(define (problem multirobot_53_90%_c9)
 (:domain multirobot)
 (:objects
  v0 r120
  v1 r107
  v2
  v3
  v4
  v5 r104
  v6 r115
  v7 r121
  v8 r167
  v9
  v10 r124
  v11
  v12 r135
  v13
  v14 r174
  v15 r147
  v16
  v17 r153
  v18 r185
  v19
  v20
  v21
  v22
  v23
  v24 r111
  v25
  v26
  v27
  v28
  v29
  v30
  v31 r163
  v32
  v33
  v34
  v35 r150
  v36
  v37 r146
  v38
  v39 r118
  v40
  v41
  v42
  v43 r173
  v44
  v45
  v46 r133
  v47
  v48 r126
  v49
  v50 r109
  v51 r156
  v52
  v53
  v54 r144
  v55 r154
  v56
  v57
  v58
  v59 r172
  v60 r127
  v61
  v62
  v63 r140
  v64
  v65
  v66 r179
  v67 r151
  v68
  v69 r119
  v70 r108
  v71 r123
  v72 r128
  v73
  v74
  v75
  v76 r137
  v77
  v78 r166
  v79
  v80
  v81 r169
  v82 r159
  v83 r130
  v84 r188
  v85
  v86
  v87
  v88 r122
  v89
  v90 r117
  v91 r116
  v92 r178
  v93
  v94
  v95
  v96 r145
  v97
  v98
  v99
  v100
  v101
  v102
  v103 r184
  v104
  v105 r157
  v106
  v107 r131
  v108 r141
  v109 r106
  v110
  v111
  v112 r142
  v113 r136
  v114 r129
  v115
  v116 r110
  v117 r182
  v118 r183
  v119
  v120
  v121
  v122
  v123 r177
  v124 r160
  v125 r175
  v126 r152
  v127
  v128 r114
  v129
  v130 r162
  v131
  v132 r180
  v133
  v134
  v135
  v136
  v137 r168
  v138
  v139
  v140 r132
  v141 r134
  v142 r148
  v143
  v144
  v145
  v146 r158
  v147 r113
  v148 r125
  v149 r187
  v150
  v151 r176
  v152
  v153
  v154 r186
  v155 r143
  v156
  v157
  v158
  v159 r149
  v160
  v161
  v162 r165
  v163 r171
  v164
  v165
  v166
  v167
  v168
  v169 r181
  v170 r112
  v171 r155
  v172 r139
  v173 r105
  v174
  v175 r138
  v176
  v177
  v178
  v179 r170
  v180
  v181 r164
  v182
  v183
  v184
  v185
  v186
  v187 r161
  v188
 )
 (:init
  (at r120 v0)
  (at r107 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r104 v5)
  (at r115 v6)
  (at r121 v7)
  (at r167 v8)
  (free v9)
  (at r124 v10)
  (free v11)
  (at r135 v12)
  (free v13)
  (at r174 v14)
  (at r147 v15)
  (free v16)
  (at r153 v17)
  (at r185 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r111 v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r163 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r150 v35)
  (free v36)
  (at r146 v37)
  (free v38)
  (at r118 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r173 v43)
  (free v44)
  (free v45)
  (at r133 v46)
  (free v47)
  (at r126 v48)
  (free v49)
  (at r109 v50)
  (at r156 v51)
  (free v52)
  (free v53)
  (at r144 v54)
  (at r154 v55)
  (free v56)
  (free v57)
  (free v58)
  (at r172 v59)
  (at r127 v60)
  (free v61)
  (free v62)
  (at r140 v63)
  (free v64)
  (free v65)
  (at r179 v66)
  (at r151 v67)
  (free v68)
  (at r119 v69)
  (at r108 v70)
  (at r123 v71)
  (at r128 v72)
  (free v73)
  (free v74)
  (free v75)
  (at r137 v76)
  (free v77)
  (at r166 v78)
  (free v79)
  (free v80)
  (at r169 v81)
  (at r159 v82)
  (at r130 v83)
  (at r188 v84)
  (free v85)
  (free v86)
  (free v87)
  (at r122 v88)
  (free v89)
  (at r117 v90)
  (at r116 v91)
  (at r178 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r145 v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r184 v103)
  (free v104)
  (at r157 v105)
  (free v106)
  (at r131 v107)
  (at r141 v108)
  (at r106 v109)
  (free v110)
  (free v111)
  (at r142 v112)
  (at r136 v113)
  (at r129 v114)
  (free v115)
  (at r110 v116)
  (at r182 v117)
  (at r183 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r177 v123)
  (at r160 v124)
  (at r175 v125)
  (at r152 v126)
  (free v127)
  (at r114 v128)
  (free v129)
  (at r162 v130)
  (free v131)
  (at r180 v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (at r168 v137)
  (free v138)
  (free v139)
  (at r132 v140)
