(define (problem multirobot_52_90%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1 r165
  v2
  v3 r96
  v4 r130
  v5 r181
  v6
  v7 r108
  v8 r120
  v9
  v10
  v11
  v12 r94
  v13 r101
  v14
  v15 r142
  v16
  v17
  v18 r167
  v19
  v20
  v21 r126
  v22 r156
  v23 r180
  v24 r149
  v25
  v26
  v27
  v28
  v29
  v30 r128
  v31 r189
  v32
  v33 r114
  v34
  v35
  v36
  v37 r119
  v38 r173
  v39
  v40
  v41
  v42 r125
  v43 r118
  v44 r144
  v45
  v46
  v47
  v48 r136
  v49 r106
  v50
  v51 r187
  v52
  v53
  v54
  v55 r98
  v56 r182
  v57
  v58
  v59
  v60
  v61
  v62 r123
  v63
  v64 r154
  v65
  v66 r110
  v67 r174
  v68 r124
  v69
  v70 r169
  v71 r93
  v72 r164
  v73
  v74
  v75 r135
  v76
  v77
  v78 r170
  v79
  v80 r166
  v81
  v82
  v83 r172
  v84
  v85 r95
  v86 r151
  v87 r163
  v88
  v89
  v90
  v91 r159
  v92 r150
  v93 r132
  v94
  v95
  v96
  v97 r148
  v98
  v99 r186
  v100
  v101 r117
  v102 r134
  v103 r138
  v104
  v105
  v106
  v107
  v108 r113
  v109 r179
  v110 r177
  v111
  v112
  v113
  v114 r131
  v115
  v116
  v117 r152
  v118 r107
  v119
  v120 r171
  v121 r137
  v122 r178
  v123
  v124
  v125 r121
  v126 r155
  v127 r168
  v128
  v129 r185
  v130
  v131 r143
  v132
  v133 r129
  v134 r162
  v135 r183
  v136 r133
  v137
  v138 r146
  v139
  v140 r112
  v141 r161
  v142 r109
  v143 r175
  v144 r145
  v145 r102
  v146
  v147
  v148
  v149
  v150
  v151 r157
  v152 r188
  v153
  v154
  v155
  v156 r141
  v157
  v158 r104
  v159 r147
  v160
  v161 r140
  v162
  v163
  v164 r97
  v165
  v166 r122
  v167
  v168 r158
  v169 r139
  v170 r176
  v171 r153
  v172
  v173 r100
  v174
  v175 r103
  v176
  v177
  v178 r115
  v179
  v180 r92
  v181 r105
  v182 r127
  v183
  v184 r184
  v185 r111
  v186 r116
  v187 r160
  v188
  v189 r99
 )
 (:init
  (free v0)
  (at r165 v1)
  (free v2)
  (at r96 v3)
  (at r130 v4)
  (at r181 v5)
  (free v6)
  (at r108 v7)
  (at r120 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r94 v12)
  (at r101 v13)
  (free v14)
  (at r142 v15)
  (free v16)
  (free v17)
  (at r167 v18)
  (free v19)
  (free v20)
  (at r126 v21)
  (at r156 v22)
  (at r180 v23)
  (at r149 v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r128 v30)
  (at r189 v31)
  (free v32)
  (at r114 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r119 v37)
  (at r173 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r125 v42)
  (at r118 v43)
  (at r144 v44)
  (free v45)
  (free v46)
  (free v47)
  (at r136 v48)
  (at r106 v49)
  (free v50)
  (at r187 v51)
  (free v52)
  (free v53)
  (free v54)
  (at r98 v55)
  (at r182 v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r123 v62)
  (free v63)
  (at r154 v64)
  (free v65)
  (at r110 v66)
  (at r174 v67)
  (at r124 v68)
  (free v69)
  (at r169 v70)
  (at r93 v71)
  (at r164 v72)
  (free v73)
  (free v74)
  (at r135 v75)
  (free v76)
  (free v77)
  (at r170 v78)
  (free v79)
  (at r166 v80)
  (free v81)
  (free v82)
  (at r172 v83)
  (free v84)
  (at r95 v85)
  (at r151 v86)
  (at r163 v87)
  (free v88)
  (free v89)
  (free v90)
  (at r159 v91)
  (at r150 v92)
  (at r132 v93)
  (free v94)
  (free v95)
  (free v96)
  (at r148 v97)
  (free v98)
  (at r186 v99)
  (free v100)
  (at r117 v101)
  (at r134 v102)
  (at r138 v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r113 v108)
  (at r179 v109)
  (at r177 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r131 v114)
  (free v115)
  (free v116)
  (at r152 v117)
  (at r107 v118)
  (free v119)
  (at r171 v120)
  (at r137 v121)
  (at r178 v122)
  (free v123)
  (free v124)
  (at r121 v125)
  (at r155 v126)
  (at r168 v127)
  (free v128)
  (at r185 v129)
  (free v130)
  (at r143 v131)
  (free v132)
  (at r129 v133)
  (at r162 v134)
  (at r183 v135)
  (at r133 v136)
  (free v137)
  (at r146 v138)
  (free v139)
