(define (problem multirobot_56_90%_c7)
 (:domain multirobot)
 (:objects
  v0
  v1 r138
  v2
  v3
  v4 r143
  v5
  v6
  v7 r137
  v8
  v9
  v10 r180
  v11
  v12
  v13
  v14
  v15
  v16
  v17
  v18 r135
  v19
  v20
  v21
  v22 r130
  v23 r170
  v24
  v25
  v26
  v27 r152
  v28
  v29
  v30
  v31
  v32 r155
  v33
  v34
  v35 r178
  v36
  v37
  v38
  v39
  v40
  v41 r150
  v42 r173
  v43 r161
  v44
  v45 r146
  v46
  v47 r140
  v48 r132
  v49 r119
  v50 r129
  v51
  v52 r171
  v53 r124
  v54
  v55 r133
  v56
  v57 r121
  v58 r117
  v59
  v60 r149
  v61
  v62
  v63 r163
  v64
  v65 r115
  v66 r160
  v67
  v68
  v69
  v70
  v71 r181
  v72
  v73
  v74
  v75
  v76
  v77
  v78
  v79
  v80 r159
  v81 r136
  v82 r184
  v83
  v84
  v85 r122
  v86
  v87
  v88
  v89
  v90
  v91
  v92
  v93 r183
  v94
  v95
  v96 r126
  v97
  v98 r167
  v99 r148
  v100
  v101
  v102
  v103
  v104
  v105 r114
  v106 r177
  v107 r175
  v108 r165
  v109 r139
  v110
  v111 r174
  v112 r169
  v113
  v114
  v115 r142
  v116 r128
  v117 r164
  v118
  v119
  v120
  v121
  v122
  v123
  v124 r179
  v125 r158
  v126
  v127 r153
  v128 r147
  v129
  v130 r131
  v131
  v132 r182
  v133 r134
  v134 r141
  v135
  v136 r145
  v137
  v138
  v139
  v140 r162
  v141
  v142 r168
  v143 r172
  v144
  v145
  v146 r156
  v147
  v148 r116
  v149
  v150
  v151
  v152
  v153
  v154
  v155 r151
  v156 r185
  v157
  v158
  v159
  v160
  v161
  v162 r166
  v163 r154
  v164
  v165 r127
  v166
  v167
  v168 r120
  v169
  v170 r118
  v171
  v172
  v173 r125
  v174
  v175 r123
  v176
  v177
  v178
  v179
  v180 r144
  v181 r176
  v182 r157
  v183
  v184
  v185
 )
 (:init
  (free v0)
  (at r138 v1)
  (free v2)
  (free v3)
  (at r143 v4)
  (free v5)
  (free v6)
  (at r137 v7)
  (free v8)
  (free v9)
  (at r180 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r135 v18)
  (free v19)
  (free v20)
  (free v21)
  (at r130 v22)
  (at r170 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r152 v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (at r155 v32)
  (free v33)
  (free v34)
  (at r178 v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r150 v41)
  (at r173 v42)
  (at r161 v43)
  (free v44)
  (at r146 v45)
  (free v46)
  (at r140 v47)
  (at r132 v48)
  (at r119 v49)
  (at r129 v50)
  (free v51)
  (at r171 v52)
  (at r124 v53)
  (free v54)
  (at r133 v55)
  (free v56)
  (at r121 v57)
  (at r117 v58)
  (free v59)
  (at r149 v60)
  (free v61)
  (free v62)
  (at r163 v63)
  (free v64)
  (at r115 v65)
  (at r160 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r181 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (at r159 v80)
  (at r136 v81)
  (at r184 v82)
  (free v83)
  (free v84)
  (at r122 v85)
  (free v86)
  (free v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (free v92)
  (at r183 v93)
  (free v94)
  (free v95)
  (at r126 v96)
  (free v97)
  (at r167 v98)
  (at r148 v99)
  (free v100)
  (free v101)
  (free v102)
  (free v103)
  (free v104)
  (at r114 v105)
  (at r177 v106)
  (at r175 v107)
  (at r165 v108)
  (at r139 v109)
  (free v110)
  (at r174 v111)
  (at r169 v112)
  (free v113)
  (free v114)
  (at r142 v115)
  (at r128 v116)
  (at r164 v117)
  (free v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (free v123)
  (at r179 v124)
  (at r158 v125)
  (free v126)
  (at r153 v127)
  (at r147 v128)
  (free v129)
  (at r131 v130)
  (free v131)
  (at r182 v132)
  (at r134 v133)
  (at r141 v134)
  (free v135)
  (at r145 v136)
  (free v137)
  (free v138)
  (free v139)
  (at r162 v140)
  (free v141)
  (at r168 v142)
  (at r172 v143)
  (free v144)
  (free v145)
  (at r156 v146)
  (free v147)
  (at r116 v148)
  (free v149)
  (free v150)
  (free v151)
  (free v152)
  (free v153)
  (free v154)
  (at r151 v155)
  (at r185 v156)
  (free v157)
  (free v158)
  (free v159)
  (free v160)
  (free v161)
  (at r166 v162)
  (at r154 v163)
  (free v164)
  (at r127 v165)
  (free v166)
  (free v167)
  (at r120 v168)
  (free v169)
  (at r118 v170)
  (free v171)
  (free v172)
  (at r125 v173)
  (free v174)
  (at r123 v175)
  (free v176)
  (free v177)
  (free v178)
  (free v179)
  (at r144 v180)
  (at r176 v181)
  (at r157 v182)
  (free v183)
  (free v184)
  (free v185)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v6)
  (adjacent v0 v155)
  (adjacent v1 v2)
  (adjacent v1 v18)
  (adjacent v1 v46)
  (adjacent v1 v59)
  (adjacent v1 v127)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v83)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v124)
