(define (problem multirobot_54_90%_c2)
 (:domain multirobot)
 (:objects
  v0 r142
  v1 r117
  v2
  v3
  v4
  v5
  v6 r164
  v7
  v8
  v9 r171
  v10 r121
  v11
  v12 r182
  v13 r185
  v14 r94
  v15
  v16
  v17
  v18
  v19
  v20 r100
  v21 r144
  v22
  v23
  v24 r132
  v25
  v26
  v27 r149
  v28
  v29 r107
  v30 r123
  v31
  v32 r102
  v33
  v34 r104
  v35 r181
  v36
  v37 r154
  v38 r163
  v39 r106
  v40
  v41
  v42
  v43
  v44 r148
  v45 r109
  v46
  v47
  v48 r157
  v49
  v50 r167
  v51
  v52
  v53 r177
  v54 r98
  v55
  v56 r169
  v57 r114
  v58 r184
  v59
  v60 r93
  v61
  v62 r158
  v63
  v64 r166
  v65
  v66
  v67 r180
  v68
  v69
  v70
  v71
  v72
  v73
  v74
  v75
  v76 r160
  v77 r112
  v78 r126
  v79
  v80 r118
  v81 r146
  v82
  v83
  v84
  v85
  v86
  v87
  v88
  v89
  v90
  v91 r115
  v92 r161
  v93
  v94 r136
  v95
  v96 r135
  v97 r172
  v98 r116
  v99 r101
  v100 r176
  v101 r99
  v102 r110
  v103 r95
  v104
  v105
  v106
  v107 r138
  v108 r156
  v109
  v110 r165
  v111
  v112 r159
  v113 r179
  v114 r150
  v115 r129
  v116 r125
  v117 r141
  v118
  v119 r137
  v120 r155
  v121
  v122 r128
  v123
  v124 r162
  v125 r105
  v126
  v127
  v128
  v129 r120
  v130 r103
  v131
  v132
  v133 r96
  v134 r108
  v135 r145
  v136
  v137 r119
  v138 r97
  v139
  v140
  v141 r173
  v142 r183
  v143 r152
  v144 r139
  v145 r92
  v146 r175
  v147 r134
  v148
  v149
  v150 r178
  v151 r168
  v152
  v153
  v154 r143
  v155 r130
  v156
  v157
  v158
  v159
  v160
  v161
  v162 r122
  v163 r170
  v164
  v165 r124
  v166 r174
  v167
  v168
  v169
  v170 r127
  v171
  v172
  v173
  v174 r147
  v175
  v176 r111
  v177 r113
  v178
  v179 r131
  v180 r133
  v181 r140
  v182
  v183 r151
  v184 r153
  v185
 )
 (:init
  (at r142 v0)
  (at r117 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r164 v6)
  (free v7)
  (free v8)
  (at r171 v9)
  (at r121 v10)
  (free v11)
  (at r182 v12)
  (at r185 v13)
  (at r94 v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (at r100 v20)
  (at r144 v21)
  (free v22)
  (free v23)
  (at r132 v24)
  (free v25)
  (free v26)
  (at r149 v27)
  (free v28)
  (at r107 v29)
  (at r123 v30)
  (free v31)
  (at r102 v32)
  (free v33)
  (at r104 v34)
  (at r181 v35)
  (free v36)
  (at r154 v37)
  (at r163 v38)
  (at r106 v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r148 v44)
  (at r109 v45)
  (free v46)
  (free v47)
  (at r157 v48)
  (free v49)
  (at r167 v50)
  (free v51)
  (free v52)
  (at r177 v53)
  (at r98 v54)
  (free v55)
  (at r169 v56)
  (at r114 v57)
  (at r184 v58)
  (free v59)
  (at r93 v60)
  (free v61)
  (at r158 v62)
  (free v63)
  (at r166 v64)
  (free v65)
  (free v66)
  (at r180 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r160 v76)
  (at r112 v77)
  (at r126 v78)
  (free v79)
  (at r118 v80)
  (at r146 v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (at r115 v91)
  (at r161 v92)
  (free v93)
  (at r136 v94)
  (free v95)
  (at r135 v96)
  (at r172 v97)
  (at r116 v98)
  (at r101 v99)
  (at r176 v100)
  (at r99 v101)
  (at r110 v102)
  (at r95 v103)
  (free v104)
  (free v105)
  (free v106)
  (at r138 v107)
  (at r156 v108)
  (free v109)
  (at r165 v110)
  (free v111)
  (at r159 v112)
  (at r179 v113)
  (at r150 v114)
  (at r129 v115)
  (at r125 v116)
  (at r141 v117)
  (free v118)
  (at r137 v119)
  (at r155 v120)
  (free v121)
  (at r128 v122)
  (free v123)
  (at r162 v124)
  (at r105 v125)
  (free v126)
  (free v127)
  (free v128)
  (at r120 v129)
  (at r103 v130)
  (free v131)
  (free v132)
  (at r96 v133)
  (at r108 v134)
  (at r145 v135)
  (free v136)
  (at r119 v137)
  (at r97 v138)
  (free v139)
  (free v140)
  (at r173 v141)
  (at r183 v142)
  (at r152 v143)
