(define (problem multirobot_54_90%_c0)
 (:domain multirobot)
 (:objects
  v0 r136
  v1 r139
  v2
  v3
  v4 r137
  v5 r142
  v6 r134
  v7 r187
  v8 r167
  v9 r124
  v10 r141
  v11 r166
  v12
  v13
  v14 r113
  v15
  v16
  v17 r140
  v18 r179
  v19
  v20
  v21 r143
  v22 r180
  v23 r164
  v24
  v25 r128
  v26 r175
  v27 r119
  v28
  v29 r108
  v30
  v31
  v32 r111
  v33
  v34
  v35
  v36 r189
  v37
  v38
  v39 r132
  v40 r151
  v41 r138
  v42 r165
  v43 r162
  v44
  v45
  v46 r147
  v47 r145
  v48
  v49
  v50
  v51 r154
  v52
  v53 r129
  v54 r160
  v55 r146
  v56
  v57 r115
  v58
  v59
  v60
  v61 r135
  v62 r109
  v63 r176
  v64 r190
  v65 r183
  v66
  v67 r157
  v68 r130
  v69
  v70
  v71
  v72 r114
  v73 r155
  v74 r153
  v75
  v76 r122
  v77
  v78 r163
  v79
  v80
  v81
  v82 r185
  v83
  v84 r112
  v85
  v86 r181
  v87
  v88
  v89
  v90
  v91 r161
  v92
  v93 r170
  v94 r144
  v95 r159
  v96
  v97 r150
  v98
  v99
  v100
  v101
  v102
  v103 r174
  v104 r116
  v105
  v106
  v107
  v108
  v109 r156
  v110 r133
  v111
  v112
  v113
  v114
  v115
  v116 r117
  v117
  v118
  v119
  v120 r178
  v121
  v122 r131
  v123 r118
  v124
  v125 r148
  v126
  v127
  v128
  v129 r171
  v130
  v131 r169
  v132
  v133
  v134
  v135 r173
  v136 r177
  v137
  v138
  v139
  v140
  v141
  v142
  v143
  v144
  v145
  v146
  v147
  v148
  v149
  v150
  v151
  v152
  v153 r125
  v154 r120
  v155 r184
  v156 r121
  v157
  v158 r127
  v159 r123
  v160 r186
  v161 r158
  v162
  v163 r110
  v164
  v165
  v166 r152
  v167
  v168
  v169 r168
  v170
  v171
  v172
  v173
  v174
  v175
  v176 r126
  v177
  v178
  v179 r149
  v180
  v181
  v182 r172
  v183
  v184
  v185 r188
  v186 r182
  v187
  v188
  v189
  v190
 )
 (:init
  (at r136 v0)
  (at r139 v1)
  (free v2)
  (free v3)
  (at r137 v4)
  (at r142 v5)
  (at r134 v6)
  (at r187 v7)
  (at r167 v8)
  (at r124 v9)
  (at r141 v10)
  (at r166 v11)
  (free v12)
  (free v13)
  (at r113 v14)
  (free v15)
  (free v16)
  (at r140 v17)
  (at r179 v18)
  (free v19)
  (free v20)
  (at r143 v21)
  (at r180 v22)
  (at r164 v23)
  (free v24)
  (at r128 v25)
  (at r175 v26)
  (at r119 v27)
  (free v28)
  (at r108 v29)
  (free v30)
  (free v31)
  (at r111 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r189 v36)
  (free v37)
  (free v38)
  (at r132 v39)
  (at r151 v40)
  (at r138 v41)
  (at r165 v42)
  (at r162 v43)
  (free v44)
  (free v45)
  (at r147 v46)
  (at r145 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r154 v51)
  (free v52)
  (at r129 v53)
  (at r160 v54)
  (at r146 v55)
  (free v56)
  (at r115 v57)
  (free v58)
  (free v59)
  (free v60)
  (at r135 v61)
  (at r109 v62)
  (at r176 v63)
  (at r190 v64)
  (at r183 v65)
  (free v66)
  (at r157 v67)
  (at r130 v68)
  (free v69)
  (free v70)
  (free v71)
  (at r114 v72)
  (at r155 v73)
  (at r153 v74)
  (free v75)
  (at r122 v76)
  (free v77)
  (at r163 v78)
  (free v79)
  (free v80)
  (free v81)
  (at r185 v82)
  (free v83)
  (at r112 v84)
  (free v85)
  (at r181 v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r161 v91)
  (free v92)
  (at r170 v93)
  (at r144 v94)
  (at r159 v95)
  (free v96)
  (at r150 v97)
  (free v98)
  (free v99)
  (free v100)
  (free v101)
  (free v102)
  (at r174 v103)
  (at r116 v104)
  (free v105)
  (free v106)
  (free v107)
  (free v108)
  (at r156 v109)
  (at r133 v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (free v115)
  (at r117 v116)
  (free v117)
  (free v118)
  (free v119)
  (at r178 v120)
  (free v121)
  (at r131 v122)
  (at r118 v123)
  (free v124)
  (at r148 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r171 v129)
  (free v130)
  (at r169 v131)
  (free v132)
  (free v133)
  (free v134)
  (at r173 v135)
  (at r177 v136)
  (free v137)
