (free v156)
  (at r169 v157)
  (at r99 v158)
  (free v159)
  (at r123 v160)
  (at r155 v161)
  (free v162)
  (free v163)
  (at r178 v164)
  (free v165)
  (free v166)
  (at r176 v167)
  (at r160 v168)
  (at r152 v169)
  (at r102 v170)
  (free v171)
  (free v172)
  (at r142 v173)
  (free v174)
  (at r107 v175)
  (at r173 v176)
  (free v177)
  (free v178)
  (at r147 v179)
  (free v180)
  (free v181)
  (at r94 v182)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v12)
  (adjacent v2 v14)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v11)
  (adjacent v4 v9)
  (adjacent v4 v16)
  (adjacent v4 v20)
  (adjacent v4 v21)
  (adjacent v4 v80)
  (adjacent v5 v6)
  (adjacent v5 v32)
  (adjacent v5 v51)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v8 v162)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v146)
  (adjacent v11 v12)
  (adjacent v11 v105)
  (adjacent v12 v27)
  (adjacent v13 v14)
  (adjacent v13 v15)
  (adjacent v13 v31)
  (adjacent v13 v62)
  (adjacent v13 v102)
  (adjacent v14 v29)
  (adjacent v14 v88)
  (adjacent v15 v16)
  (adjacent v15 v28)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v29)
  (adjacent v18 v34)
  (adjacent v18 v48)
  (adjacent v19 v20)
  (adjacent v19 v67)
  (adjacent v19 v108)
  (adjacent v19 v110)
  (adjacent v20 v115)
  (adjacent v20 v153)
  (adjacent v21 v22)
  (adjacent v21 v73)
  (adjacent v22 v23)
  (adjacent v22 v71)
  (adjacent v22 v131)
  (adjacent v23 v24)
  (adjacent v23 v30)
  (adjacent v23 v41)
  (adjacent v24 v25)
  (adjacent v24 v28)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v103)
  (adjacent v27 v43)
  (adjacent v28 v42)
  (adjacent v29 v68)
  (adjacent v30 v31)
  (adjacent v31 v58)
  (adjacent v32 v33)
  (adjacent v32 v96)
  (adjacent v32 v105)
  (adjacent v33 v34)
  (adjacent v33 v50)
  (adjacent v33 v107)
  (adjacent v34 v42)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v95)
  (adjacent v37 v38)
  (adjacent v37 v51)
  (adjacent v38 v39)
  (adjacent v38 v68)
  (adjacent v39 v40)
  (adjacent v39 v52)
  (adjacent v40 v41)
  (adjacent v40 v121)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v165)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v95)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v81)
  (adjacent v49 v109)
  (adjacent v49 v132)
  (adjacent v51 v57)
  (adjacent v52 v53)
  (adjacent v52 v69)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v109)
  (adjacent v56 v57)
  (adjacent v56 v124)
  (adjacent v57 v74)
  (adjacent v57 v108)
  (adjacent v58 v59)
  (adjacent v58 v70)
  (adjacent v59 v60)
  (adjacent v59 v87)
  (adjacent v59 v106)
  (adjacent v59 v155)
  (adjacent v60 v61)
  (adjacent v60 v63)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v104)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v69 v139)
  (adjacent v71 v72)
  (adjacent v71 v181)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v74 v159)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v125)
  (adjacent v79 v80)
  (adjacent v80 v145)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v94)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v153)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v122)
  (adjacent v94 v180)
  (adjacent v96 v97)
  (adjacent v96 v158)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v148)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v106 v107)
  (adjacent v106 v114)
  (adjacent v106 v123)
  (adjacent v108 v133)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v156)
  (adjacent v115 v116)
  (adjacent v115 v161)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v154)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v124)
  (adjacent v120 v130)
  (adjacent v122 v123)
  (adjacent v122 v177)
  (adjacent v124 v166)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v147)
  (adjacent v128 v169)
  (adjacent v129 v130)
  (adjacent v129 v170)
  (adjacent v130 v176)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v140)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v152)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v166 v182)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (at r160 v3)
  (free v4)
  (at r182 v5)
  (at r143 v6)
  (at r92 v7)
  (free v8)
  (free v9)
  (at r126 v10)
  (at r122 v11)
  (at r118 v12)
  (at r140 v13)
  (at r147 v14)
  (free v15)
  (at r168 v16)
  (at r105 v17)
  (free v18)
  (at r125 v19)
  (at r111 v20)
  (free v21)
  (free v22)
  (at r150 v23)
  (free v24)
  (at r117 v25)
  (free v26)
  (at r169 v27)
  (at r167 v28)
  (free v29)
  (at r94 v30)
  (at r96 v31)
  (at r129 v32)
  (at r151 v33)
  (at r145 v34)
  (at r107 v35)
  (free v36)
  (free v37)
  (at r137 v38)
  (free v39)
  (free v40)
  (at r156 v41)
  (at r123 v42)
  (at r148 v43)
  (at r116 v44)
  (at r138 v45)
  (at r155 v46)
  (at r103 v47)
  (at r173 v48)
  (at r180 v49)
  (free v50)
  (at r179 v51)
  (free v52)
  (at r141 v53)
  (free v54)
  (free v55)
  (at r95 v56)
  (free v57)
  (at r162 v58)
  (free v59)
  (at r136 v60)
  (free v61)
  (at r101 v62)
  (at r119 v63)
  (free v64)
  (free v65)
  (at r106 v66)
  (at r166 v67)
  (free v68)
  (free v69)
  (at r100 v70)
  (at r120 v71)
  (at r139 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r99 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (at r134 v85)
  (at r91 v86)
  (free v87)
  (at r104 v88)
  (at r152 v89)
  (free v90)
  (at r133 v91)
  (free v92)
  (free v93)
  (free v94)
  (at r153 v95)
  (at r176 v96)
  (at r171 v97)
  (at r128 v98)
  (at r161 v99)
  (at r181 v100)
  (free v101)
  (free v102)
  (at r93 v103)
  (free v104)
  (at r135 v105)
  (free v106)
  (at r115 v107)
  (at r154 v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r164 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r127 v120)
  (at r124 v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (at r109 v126)
  (at r165 v127)
  (free v128)
  (at r97 v129)
  (at r172 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r178 v134)
  (at r130 v135)
  (at r157 v136)
  (free v137)
  (free v138)
  (free v139)
  (at r121 v140)
  (at r102 v141)
  (free v142)
  (free v143)
  (free v144)
  (at r108 v145)
  (at r177 v146)
  (at r170 v147)
  (free v148)
  (free v149)
  (at r174 v150)
  (at r158 v151)
  (at r131 v152)
  (free v153)
  (at r159 v154)
  (free v155)
  (free v156)
  (free v157)
  (free v158)
  (free v159)
  (at r112 v160)
  (free v161)
  (at r175 v162)
  (free v163)
  (at r98 v164)
  (at r149 v165)
  (free v166)
  (free v167)
  (at r114 v168)
  (at r142 v169)
  (free v170)
  (at r113 v171)
  (at r132 v172)
  (at r144 v173)
  (at r146 v174)
  (at r163 v175)
  (free v176)
  (free v177)
  (free v178)
  (free v179)
  (free v180)
  (free v181)
  (at r110 v182)
  )
 )
)