(define (problem multirobot_52_90%_c6)
 (:domain multirobot)
 (:objects
  v0 r128
  v1
  v2
  v3
  v4
  v5 r161
  v6 r107
  v7 r164
  v8 r157
  v9 r146
  v10
  v11 r143
  v12 r140
  v13
  v14 r138
  v15
  v16 r145
  v17
  v18 r158
  v19 r130
  v20 r148
  v21 r167
  v22
  v23
  v24 r169
  v25
  v26
  v27
  v28
  v29 r100
  v30
  v31 r125
  v32
  v33
  v34
  v35
  v36
  v37
  v38
  v39
  v40
  v41
  v42
  v43 r154
  v44 r132
  v45 r139
  v46
  v47 r112
  v48 r142
  v49
  v50
  v51
  v52 r123
  v53
  v54
  v55
  v56 r122
  v57
  v58
  v59
  v60
  v61
  v62 r156
  v63
  v64
  v65 r129
  v66
  v67 r113
  v68 r165
  v69
  v70 r115
  v71 r137
  v72
  v73 r149
  v74
  v75 r159
  v76
  v77
  v78 r106
  v79
  v80 r124
  v81 r104
  v82
  v83
  v84 r168
  v85
  v86
  v87
  v88
  v89
  v90 r135
  v91
  v92
  v93
  v94 r133
  v95
  v96
  v97 r166
  v98
  v99
  v100 r114
  v101
  v102
  v103 r136
  v104 r170
  v105
  v106
  v107 r147
  v108
  v109
  v110
  v111
  v112 r120
  v113
  v114 r109
  v115 r144
  v116
  v117 r171
  v118
  v119 r155
  v120 r153
  v121
  v122 r151
  v123
  v124 r108
  v125 r141
  v126
  v127 r126
  v128
  v129 r162
  v130
  v131 r111
  v132 r119
  v133
  v134
  v135
  v136 r127
  v137 r134
  v138
  v139
  v140
  v141
  v142
  v143
  v144
  v145
  v146
  v147
  v148
  v149 r152
  v150
  v151
  v152 r105
  v153 r116
  v154 r117
  v155 r131
  v156
  v157 r102
  v158
  v159 r160
  v160 r101
  v161 r118
  v162 r163
  v163
  v164
  v165
  v166 r150
  v167
  v168 r103
  v169 r110
  v170 r121
  v171
 )
 (:init
  (at r128 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r161 v5)
  (at r107 v6)
  (at r164 v7)
  (at r157 v8)
  (at r146 v9)
  (free v10)
  (at r143 v11)
  (at r140 v12)
  (free v13)
  (at r138 v14)
  (free v15)
  (at r145 v16)
  (free v17)
  (at r158 v18)
  (at r130 v19)
  (at r148 v20)
  (at r167 v21)
  (free v22)
  (free v23)
  (at r169 v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r100 v29)
  (free v30)
  (at r125 v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r154 v43)
  (at r132 v44)
  (at r139 v45)
  (free v46)
  (at r112 v47)
  (at r142 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r123 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r122 v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r156 v62)
  (free v63)
  (free v64)
  (at r129 v65)
  (free v66)
  (at r113 v67)
  (at r165 v68)
  (free v69)
  (at r115 v70)
  (at r137 v71)
  (free v72)
  (at r149 v73)
  (free v74)
  (at r159 v75)
  (free v76)
  (free v77)
  (at r106 v78)
  (free v79)
  (at r124 v80)
  (at r104 v81)
  (free v82)
  (free v83)
  (at r168 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (at r135 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r133 v94)
  (free v95)
  (free v96)
  (at r166 v97)
  (free v98)
  (free v99)
  (at r114 v100)
  (free v101)
  (free v102)
  (at r136 v103)
  (at r170 v104)
  (free v105)
  (free v106)
  (at r147 v107)
  (free v108)
  (free v109)
  (free v110)
  (free v111)
  (at r120 v112)
  (free v113)
  (at r109 v114)
  (at r144 v115)
  (free v116)
  (at r171 v117)
  (free v118)
  (at r155 v119)
  (at r153 v120)
  (free v121)
  (at r151 v122)
  (free v123)
  (at r108 v124)
  (at r141 v125)
  (free v126)
  (at r126 v127)
  (free v128)
  (at r162 v129)
  (free v130)
  (at r111 v131)
  (at r119 v132)
  (free v133)
  (free v134)
  (free v135)
  (at r127 v136)
  (at r134 v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (at r152 v149)
  (free v150)
  (free v151)
  (at r105 v152)
  (at r116 v153)
  (at r117 v154)
  (at r131 v155)
  (free v156)
  (at r102 v157)
  (free v158)
  (at r160 v159)
  (at r101 v160)
  (at r118 v161)
  (at r163 v162)
  (free v163)
  (free v164)
  (free v165)
  (at r150 v166)
  (free v167)
  (at r103 v168)
  (at r110 v169)
  (at r121 v170)
  (free v171)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v85)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v1 v14)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v9)
  (adjacent v3 v71)
  (adjacent v3 v120)
  (adjacent v4 v5)
  (adjacent v4 v21)
  (adjacent v5 v6)
  (adjacent v5 v36)
  (adjacent v5 v62)
  (adjacent v6 v7)
  (adjacent v6 v27)
  (adjacent v6 v32)
  (adjacent v6 v109)
  (adjacent v7 v8)
  (adjacent v7 v78)
  (adjacent v7 v103)
  (adjacent v8 v9)
  (adjacent v8 v38)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v16)
  (adjacent v10 v17)
  (adjacent v10 v112)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v30)
  (adjacent v14 v15)
  (adjacent v14 v47)
  (adjacent v14 v56)
  (adjacent v15 v16)
  (adjacent v15 v93)
  (adjacent v16 v61)
  (adjacent v16 v120)
  (adjacent v17 v18)
  (adjacent v17 v26)
  (adjacent v17 v39)
  (adjacent v17 v77)
  (adjacent v17 v92)
  (adjacent v17 v151)
  (adjacent v18 v19)
  (adjacent v18 v31)
  (adjacent v18 v47)
  (adjacent v18 v51)
  (adjacent v19 v20)
  (adjacent v19 v83)
  (adjacent v20 v21)
