(define (problem multirobot_52_90%_c2) (:domain multirobot) (:objects v0 r144 v1 r170 v2 r100 v3 r140 v4 r152 v5 r153 v6 v7 r142 v8 v9 r98 v10 r146 v11 r101 v12 r156 v13 r162 v14 v15 r117 v16 r167 v17 r118 v18 v19 r89 v20 r91 v21 v22 v23 v24 r141 v25 v26 r172 v27 r126 v28 r86 v29 v30 r143 v31 r94 v32 v33 r99 v34 r116 v35 v36 v37 v38 v39 r92 v40 v41 v42 v43 r145 v44 r105 v45 v46 r157 v47 r129 v48 v49 v50 v51 r108 v52 r183 v53 v54 r102 v55 v56 r132 v57 v58 v59 r96 v60 v61 r123 v62 v63 r177 v64 v65 r173 v66 r175 v67 r93 v68 v69 r109 v70 r158 v71 v72 r106 v73 r149 v74 v75 v76 r136 v77 v78 r95 v79 r179 v80 r178 v81 r182 v82 v83 v84 r111 v85 r88 v86 r165 v87 v88 r125 v89 r110 v90 v91 r154 v92 r127 v93 v94 r161 v95 r121 v96 r130 v97 v98 r90 v99 r113 v100 v101 r124 v102 r114 v103 r134 v104 v105 r168 v106 v107 v108 r147 v109 r163 v110 v111 v112 v113 v114 r122 v115 r85 v116 v117 v118 r166 v119 r112 v120 v121 v122 v123 v124 v125 r181 v126 r139 v127 v128 v129 r133 v130 v131 v132 v133 v134 v135 v136 v137 r174 v138 r155 v139 r171 v140 v141 v142 r103 v143 v144 v145 v146 r119 v147 r131 v148 v149 r150 v150 r148 v151 v152 r176 v153 r107 v154 r115 v155 v156 v157 v158 v159 v160 r137 v161 r135 v162 v163 v164 r160 v165 r164 v166 r138 v167 v168 r151 v169 r169 v170 v171 v172 r87 v173 v174 r128 v175 r104 v176 v177 v178 r120 v179 r159 v180 v181 r180 v182 r97 v183 ) (:init (at r144 v0) (at r170 v1) (at r100 v2) (at r140 v3) (at r152 v4) (at r153 v5) (free v6) (at r142 v7) (free v8) (at r98 v9) (at r146 v10) (at r101 v11) (at r156 v12) (at r162 v13) (free v14) (at r117 v15) (at r167 v16) (at r118 v17) (free v18) (at r89 v19) (at r91 v20) (free v21) (free v22) (free v23) (at r141 v24) (free v25) (at r172 v26) (at r126 v27) (at r86 v28) (free v29) (at r143 v30) (at r94 v31) (free v32) (at r99 v33) (at r116 v34) (free v35) (free v36) (free v37) (free v38) (at r92 v39) (free v40) (free v41) (free v42) (at r145 v43) (at r105 v44) (free v45) (at r157 v46) (at r129 v47) (free v48) (free v49) (free v50) (at r108 v51) (at r183 v52) (free v53) (at r102 v54) (free v55) (at r132 v56) (free v57) (free v58) (at r96 v59) (free v60) (at r123 v61) (free v62) (at r177 v63) (free v64) (at r173 v65) (at r175 v66) (at r93 v67) (free v68) (at r109 v69) (at r158 v70) (free v71) (at r106 v72) (at r149 v73) (free v74) (free v75) (at r136 v76) (free v77) (at r95 v78) (at r179 v79) (at r178 v80) (at r182 v81) (free v82) (free v83) (at r111 v84) (at r88 v85) (at r165 v86) (free v87) (at r125 v88) (at r110 v89) (free v90) (at r154 v91) (at r127 v92) (free v93) (at r161 v94) (at r121 v95) (at r130 v96) (free v97) (at r90 v98) (at r113 v99) (free v100) (at r124 v101) (at r114 v102) (at r134 v103) (free v104) (at r168 v105) (free v106) (free v107) (at r147 v108) (at r163 v109) (free v110) (free v111) (free v112) (free v113) (at r122 v114) (at r85 v115) (free v116) (free v117) (at r166 v118) (at r112 v119) (free v120) (free v121) (free v122) (free v123) (free v124) (at r181 v125) (at r139 v126) (free v127) (free v128) (at r133 v129) (free v130) (free v131) (free v132) (free v133) (free v134) (free v135) (free v136) (at r174 v137) (at r155 v138) (at r171 v139) (free v140) (free v141) (at r103 v142) (free v143) (free v144) (free v145) (at r119 v146) (at r131 v147) (free v148) (at r150 v149) (at r148 v150) (free v151) (at r176 v152) (at r107 v153) (at r115 v154) (free v155) (free v156) (free v157) (free v158) (free v159) (at r137 v160) (at r135 v161) (free v162) (free v163) (at r160 v164) (at r164 v165) (at r138 v166) (free v167) (at r151 v168) (at r169 v169) (free v170) (free v171) (at