  (at r134 v141)
  (at r148 v142)
  (free v143)
  (free v144)
  (free v145)
  (at r158 v146)
  (at r113 v147)
  (at r125 v148)
  (at r187 v149)
  (free v150)
  (at r176 v151)
  (free v152)
  (free v153)
  (at r186 v154)
  (at r143 v155)
  (free v156)
  (free v157)
  (free v158)
  (at r149 v159)
  (free v160)
  (free v161)
  (at r165 v162)
  (at r171 v163)
  (free v164)
  (free v165)
  (free v166)
  (free v167)
  (free v168)
  (at r181 v169)
  (at r112 v170)
  (at r155 v171)
  (at r139 v172)
  (at r105 v173)
  (free v174)
  (at r138 v175)
  (free v176)
  (free v177)
  (free v178)
  (at r170 v179)
  (free v180)
  (at r164 v181)
  (free v182)
  (free v183)
  (free v184)
  (free v185)
  (free v186)
  (at r161 v187)
  (free v188)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v8)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v30)
  (adjacent v1 v35)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v6)
  (adjacent v2 v22)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v3 v14)
  (adjacent v3 v25)
  (adjacent v3 v70)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v5 v45)
  (adjacent v5 v63)
  (adjacent v6 v21)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v8 v26)
  (adjacent v8 v176)
  (adjacent v9 v10)
  (adjacent v9 v23)
  (adjacent v9 v144)
  (adjacent v10 v11)
  (adjacent v10 v19)
  (adjacent v10 v34)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v12 v13)
  (adjacent v13 v26)
  (adjacent v13 v53)
  (adjacent v13 v128)
  (adjacent v13 v137)
  (adjacent v14 v15)
  (adjacent v14 v22)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v151)
  (adjacent v17 v18)
  (adjacent v17 v86)
  (adjacent v18 v19)
  (adjacent v19 v74)
  (adjacent v19 v172)
  (adjacent v20 v21)
  (adjacent v20 v39)
  (adjacent v20 v55)
  (adjacent v21 v31)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v24 v25)
  (adjacent v24 v104)
  (adjacent v25 v84)
  (adjacent v26 v173)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v89)
  (adjacent v30 v50)
  (adjacent v30 v91)
  (adjacent v30 v114)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v71)
  (adjacent v33 v34)
  (adjacent v33 v68)
  (adjacent v34 v54)
  (adjacent v35 v36)
  (adjacent v35 v166)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v77)
  (adjacent v38 v39)
  (adjacent v38 v46)
  (adjacent v39 v111)
  (adjacent v40 v41)
  (adjacent v40 v138)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v49)
  (adjacent v44 v45)
  (adjacent v44 v166)
  (adjacent v45 v115)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v56)
  (adjacent v48 v49)
  (adjacent v48 v108)
  (adjacent v49 v73)
  (adjacent v49 v109)
  (adjacent v50 v51)
  (adjacent v50 v129)
  (adjacent v51 v52)
  (adjacent v51 v89)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v98)
  (adjacent v55 v62)
  (adjacent v55 v69)
  (adjacent v55 v109)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v85)
  (adjacent v60 v165)
  (adjacent v61 v62)
  (adjacent v62 v90)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v88)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v85)
  (adjacent v66 v145)
  (adjacent v67 v68)
  (adjacent v68 v82)
  (adjacent v68 v83)
  (adjacent v68 v140)
  (adjacent v69 v70)
  (adjacent v70 v78)
  (adjacent v71 v72)
  (adjacent v71 v112)
  (adjacent v72 v73)
  (adjacent v73 v125)
  (adjacent v74 v75)
  (adjacent v74 v105)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v155)
  (adjacent v83 v84)
  (adjacent v84 v141)
  (adjacent v86 v87)
  (adjacent v86 v90)
  (adjacent v87 v88)
  (adjacent v87 v97)
  (adjacent v87 v110)
  (adjacent v89 v120)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v183)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v126)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v159)