  (free v138)
  (free v139)
  (free v140)
  (free v141)
  (free v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (free v147)
  (free v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (at r125 v153)
  (at r120 v154)
  (at r184 v155)
  (at r121 v156)
  (free v157)
  (at r127 v158)
  (at r123 v159)
  (at r186 v160)
  (at r158 v161)
  (free v162)
  (at r110 v163)
  (free v164)
  (free v165)
  (at r152 v166)
  (free v167)
  (free v168)
  (at r168 v169)
  (free v170)
  (free v171)
  (free v172)
  (free v173)
  (free v174)
  (free v175)
  (at r126 v176)
  (free v177)
  (free v178)
  (at r149 v179)
  (free v180)
  (free v181)
  (at r172 v182)
  (free v183)
  (free v184)
  (at r188 v185)
  (at r182 v186)
  (free v187)
  (free v188)
  (free v189)
  (free v190)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v164)
  (adjacent v2 v3)
  (adjacent v2 v184)
  (adjacent v3 v4)
  (adjacent v3 v25)
  (adjacent v4 v5)
  (adjacent v4 v29)
  (adjacent v5 v6)
  (adjacent v5 v9)
  (adjacent v5 v23)
  (adjacent v5 v32)
  (adjacent v5 v45)
  (adjacent v5 v99)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v33)
  (adjacent v6 v49)
  (adjacent v6 v56)
  (adjacent v6 v161)
  (adjacent v7 v8)
  (adjacent v7 v66)
  (adjacent v8 v13)
  (adjacent v8 v39)
  (adjacent v9 v10)
  (adjacent v9 v24)
  (adjacent v9 v57)
  (adjacent v9 v109)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v166)
  (adjacent v13 v52)
  (adjacent v13 v131)
  (adjacent v13 v138)
  (adjacent v14 v15)
  (adjacent v14 v40)
  (adjacent v14 v41)
  (adjacent v14 v53)
  (adjacent v15 v16)
  (adjacent v15 v63)
  (adjacent v15 v72)
  (adjacent v16 v17)
  (adjacent v16 v30)
  (adjacent v16 v64)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v48)
  (adjacent v19 v20)
  (adjacent v19 v26)
  (adjacent v20 v21)
  (adjacent v20 v71)
  (adjacent v20 v118)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v24 v104)
  (adjacent v25 v110)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v108)
  (adjacent v31 v165)
  (adjacent v32 v177)
  (adjacent v33 v34)
  (adjacent v33 v89)
  (adjacent v34 v35)
  (adjacent v34 v114)
  (adjacent v34 v156)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v70)
  (adjacent v37 v182)
  (adjacent v38 v39)
  (adjacent v38 v44)
  (adjacent v38 v47)
  (adjacent v40 v46)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v103)
  (adjacent v43 v44)
  (adjacent v43 v81)
  (adjacent v43 v100)
  (adjacent v45 v46)
  (adjacent v45 v86)
  (adjacent v45 v96)
  (adjacent v45 v166)
  (adjacent v46 v162)
  (adjacent v47 v48)
  (adjacent v48 v151)
  (adjacent v49 v50)
  (adjacent v49 v145)
  (adjacent v50 v51)
  (adjacent v50 v79)
  (adjacent v50 v129)
  (adjacent v51 v52)
  (adjacent v51 v117)
  (adjacent v52 v80)
  (adjacent v52 v181)
  (adjacent v53 v54)
  (adjacent v53 v65)
  (adjacent v53 v130)
  (adjacent v53 v153)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v110)
  (adjacent v56 v71)
  (adjacent v56 v91)
  (adjacent v56 v113)
  (adjacent v56 v152)
  (adjacent v57 v58)
  (adjacent v57 v90)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v78)
  (adjacent v60 v118)
  (adjacent v61 v62)
  (adjacent v61 v111)
  (adjacent v62 v63)
  (adjacent v62 v155)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v66 v80)
  (adjacent v66 v87)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v128)
  (adjacent v74 v146)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v79)
  (adjacent v79 v90)
  (adjacent v80 v131)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v87 v109)
  (adjacent v88 v89)
  (adjacent v88 v185)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v97)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v122)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v100 v119)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v144)