r87 v172) (free v173) (at r128 v174) (at r104 v175) (free v176) (free v177) (at r120 v178) (at r159 v179) (free v180) (at r180 v181) (at r97 v182) (free v183) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v9) (adjacent v1 v2) (adjacent v1 v5) (adjacent v1 v38) (adjacent v2 v3) (adjacent v2 v19) (adjacent v2 v29) (adjacent v2 v35) (adjacent v2 v113) (adjacent v3 v4) (adjacent v3 v10) (adjacent v3 v77) (adjacent v3 v122) (adjacent v3 v143) (adjacent v3 v172) (adjacent v5 v6) (adjacent v5 v13) (adjacent v5 v34) (adjacent v5 v81) (adjacent v6 v7) (adjacent v7 v8) (adjacent v8 v9) (adjacent v8 v12) (adjacent v9 v49) (adjacent v9 v50) (adjacent v10 v11) (adjacent v11 v12) (adjacent v11 v31) (adjacent v12 v26) (adjacent v13 v14) (adjacent v14 v15) (adjacent v15 v16) (adjacent v15 v30) (adjacent v16 v17) (adjacent v17 v18) (adjacent v17 v24) (adjacent v17 v165) (adjacent v18 v19) (adjacent v18 v20) (adjacent v18 v27) (adjacent v18 v43) (adjacent v20 v21) (adjacent v20 v25) (adjacent v20 v33) (adjacent v20 v49) (adjacent v20 v69) (adjacent v20 v82) (adjacent v21 v22) (adjacent v21 v71) (adjacent v22 v23) (adjacent v22 v150) (adjacent v23 v24) (adjacent v23 v30) (adjacent v23 v74) (adjacent v23 v139) (adjacent v24 v42) (adjacent v24 v63) (adjacent v25 v26) (adjacent v25 v56) (adjacent v25 v73) (adjacent v25 v137) (adjacent v27 v28) (adjacent v28 v29) (adjacent v28 v117) (adjacent v28 v142) (adjacent v29 v70) (adjacent v30 v149) (adjacent v31 v32) (adjacent v31 v34) (adjacent v32 v33) (adjacent v32 v164) (adjacent v33 v90) (adjacent v33 v132) (adjacent v34 v48) (adjacent v35 v36) (adjacent v36 v37) (adjacent v36 v105) (adjacent v37 v38) (adjacent v37 v39) (adjacent v37 v150) (adjacent v38 v78) (adjacent v39 v40) (adjacent v40 v41) (adjacent v41 v42) (adjacent v41 v136) (adjacent v43 v44) (adjacent v44 v45) (adjacent v45 v46) (adjacent v46 v47) (adjacent v46 v118) (adjacent v47 v48) (adjacent v49 v55) (adjacent v49 v59) (adjacent v50 v51) (adjacent v51 v52) (adjacent v51 v62) (adjacent v52 v53) (adjacent v52 v94) (adjacent v52 v183) (adjacent v53 v54) (adjacent v53 v58) (adjacent v53 v169) (adjacent v54 v55) (adjacent v54 v106) (adjacent v54 v129) (adjacent v55 v101) (adjacent v56 v57) (adjacent v56 v161) (adjacent v57 v58) (adjacent v58 v77) (adjacent v59 v60) (adjacent v60 v61) (adjacent v61 v62) (adjacent v62 v76) (adjacent v62 v83) (adjacent v63 v64) (adjacent v64 v65) (adjacent v64 v70) (adjacent v65 v66) (adjacent v66 v67) (adjacent v67 v68) (adjacent v68 v69) (adjacent v68 v89) (adjacent v68 v95) (adjacent v69 v82) (adjacent v70 v114) (adjacent v71 v72) (adjacent v71 v112) (adjacent v71 v138) (adjacent v72 v73) (adjacent v73 v173) (adjacent v74 v75) (adjacent v75 v76) (adjacent v75 v101) (adjacent v76 v182) (adjacent v77 v170) (adjacent v78 v79) (adjacent v79 v80) (adjacent v80 v81) (adjacent v83 v84) (adjacent v83 v107) (adjacent v83 v113) (adjacent v84 v85) (adjacent v85 v86) (adjacent v85 v102) (adjacent v85 v144) (adjacent v86 v87) (adjacent v86 v143) (adjacent v87 v88) (adjacent v88 v89) (adjacent v90 v91) (adjacent v91 v92) (adjacent v92 v93) (adjacent v92 v100) (adjacent v92 v155) (adjacent v93 v94) (adjacent v94 v106) (adjacent v95 v96) (adjacent v96 v97) (adjacent v97 v98) (adjacent v98 v99) (adjacent v99 v100) (adjacent v101 v128) (adjacent v102 v103) (adjacent v102 v139) (adjacent v103 v104) (adjacent v104 v105) (adjacent v104 v171) (adjacent v107 v108) (adjacent v108 v109) (adjacent v109 v110) (adjacent v110 v111) (adjacent v111 v112) (adjacent v111 v121) (adjacent v114 v115) (adjacent v115 v116) (adjacent