  (at r112 v140)
  (at r161 v141)
  (at r109 v142)
  (at r175 v143)
  (at r145 v144)
  (at r102 v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (at r157 v151)
  (at r188 v152)
  (free v153)
  (free v154)
  (free v155)
  (at r141 v156)
  (free v157)
  (at r104 v158)
  (at r147 v159)
  (free v160)
  (at r140 v161)
  (free v162)
  (free v163)
  (at r97 v164)
  (free v165)
  (at r122 v166)
  (free v167)
  (at r158 v168)
  (at r139 v169)
  (at r176 v170)
  (at r153 v171)
  (free v172)
  (at r100 v173)
  (free v174)
  (at r103 v175)
  (free v176)
  (free v177)
  (at r115 v178)
  (free v179)
  (at r92 v180)
  (at r105 v181)
  (at r127 v182)
  (free v183)
  (at r184 v184)
  (at r111 v185)
  (at r116 v186)
  (at r160 v187)
  (free v188)
  (at r99 v189)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v22)
  (adjacent v0 v93)
  (adjacent v1 v2)
  (adjacent v1 v12)
  (adjacent v1 v61)
  (adjacent v1 v169)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v23)
  (adjacent v2 v44)
  (adjacent v3 v4)
  (adjacent v3 v9)
  (adjacent v3 v22)
  (adjacent v4 v56)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v6 v7)
  (adjacent v6 v18)
  (adjacent v6 v28)
  (adjacent v6 v51)
  (adjacent v6 v54)
  (adjacent v6 v92)
  (adjacent v7 v8)
  (adjacent v7 v68)
  (adjacent v8 v9)
  (adjacent v10 v11)
  (adjacent v10 v57)
  (adjacent v11 v12)
  (adjacent v11 v55)
  (adjacent v11 v170)
  (adjacent v11 v176)
  (adjacent v12 v171)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v62)
  (adjacent v14 v74)
  (adjacent v15 v16)
  (adjacent v15 v19)
  (adjacent v15 v34)
  (adjacent v15 v35)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v17 v18)
  (adjacent v17 v36)
  (adjacent v17 v92)
  (adjacent v19 v20)
  (adjacent v19 v52)
  (adjacent v20 v21)
  (adjacent v20 v29)
  (adjacent v21 v106)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v55)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v75)
  (adjacent v27 v28)
  (adjacent v27 v45)
  (adjacent v27 v169)
  (adjacent v28 v42)
  (adjacent v28 v133)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v156)
  (adjacent v31 v32)
  (adjacent v31 v117)
  (adjacent v32 v33)
  (adjacent v32 v147)
  (adjacent v33 v34)
  (adjacent v33 v35)
  (adjacent v34 v98)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v183)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v43)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v69)
  (adjacent v43 v44)
  (adjacent v44 v118)
  (adjacent v45 v46)
  (adjacent v45 v72)
  (adjacent v46 v47)
  (adjacent v46 v80)
  (adjacent v46 v167)
  (adjacent v47 v48)
  (adjacent v47 v77)
  (adjacent v47 v163)
  (adjacent v48 v49)
  (adjacent v48 v140)
  (adjacent v49 v50)
  (adjacent v49 v99)
  (adjacent v49 v189)
  (adjacent v50 v51)
  (adjacent v51 v158)
  (adjacent v52 v53)
  (adjacent v52 v56)
  (adjacent v52 v71)
  (adjacent v53 v54)
  (adjacent v53 v91)
  (adjacent v56 v99)
  (adjacent v57 v58)
  (adjacent v57 v100)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v115)
  (adjacent v59 v150)
  (adjacent v60 v61)
  (adjacent v60 v76)
  (adjacent v60 v112)
  (adjacent v60 v116)
  (adjacent v61 v168)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v157)
  (adjacent v64 v65)
  (adjacent v64 v88)
  (adjacent v64 v107)
  (adjacent v65 v66)
  (adjacent v65 v87)
  (adjacent v65 v161)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v140)
  (adjacent v69 v70)
  (adjacent v69 v76)
  (adjacent v70 v71)
  (adjacent v70 v141)
  (adjacent v71 v81)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v75)
  (adjacent v74 v111)
  (adjacent v74 v129)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v128)
  (adjacent v81 v82)
  (adjacent v81 v150)
  (adjacent v81 v188)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v126)
  (adjacent v84 v85)