  (adjacent v20 v111)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v57)
  (adjacent v22 v114)
  (adjacent v23 v24)
  (adjacent v23 v50)
  (adjacent v23 v70)
  (adjacent v23 v141)
  (adjacent v23 v152)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v69)
  (adjacent v25 v160)
  (adjacent v26 v31)
  (adjacent v26 v44)
  (adjacent v26 v63)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v68)
  (adjacent v29 v70)
  (adjacent v30 v78)
  (adjacent v30 v79)
  (adjacent v31 v91)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v45)
  (adjacent v35 v36)
  (adjacent v35 v55)
  (adjacent v36 v37)
  (adjacent v36 v48)
  (adjacent v36 v56)
  (adjacent v36 v67)
  (adjacent v36 v72)
  (adjacent v36 v145)
  (adjacent v37 v38)
  (adjacent v38 v129)
  (adjacent v39 v40)
  (adjacent v39 v98)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v46)
  (adjacent v41 v57)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v68)
  (adjacent v45 v46)
  (adjacent v45 v69)
  (adjacent v46 v58)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v75)
  (adjacent v50 v136)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v97)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v62)
  (adjacent v59 v108)
  (adjacent v60 v61)
  (adjacent v60 v84)
  (adjacent v60 v110)
  (adjacent v61 v76)
  (adjacent v61 v84)
  (adjacent v62 v144)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v153)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v99)
  (adjacent v67 v104)
  (adjacent v68 v71)
  (adjacent v69 v121)
  (adjacent v71 v113)
  (adjacent v71 v128)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v92)
  (adjacent v76 v77)
  (adjacent v77 v134)
  (adjacent v79 v80)
  (adjacent v79 v122)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v121)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v154)
  (adjacent v91 v135)
  (adjacent v91 v163)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v100)
  (adjacent v95 v171)
  (adjacent v96 v97)
  (adjacent v97 v113)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v100 v168)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v119)
  (adjacent v103 v118)
  (adjacent v104 v105)
  (adjacent v104 v135)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v109 v162)
  (adjacent v111 v112)
  (adjacent v113 v119)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v120 v169)
  (adjacent v122 v123)
  (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 v131 v140)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v138 v161)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
 )
 (:goal
  (and
  (free v0)
  (at r135 v1)
  (at r148 v2)
  (at r151 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r116 v7)
  (at r138 v8)
  (free v9)
  (free v10)
  (at r119 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r125 v16)
  (free v17)
  (free v18)
  (at r126 v19)
  (at r106 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r113 v27)
  (free v28)
  (free v29)
  (at r109 v30)
  (at r133 v31)
  (free v32)
  (free v33)
  (at r147 v34)
  (free v35)
  (at r101 v36)
  (at r100 v37)
  (at r146 v38)
  (free v39)
  (at r167 v40)
  (at r142 v41)
  (free v42)
  (free v43)
  (free v44)
  (at r145 v45)
  (free v46)
  (at r149 v47)
  (free v48)
  (at r165 v49)
  (free v50)
  (at r114 v51)
  (free v52)
  (free v53)
  (free v54)
  (at r168 v55)
  (at r160 v56)
  (at r150 v57)
  (at r152 v58)
  (free v59)
  (at r161 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r132 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r162 v69)
  (free v70)
  (at r122 v71)
  (at r140 v72)
  (at r118 v73)
  (free v74)
  (at r102 v75)
  (at r170 v76)
  (at r128 v77)
  (free v78)
  (free v79)
  (at r111 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (at r104 v86)
  (at r117 v87)
  (free v88)
  (free v89)
  (at r105 v90)
  (at r121 v91)
  (at r127 v92)
  (free v93)
  (free v94)
  (at r169 v95)
  (free v96)
  (free v97)
  (at r120 v98)
  (at r108 v99)
  (at r157 v100)
  (at r158 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (free v109)
  (at r112 v110)
  (free v111)
  (at r123 v112)
  (free v113)
  (at r141 v114)
  (at r143 v115)
  (free v116)
  (at r124 v117)
  (at r139 v118)
  (free v119)
  (at r164 v120)
  (free v121)
  (at r129 v122)
  (free v123)
  (free v124)
  (at r154 v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (free v132)
  (free v133)
  (at r144 v134)
  (at r107 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (at r130 v141)
  (free v142)
  (free v143)
  (at r166 v144)
  (at r134 v145)
  (free v146)
  (free v147)
  (at r155 v148)
  (at r137 v149)
  (at r115 v150)
  (at r156 v151)
  (at r103 v152)
  (at r171 v153)
  (at r159 v154)
  (at r136 v155)
  (free v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (at r163 v161)
  (free v162)
  (free v163)
  (free v164)
  (free v165)
  (at r153 v166)
  (free v167)
  (free v168)
  (at r110 v169)
  (free v170)
  (at r131 v171)
  )
 )
)