v115 v162) (adjacent v116 v117) (adjacent v118 v119) (adjacent v119 v120) (adjacent v120 v121) (adjacent v121 v156) (adjacent v121 v181) (adjacent v122 v123) (adjacent v122 v151) (adjacent v123 v124) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v126 v133) (adjacent v127 v128) (adjacent v127 v172) (adjacent v129 v130) (adjacent v130 v131) (adjacent v130 v140) (adjacent v131 v132) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v136) (adjacent v135 v174) (adjacent v137 v138) (adjacent v138 v178) (adjacent v140 v141) (adjacent v141 v142) (adjacent v141 v173) (adjacent v144 v145) (adjacent v145 v146) (adjacent v146 v147) (adjacent v147 v148) (adjacent v148 v149) (adjacent v151 v152) (adjacent v152 v153) (adjacent v153 v154) (adjacent v154 v155) (adjacent v156 v157) (adjacent v157 v158) (adjacent v158 v159) (adjacent v159 v160) (adjacent v159 v179) (adjacent v160 v161) (adjacent v162 v163) (adjacent v163 v164) (adjacent v165 v166) (adjacent v166 v167) (adjacent v167 v168) (adjacent v168 v169) (adjacent v170 v171) (adjacent v174 v175) (adjacent v175 v176) (adjacent v176 v177) (adjacent v177 v178) (adjacent v179 v180) (adjacent v180 v181) (adjacent v182 v183) ) (:goal (and (at r138 v0) (free v1) (free v2) (free v3) (free v4) (free v5) (at r174 v6) (at r106 v7) (free v8) (free v9) (at r149 v10) (free v11) (at r127 v12) (at r104 v13) (free v14) (free v15) (at r110 v16) (at r166 v17) (free v18) (free v19) (free v20) (at r105 v21) (at r158 v22) (at r148 v23) (free v24) (free v25) (free v26) (at r101 v27) (free v28) (free v29) (free v30) (free v31) (at r126 v32) (free v33) (free v34) (at r152 v35) (free v36) (at r180 v37) (at r143 v38) (at r162 v39) (at r163 v40) (free v41) (at r102 v42) (at r172 v43) (free v44) (at r122 v45) (at r132 v46) (at r88 v47) (free v48) (free v49) (free v50) (at r140 v51) (free v52) (free v53) (at r159 v54) (free v55) (at r177 v56) (free v57) (free v58) (free v59) (at r153 v60) (free v61) (free v62) (free v63) (free v64) (free v65) (free v66) (at r173 v67) (free v68) (at r139 v69) (at r93 v70) (at r130 v71) (free v72) (free v73) (at r151 v74) (at r94 v75) (at r141 v76) (at r175 v77) (free v78) (free v79) (at r128 v80) (free v81) (free v82) (at r165 v83) (at r86 v84) (at r117 v85) (at r116 v86) (at r119 v87) (at r99 v88) (free v89) (at r171 v90) (at r157 v91) (at r142 v92) (at r144 v93) (free v94) (at r108 v95) (at r97 v96) (at r150 v97) (free v98) (at r124 v99) (at r170 v100) (at r136 v101) (at r87 v102) (free v103) (at r121 v104) (at r169 v105) (free v106) (at r155 v107) (at r167 v108) (free v109) (at r164 v110) (at r179 v111) (free v112) (at r91 v113) (free v114) (at r90 v115) (free v116) (at r120 v117) (free v118) (at r161 v119) (at r115 v120) (free v121) (at r134 v122) (at r145 v123) (free v124) (at r100 v125) (free v126) (at r146 v127) (free v128) (at r154 v129) (free v130) (free v131) (at r135 v132) (free v133) (free v134) (free v135) (at r113 v136) (at r92 v137) (free v138) (free v139) (at r183 v140) (free v141) (at r160 v142) (free v143) (free v144) (free v145) (free v146) (at r98 v147) (at r95 v148) (free v149) (free v150) (at r118 v151) (at r168 v152) (free v153) (at r137 v154) (at r109 v155) (at r111 v156) (free v157) (at r178 v158) (free v159) (at r103 v160) (at r129 v161) (at r107 v162) (at r89 v163) (at r182 v164) (at r131 v165) (at r176 v166) (at r123 v167) (at r114 v168) (at r181 v169) (at r147 v170) (free v171) (at r125 v172) (free v173) (free v174) (at r133 v175) (free v176) (free v177) (at r156 v178) (free v179) (at r112 v180) (at r85 v181) (at r96 v182) (free v183) ) ) )