  (at r139 v144)
  (at r92 v145)
  (at r175 v146)
  (at r134 v147)
  (free v148)
  (free v149)
  (at r178 v150)
  (at r168 v151)
  (free v152)
  (free v153)
  (at r143 v154)
  (at r130 v155)
  (free v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (at r122 v162)
  (at r170 v163)
  (free v164)
  (at r124 v165)
  (at r174 v166)
  (free v167)
  (free v168)
  (free v169)
  (at r127 v170)
  (free v171)
  (free v172)
  (free v173)
  (at r147 v174)
  (free v175)
  (at r111 v176)
  (at r113 v177)
  (free v178)
  (at r131 v179)
  (at r133 v180)
  (at r140 v181)
  (free v182)
  (at r151 v183)
  (at r153 v184)
  (free v185)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v80)
  (adjacent v0 v86)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v14)
  (adjacent v1 v126)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v9)
  (adjacent v2 v19)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v20)
  (adjacent v4 v6)
  (adjacent v4 v15)
  (adjacent v4 v26)
  (adjacent v4 v33)
  (adjacent v5 v6)
  (adjacent v5 v119)
  (adjacent v5 v127)
  (adjacent v7 v8)
  (adjacent v7 v60)
  (adjacent v8 v20)
  (adjacent v8 v35)
  (adjacent v8 v55)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v32)
  (adjacent v12 v135)
  (adjacent v13 v14)
  (adjacent v14 v27)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v100)
  (adjacent v18 v19)
  (adjacent v18 v134)
  (adjacent v19 v21)
  (adjacent v19 v148)
  (adjacent v21 v22)
  (adjacent v21 v87)
  (adjacent v22 v23)
  (adjacent v22 v54)
  (adjacent v22 v135)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v42)
  (adjacent v25 v26)
  (adjacent v25 v59)
  (adjacent v25 v67)
  (adjacent v25 v88)
  (adjacent v26 v80)
  (adjacent v26 v117)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v61)
  (adjacent v28 v103)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v34)
  (adjacent v31 v41)
  (adjacent v32 v47)
  (adjacent v32 v48)
  (adjacent v32 v54)
  (adjacent v33 v34)
  (adjacent v33 v185)
  (adjacent v35 v36)
  (adjacent v35 v102)
  (adjacent v35 v173)
  (adjacent v36 v37)
  (adjacent v36 v66)
  (adjacent v36 v118)
  (adjacent v36 v136)
  (adjacent v37 v38)
  (adjacent v37 v46)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v124)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v53)
  (adjacent v43 v85)
  (adjacent v44 v45)
  (adjacent v44 v79)
  (adjacent v45 v46)
  (adjacent v45 v52)
  (adjacent v46 v47)
  (adjacent v46 v73)
  (adjacent v47 v72)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v62)
  (adjacent v50 v51)
  (adjacent v50 v53)
  (adjacent v50 v123)
  (adjacent v51 v52)
  (adjacent v54 v116)
  (adjacent v55 v56)
  (adjacent v55 v117)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v154)
  (adjacent v59 v120)
  (adjacent v59 v146)
  (adjacent v60 v61)
  (adjacent v61 v94)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v81)
  (adjacent v63 v119)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v76)
  (adjacent v65 v146)
  (adjacent v66 v155)
  (adjacent v67 v68)
  (adjacent v67 v93)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v172)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v77)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v147)
  (adjacent v75 v76)
  (adjacent v75 v128)
  (adjacent v75 v136)
  (adjacent v77 v78)
  (adjacent v77 v95)
  (adjacent v78 v79)
  (adjacent v80 v144)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v128)
  (adjacent v83 v84)
  (adjacent v83 v125)
  (adjacent v84 v85)
  (adjacent v84 v101)
  (adjacent v86 v87)
  (adjacent v86 v131)
  (adjacent v88 v89)
  (adjacent v88 v109)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v125)
  (adjacent v92 v93)
  (adjacent v92 v118)
