(define (problem multirobot_52_90%_c7)
 (:domain multirobot)
 (:objects
  v0 r130
  v1
  v2
  v3
  v4
  v5
  v6
  v7
  v8
  v9
  v10
  v11
  v12
  v13 r145
  v14 r142
  v15
  v16 r131
  v17
  v18 r116
  v19
  v20 r115
  v21 r108
  v22
  v23 r113
  v24
  v25
  v26
  v27
  v28
  v29 r117
  v30 r125
  v31 r146
  v32 r150
  v33
  v34
  v35 r148
  v36
  v37 r143
  v38
  v39
  v40 r114
  v41
  v42 r109
  v43
  v44 r129
  v45
  v46 r153
  v47
  v48
  v49
  v50
  v51
  v52
  v53
  v54
  v55
  v56
  v57 r127
  v58 r140
  v59
  v60
  v61
  v62
  v63 r111
  v64
  v65 r126
  v66
  v67
  v68
  v69 r123
  v70
  v71
  v72 r135
  v73
  v74
  v75
  v76 r128
  v77
  v78 r139
  v79
  v80
  v81
  v82
  v83 r147
  v84
  v85 r133
  v86
  v87
  v88
  v89 r136
  v90 r149
  v91
  v92 r132
  v93
  v94 r102
  v95
  v96
  v97 r105
  v98
  v99 r138
  v100
  v101 r104
  v102
  v103
  v104
  v105
  v106
  v107
  v108
  v109 r112
  v110 r141
  v111
  v112
  v113 r119
  v114 r152
  v115 r110
  v116 r137
  v117 r107
  v118
  v119
  v120 r144
  v121
  v122
  v123
  v124
  v125
  v126
  v127 r106
  v128
  v129
  v130
  v131
  v132 r121
  v133
  v134 r154
  v135 r134
  v136
  v137
  v138
  v139 r122
  v140
  v141
  v142
  v143
  v144 r118
  v145
  v146 r124
  v147
  v148
  v149 r151
  v150
  v151
  v152 r120
  v153 r103
  v154
 )
 (:init
  (at r130 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (at r145 v13)
  (at r142 v14)
  (free v15)
  (at r131 v16)
  (free v17)
  (at r116 v18)
  (free v19)
  (at r115 v20)
  (at r108 v21)
  (free v22)
  (at r113 v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (at r117 v29)
  (at r125 v30)
  (at r146 v31)
  (at r150 v32)
  (free v33)
  (free v34)
  (at r148 v35)
  (free v36)
  (at r143 v37)
  (free v38)
  (free v39)
  (at r114 v40)
  (free v41)
  (at r109 v42)
  (free v43)
  (at r129 v44)
  (free v45)
  (at r153 v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r127 v57)
  (at r140 v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r111 v63)
  (free v64)
  (at r126 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r123 v69)
  (free v70)
  (free v71)
  (at r135 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r128 v76)
  (free v77)
  (at r139 v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (at r147 v83)
  (free v84)
  (at r133 v85)
  (free v86)
  (free v87)
  (free v88)
  (at r136 v89)
  (at r149 v90)
  (free v91)
  (at r132 v92)
  (free v93)
  (at r102 v94)
  (free v95)
  (free v96)
  (at r105 v97)
  (free v98)
  (at r138 v99)
  (free v100)
  (at r104 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (at r112 v109)
  (at r141 v110)
  (free v111)
  (free v112)
  (at r119 v113)
  (at r152 v114)
  (at r110 v115)
  (at r137 v116)
  (at r107 v117)
  (free v118)
  (free v119)
  (at r144 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (at r106 v127)
  (free v128)
  (free v129)
  (free v130)
  (free v131)
  (at r121 v132)
  (free v133)
  (at r154 v134)
  (at r134 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r122 v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (at r118 v144)
  (free v145)
  (at r124 v146)
  (free v147)
  (free v148)
  (at r151 v149)
  (free v150)
  (free v151)
  (at r120 v152)
  (at r103 v153)
  (free v154)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v37)
  (adjacent v0 v69)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v49)
  (adjacent v1 v51)
  (adjacent v2 v3)
  (adjacent v2 v15)
  (adjacent v2 v16)
  (adjacent v2 v71)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v15)
  (adjacent v3 v85)
  (adjacent v4 v48)
  (adjacent v4 v136)
  (adjacent v5 v6)
  (adjacent v5 v50)
  (adjacent v5 v91)
  (adjacent v6 v7)
  (adjacent v6 v22)
  (adjacent v7 v8)
  (adjacent v7 v127)
  (adjacent v7 v149)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v8 v123)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v28)
  (adjacent v10 v41)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v13 v152)
  (adjacent v14 v50)
  (adjacent v14 v151)
  (adjacent v15 v29)
  (adjacent v15 v38)
  (adjacent v16 v17)
  (adjacent v16 v56)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v30)
  (adjacent v18 v38)
  (adjacent v18 v42)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v80)
  (adjacent v21 v82)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v122)