  (adjacent v84 v148)
  (adjacent v84 v170)
  (adjacent v85 v86)
  (adjacent v85 v149)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v138)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v132)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v168)
  (adjacent v97 v98)
  (adjacent v97 v139)
  (adjacent v99 v162)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v157)
  (adjacent v110 v111)
  (adjacent v111 v122)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v184)
  (adjacent v116 v117)
  (adjacent v116 v127)
  (adjacent v118 v119)
  (adjacent v118 v123)
  (adjacent v119 v120)
  (adjacent v119 v139)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v151)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v162)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v187)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v177)
  (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 v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v188 v189)
 )
 (:goal
  (and
  (at r120 v0)
  (at r160 v1)
  (free v2)
  (at r121 v3)
  (at r97 v4)
  (at r99 v5)
  (free v6)
  (free v7)
  (at r173 v8)
  (free v9)
  (at r125 v10)
  (at r178 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r95 v15)
  (free v16)
  (at r169 v17)
  (at r179 v18)
  (at r123 v19)
  (at r133 v20)
  (at r115 v21)
  (free v22)
  (free v23)
  (at r111 v24)
  (free v25)
  (free v26)
  (at r147 v27)
  (at r167 v28)
  (at r170 v29)
  (at r93 v30)
  (free v31)
  (at r137 v32)
  (at r118 v33)
  (free v34)
  (at r143 v35)
  (at r185 v36)
  (free v37)
  (free v38)
  (at r189 v39)
  (free v40)
  (at r149 v41)
  (free v42)
  (free v43)
  (at r174 v44)
  (at r117 v45)
  (free v46)
  (at r180 v47)
  (at r148 v48)
  (at r156 v49)
  (free v50)
  (at r154 v51)
  (at r114 v52)
  (free v53)
  (at r129 v54)
  (at r182 v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r177 v60)
  (free v61)
  (at r171 v62)
  (at r163 v63)
  (at r132 v64)
  (free v65)
  (at r181 v66)
  (free v67)
  (free v68)
  (at r94 v69)
  (at r187 v70)
  (at r113 v71)
  (free v72)
  (at r168 v73)
  (free v74)
  (at r146 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r186 v79)
  (free v80)
  (at r100 v81)
  (at r103 v82)
  (at r139 v83)
  (at r141 v84)
  (at r119 v85)
  (at r110 v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r98 v91)
  (at r151 v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (at r108 v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (at r109 v102)
  (at r172 v103)
  (at r134 v104)
  (free v105)
  (at r157 v106)
  (at r165 v107)
  (at r112 v108)
  (at r101 v109)
  (free v110)
  (at r102 v111)
  (free v112)
  (free v113)
  (at r140 v114)
  (at r122 v115)
  (at r145 v116)
  (at r106 v117)
  (at r184 v118)
  (free v119)
  (at r153 v120)
  (free v121)
  (at r175 v122)
  (free v123)
  (at r126 v124)
  (free v125)
  (at r155 v126)
  (free v127)
  (at r107 v128)
  (at r152 v129)
  (at r144 v130)
  (at r104 v131)
  (free v132)
  (free v133)
  (at r130 v134)
  (at r164 v135)
  (at r162 v136)
  (free v137)
  (at r135 v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (at r128 v143)
  (at r138 v144)
  (free v145)
  (free v146)
  (free v147)
  (at r105 v148)
  (free v149)
  (free v150)
  (at r124 v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (at r150 v156)
  (free v157)
  (at r96 v158)
  (at r158 v159)
  (at r136 v160)
  (free v161)
  (at r131 v162)
  (free v163)
  (at r161 v164)
  (free v165)
  (free v166)
  (free v167)
  (at r127 v168)
  (at r188 v169)
  (free v170)
  (free v171)
  (at r159 v172)
  (free v173)
  (at r176 v174)
  (free v175)
  (at r166 v176)
  (at r116 v177)
  (free v178)
  (free v179)
  (free v180)
  (at r142 v181)
  (free v182)
  (free v183)
  (free v184)
  (free v185)
  (free v186)
  (free v187)
  (at r183 v188)
  (at r92 v189)
  )
 )
)