  (adjacent v109 v119)
  (adjacent v109 v135)
  (adjacent v110 v111)
  (adjacent v110 v136)
  (adjacent v110 v188)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v138)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v139)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v154)
  (adjacent v125 v144)
  (adjacent v126 v127)
  (adjacent v126 v184)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v167)
  (adjacent v131 v132)
  (adjacent v131 v150)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v143)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v146 v160)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v188)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v178)
  (adjacent v158 v187)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v177)
  (adjacent v164 v165)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v169 v175)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
 )
 (:goal
  (and
  (at r109 v0)
  (free v1)
  (at r115 v2)
  (at r149 v3)
  (at r108 v4)
  (free v5)
  (at r111 v6)
  (at r152 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r105 v15)
  (at r175 v16)
  (free v17)
  (at r143 v18)
  (at r106 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r110 v23)
  (free v24)
  (at r151 v25)
  (free v26)
  (free v27)
  (at r176 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r145 v32)
  (at r163 v33)
  (at r140 v34)
  (at r136 v35)
  (at r112 v36)
  (free v37)
  (at r129 v38)
  (free v39)
  (at r158 v40)
  (at r142 v41)
  (at r147 v42)
  (free v43)
  (at r157 v44)
  (at r188 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r114 v49)
  (at r153 v50)
  (at r178 v51)
  (at r173 v52)
  (free v53)
  (free v54)
  (at r169 v55)
  (at r127 v56)
  (free v57)
  (free v58)
  (at r164 v59)
  (free v60)
  (free v61)
  (at r122 v62)
  (at r182 v63)
  (at r144 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r124 v74)
  (free v75)
  (free v76)
  (free v77)
  (at r135 v78)
  (at r160 v79)
  (at r148 v80)
  (at r107 v81)
  (at r139 v82)
  (free v83)
  (free v84)
  (at r166 v85)
  (free v86)
  (free v87)
  (at r156 v88)
  (at r165 v89)
  (free v90)
  (free v91)
  (free v92)
  (at r104 v93)
  (free v94)
  (at r174 v95)
  (free v96)
  (at r128 v97)
  (free v98)
  (at r118 v99)
  (free v100)
  (at r130 v101)
  (free v102)
  (free v103)
  (free v104)
  (at r184 v105)
  (free v106)
  (free v107)
  (at r150 v108)
  (at r125 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (at r181 v114)
  (at r121 v115)
  (at r126 v116)
  (free v117)
  (at r180 v118)
  (free v119)
  (free v120)
  (at r161 v121)
  (free v122)
  (free v123)
  (free v124)
  (free v125)
  (at r186 v126)
  (at r119 v127)
  (at r171 v128)
  (at r123 v129)
  (at r120 v130)
  (free v131)
  (at r170 v132)
  (free v133)
  (free v134)
  (free v135)
  (free v136)
  (free v137)
  (at r131 v138)
  (free v139)
  (at r113 v140)
  (at r167 v141)
  (at r146 v142)
  (free v143)
  (at r162 v144)
  (at r168 v145)
  (at r134 v146)
  (free v147)
  (free v148)
  (at r132 v149)
  (at r179 v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (free v155)
  (at r172 v156)
  (at r116 v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (at r185 v162)
  (free v163)
  (at r155 v164)
  (at r133 v165)
  (at r159 v166)
  (at r187 v167)
  (free v168)
  (free v169)
  (free v170)
  (at r138 v171)
  (free v172)
  (at r117 v173)
  (free v174)
  (free v175)
  (at r137 v176)
  (at r154 v177)
  (free v178)
  (at r177 v179)
  (free v180)
  (at r183 v181)
  (at r141 v182)
  (free v183)
  (free v184)
  (free v185)
  (free v186)
  (free v187)
  (free v188)
  )
 )
)