  (adjacent v25 v26)
  (adjacent v25 v57)
  (adjacent v25 v72)
  (adjacent v25 v88)
  (adjacent v26 v27)
  (adjacent v26 v47)
  (adjacent v27 v28)
  (adjacent v27 v39)
  (adjacent v27 v44)
  (adjacent v27 v73)
  (adjacent v28 v43)
  (adjacent v28 v112)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v61)
  (adjacent v31 v115)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v60)
  (adjacent v33 v98)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v40)
  (adjacent v36 v37)
  (adjacent v37 v41)
  (adjacent v37 v70)
  (adjacent v37 v117)
  (adjacent v38 v43)
  (adjacent v38 v62)
  (adjacent v38 v150)
  (adjacent v39 v40)
  (adjacent v39 v42)
  (adjacent v39 v75)
  (adjacent v41 v134)
  (adjacent v42 v106)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v72)
  (adjacent v46 v47)
  (adjacent v46 v150)
  (adjacent v47 v86)
  (adjacent v48 v49)
  (adjacent v48 v66)
  (adjacent v48 v126)
  (adjacent v49 v143)
  (adjacent v49 v144)
  (adjacent v50 v63)
  (adjacent v50 v84)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v133)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v59)
  (adjacent v56 v60)
  (adjacent v57 v58)
  (adjacent v57 v111)
  (adjacent v58 v59)
  (adjacent v58 v125)
  (adjacent v59 v65)
  (adjacent v59 v74)
  (adjacent v59 v106)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v101)
  (adjacent v66 v67)
  (adjacent v66 v97)
  (adjacent v67 v68)
  (adjacent v67 v81)
  (adjacent v67 v116)
  (adjacent v67 v151)
  (adjacent v68 v69)
  (adjacent v68 v84)
  (adjacent v69 v81)
  (adjacent v69 v92)
  (adjacent v69 v100)
  (adjacent v70 v71)
  (adjacent v70 v128)
  (adjacent v72 v83)
  (adjacent v73 v74)
  (adjacent v74 v87)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v108)
  (adjacent v79 v80)
  (adjacent v79 v107)
  (adjacent v81 v105)
  (adjacent v82 v83)
  (adjacent v83 v85)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v137)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v107)
  (adjacent v97 v154)
  (adjacent v98 v99)
  (adjacent v98 v126)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v116)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v123 v138)
  (adjacent v124 v125)
  (adjacent v125 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v137)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v152 v153)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (at r106 v9)
  (free v10)
  (at r104 v11)
  (free v12)
  (free v13)
  (at r142 v14)
  (free v15)
  (free v16)
  (free v17)
  (at r126 v18)
  (at r102 v19)
  (free v20)
  (free v21)
  (at r124 v22)
  (at r130 v23)
  (free v24)
  (at r116 v25)
  (free v26)
  (at r110 v27)
  (free v28)
  (free v29)
  (free v30)
  (at r128 v31)
  (free v32)
  (free v33)
  (free v34)
  (free v35)
  (at r140 v36)
  (free v37)
  (at r103 v38)
  (free v39)
  (at r129 v40)
  (free v41)
  (free v42)
  (at r145 v43)
  (free v44)
  (at r125 v45)
  (free v46)
  (free v47)
  (at r123 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r141 v55)
  (free v56)
  (at r137 v57)
  (free v58)
  (free v59)
  (at r127 v60)
  (free v61)
  (at r112 v62)
  (free v63)
  (free v64)
  (at r120 v65)
  (free v66)
  (free v67)
  (at r119 v68)
  (at r154 v69)
  (free v70)
  (at r113 v71)
  (free v72)
  (free v73)
  (at r139 v74)
  (at r143 v75)
  (free v76)
  (free v77)
  (at r122 v78)
  (at r108 v79)
  (free v80)
  (free v81)
  (at r131 v82)
  (free v83)
  (free v84)
  (at r138 v85)
  (at r147 v86)
  (free v87)
  (at r134 v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (free v93)
  (at r144 v94)
  (at r118 v95)
  (free v96)
  (free v97)
  (free v98)
  (at r114 v99)
  (at r148 v100)
  (at r153 v101)
  (free v102)
  (free v103)
  (free v104)
  (at r132 v105)
  (at r111 v106)
  (at r151 v107)
  (free v108)
  (free v109)
  (free v110)
  (at r146 v111)
  (at r149 v112)
  (free v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r133 v118)
  (at r109 v119)
  (at r105 v120)
  (free v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (at r117 v129)
  (at r115 v130)
  (free v131)
  (at r136 v132)
  (at r150 v133)
  (free v134)
  (at r107 v135)
  (free v136)
  (free v137)
  (free v138)
  (free v139)
  (at r135 v140)
  (at r121 v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (at r152 v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  )
 )
)