  (adjacent v93 v94)
  (adjacent v93 v110)
  (adjacent v95 v96)
  (adjacent v95 v145)
  (adjacent v96 v97)
  (adjacent v96 v132)
  (adjacent v96 v150)
  (adjacent v97 v98)
  (adjacent v97 v124)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v101 v149)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v129)
  (adjacent v104 v179)
  (adjacent v105 v106)
  (adjacent v105 v147)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v145)
  (adjacent v123 v178)
  (adjacent v126 v127)
  (adjacent v129 v130)
  (adjacent v129 v139)
  (adjacent v130 v131)
  (adjacent v130 v162)
  (adjacent v132 v133)
  (adjacent v132 v137)
  (adjacent v132 v166)
  (adjacent v133 v134)
  (adjacent v133 v173)
  (adjacent v134 v140)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v161)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v152 v174)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v165)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (free v0)
  (at r158 v1)
  (at r160 v2)
  (free v3)
  (free v4)
  (at r93 v5)
  (free v6)
  (free v7)
  (at r107 v8)
  (free v9)
  (at r140 v10)
  (free v11)
  (free v12)
  (at r154 v13)
  (free v14)
  (free v15)
  (at r164 v16)
  (free v17)
  (free v18)
  (at r168 v19)
  (free v20)
  (at r153 v21)
  (free v22)
  (free v23)
  (at r138 v24)
  (free v25)
  (free v26)
  (at r131 v27)
  (free v28)
  (free v29)
  (at r152 v30)
  (at r156 v31)
  (at r111 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r118 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r151 v40)
  (at r112 v41)
  (free v42)
  (at r161 v43)
  (free v44)
  (at r113 v45)
  (at r127 v46)
  (free v47)
  (at r171 v48)
  (at r169 v49)
  (at r129 v50)
  (at r166 v51)
  (at r143 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r120 v58)
  (free v59)
  (at r150 v60)
  (at r176 v61)
  (free v62)
  (at r155 v63)
  (at r92 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r183 v69)
  (free v70)
  (at r94 v71)
  (at r174 v72)
  (free v73)
  (at r157 v74)
  (at r132 v75)
  (at r99 v76)
  (at r100 v77)
  (at r184 v78)
  (at r104 v79)
  (free v80)
  (at r116 v81)
  (at r134 v82)
  (at r105 v83)
  (free v84)
  (at r144 v85)
  (free v86)
  (at r137 v87)
  (at r163 v88)
  (free v89)
  (free v90)
  (free v91)
  (at r133 v92)
  (at r165 v93)
  (free v94)
  (at r175 v95)
  (free v96)
  (free v97)
  (at r172 v98)
  (at r179 v99)
  (free v100)
  (at r167 v101)
  (free v102)
  (free v103)
  (free v104)
  (at r101 v105)
  (at r96 v106)
  (free v107)
  (free v108)
  (at r103 v109)
  (at r114 v110)
  (at r162 v111)
  (free v112)
  (free v113)
  (at r173 v114)
  (at r135 v115)
  (free v116)
  (at r106 v117)
  (at r148 v118)
  (at r117 v119)
  (at r123 v120)
  (at r115 v121)
  (at r136 v122)
  (free v123)
  (free v124)
  (at r128 v125)
  (free v126)
  (free v127)
  (at r180 v128)
  (at r98 v129)
  (free v130)
  (free v131)
  (at r177 v132)
  (at r122 v133)
  (at r185 v134)
  (at r95 v135)
  (free v136)
  (free v137)
  (at r139 v138)
  (free v139)
  (at r181 v140)
  (free v141)
  (at r121 v142)
  (at r125 v143)
  (at r142 v144)
  (free v145)
  (free v146)
  (at r159 v147)
  (at r124 v148)
  (free v149)
  (free v150)
  (at r130 v151)
  (free v152)
  (free v153)
  (free v154)
  (at r119 v155)
  (free v156)
  (at r146 v157)
  (free v158)
  (free v159)
  (free v160)
  (at r141 v161)
  (at r149 v162)
  (free v163)
  (at r178 v164)
  (at r109 v165)
  (free v166)
  (free v167)
  (at r182 v168)
  (free v169)
  (free v170)
  (free v171)
  (at r108 v172)
  (at r110 v173)
  (free v174)
  (at r97 v175)
  (free v176)
  (at r126 v177)
  (at r102 v178)
  (at r145 v179)
  (free v180)
  (free v181)
  (free v182)
  (at r147 v183)
  (at r170 v184)
  (free v185)
  )
 )
)