  (adjacent v104 v169)
  (adjacent v105 v106)
  (adjacent v105 v129)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v165)
  (adjacent v113 v170)
  (adjacent v114 v115)
  (adjacent v114 v123)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v167)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v130)
  (adjacent v122 v132)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v147)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v176)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v139)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v163)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v150 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v190)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v157 v164)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (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 v182 v183)
  (adjacent v183 v184)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r117 v0)
  (at r171 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r128 v6)
  (at r132 v7)
  (at r114 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r160 v12)
  (free v13)
  (free v14)
  (free v15)
  (at r180 v16)
  (at r167 v17)
  (free v18)
  (at r181 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r116 v26)
  (at r154 v27)
  (free v28)
  (at r165 v29)
  (at r111 v30)
  (at r173 v31)
  (free v32)
  (at r156 v33)
  (at r159 v34)
  (at r108 v35)
  (free v36)
  (at r178 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r177 v41)
  (free v42)
  (at r130 v43)
  (free v44)
  (at r146 v45)
  (free v46)
  (free v47)
  (at r110 v48)
  (at r183 v49)
  (free v50)
  (free v51)
  (at r187 v52)
  (free v53)
  (at r172 v54)
  (free v55)
  (at r137 v56)
  (at r161 v57)
  (at r168 v58)
  (free v59)
  (at r115 v60)
  (at r147 v61)
  (at r118 v62)
  (free v63)
  (free v64)
  (at r131 v65)
  (at r155 v66)
  (at r113 v67)
  (free v68)
  (at r151 v69)
  (free v70)
  (at r141 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r124 v75)
  (free v76)
  (at r121 v77)
  (free v78)
  (at r134 v79)
  (at r176 v80)
  (free v81)
  (at r150 v82)
  (free v83)
  (at r179 v84)
  (at r186 v85)
  (free v86)
  (at r174 v87)
  (free v88)
  (at r182 v89)
  (free v90)
  (free v91)
  (at r138 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r125 v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r157 v101)
  (free v102)
  (free v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r153 v108)
  (at r144 v109)
  (at r184 v110)
  (free v111)
  (free v112)
  (free v113)
  (at r145 v114)
  (at r122 v115)
  (free v116)
  (at r123 v117)
  (free v118)
  (free v119)
  (free v120)
  (at r175 v121)
  (free v122)
  (at r139 v123)
  (free v124)
  (at r112 v125)
  (at r127 v126)
  (free v127)
  (free v128)
  (at r164 v129)
  (at r185 v130)
  (free v131)
  (free v132)
  (free v133)
  (at r163 v134)
  (free v135)
  (free v136)
  (at r190 v137)
  (at r149 v138)
  (free v139)
  (free v140)
  (at r120 v141)
  (at r119 v142)
  (free v143)
  (free v144)
  (free v145)
  (free v146)
  (at r189 v147)
  (free v148)
  (at r170 v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (at r136 v155)
  (at r148 v156)
  (free v157)
  (free v158)
  (at r126 v159)
  (free v160)
  (free v161)
  (free v162)
  (at r140 v163)
  (at r133 v164)
  (free v165)
  (free v166)
  (at r158 v167)
  (at r188 v168)
  (free v169)
  (free v170)
  (free v171)
  (free v172)
  (at r166 v173)
  (at r143 v174)
  (free v175)
  (at r142 v176)
  (free v177)
  (at r129 v178)
  (at r135 v179)
  (free v180)
  (free v181)
  (free v182)
  (free v183)
  (at r169 v184)
  (free v185)
  (at r162 v186)
  (free v187)
  (free v188)
  (at r152 v189)
  (at r109 v190)
  )
 )
)