  (adjacent v3 v154)
  (adjacent v4 v17)
  (adjacent v5 v10)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v174)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v23)
  (adjacent v9 v133)
  (adjacent v10 v59)
  (adjacent v10 v76)
  (adjacent v10 v131)
  (adjacent v10 v147)
  (adjacent v11 v12)
  (adjacent v11 v44)
  (adjacent v12 v13)
  (adjacent v12 v30)
  (adjacent v12 v35)
  (adjacent v12 v175)
  (adjacent v13 v14)
  (adjacent v13 v34)
  (adjacent v13 v118)
  (adjacent v14 v15)
  (adjacent v14 v29)
  (adjacent v14 v110)
  (adjacent v14 v154)
  (adjacent v15 v16)
  (adjacent v15 v156)
  (adjacent v16 v17)
  (adjacent v16 v38)
  (adjacent v16 v50)
  (adjacent v17 v73)
  (adjacent v18 v19)
  (adjacent v18 v92)
  (adjacent v19 v20)
  (adjacent v19 v153)
  (adjacent v20 v21)
  (adjacent v20 v24)
  (adjacent v20 v126)
  (adjacent v21 v22)
  (adjacent v21 v36)
  (adjacent v21 v56)
  (adjacent v22 v23)
  (adjacent v22 v84)
  (adjacent v22 v180)
  (adjacent v23 v60)
  (adjacent v24 v25)
  (adjacent v24 v74)
  (adjacent v24 v113)
  (adjacent v24 v159)
  (adjacent v25 v26)
  (adjacent v25 v45)
  (adjacent v25 v86)
  (adjacent v26 v27)
  (adjacent v26 v71)
  (adjacent v26 v145)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v45)
  (adjacent v29 v87)
  (adjacent v30 v31)
  (adjacent v30 v80)
  (adjacent v31 v32)
  (adjacent v31 v49)
  (adjacent v32 v33)
  (adjacent v32 v58)
  (adjacent v32 v147)
  (adjacent v33 v34)
  (adjacent v33 v47)
  (adjacent v33 v72)
  (adjacent v34 v35)
  (adjacent v34 v62)
  (adjacent v35 v37)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v58)
  (adjacent v39 v156)
  (adjacent v39 v169)
  (adjacent v40 v41)
  (adjacent v40 v57)
  (adjacent v41 v42)
  (adjacent v41 v48)
  (adjacent v41 v55)
  (adjacent v42 v43)
  (adjacent v42 v57)
  (adjacent v43 v44)
  (adjacent v43 v91)
  (adjacent v44 v104)
  (adjacent v45 v67)
  (adjacent v46 v47)
  (adjacent v46 v56)
  (adjacent v46 v75)
  (adjacent v46 v111)
  (adjacent v46 v179)
  (adjacent v47 v88)
  (adjacent v48 v49)
  (adjacent v48 v97)
  (adjacent v50 v51)
  (adjacent v50 v79)
  (adjacent v51 v52)
  (adjacent v51 v103)
  (adjacent v51 v146)
  (adjacent v51 v153)
  (adjacent v52 v53)
  (adjacent v52 v85)
  (adjacent v53 v54)
  (adjacent v53 v66)
  (adjacent v54 v55)
  (adjacent v55 v158)
  (adjacent v56 v141)
  (adjacent v57 v78)
  (adjacent v58 v79)
  (adjacent v58 v161)
  (adjacent v60 v61)
  (adjacent v60 v63)
  (adjacent v60 v178)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v67 v168)
  (adjacent v67 v179)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v72 v112)
  (adjacent v74 v75)
  (adjacent v75 v117)
  (adjacent v75 v170)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v80 v81)
  (adjacent v80 v111)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v98)
  (adjacent v96 v97)
  (adjacent v96 v140)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v155)
  (adjacent v101 v102)
  (adjacent v101 v125)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v114)
  (adjacent v107 v157)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v167)
  (adjacent v111 v114)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v114 v185)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v134)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v132)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v160)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v134 v148)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v146)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v147 v152)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (free v0)
  (at r159 v1)
  (at r144 v2)
  (free v3)
  (at r176 v4)
  (at r127 v5)
  (at r134 v6)
  (free v7)
  (at r157 v8)
  (at r143 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (at r137 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r155 v23)
  (free v24)
  (at r171 v25)
  (at r185 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r128 v30)
  (at r177 v31)
  (at r118 v32)
  (free v33)
  (at r121 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r126 v43)
  (at r178 v44)
  (free v45)
  (free v46)
  (at r173 v47)
  (at r168 v48)
  (free v49)
  (at r163 v50)
  (free v51)
  (at r133 v52)
  (at r116 v53)
  (free v54)
  (at r180 v55)
  (at r172 v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (at r167 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r164 v65)
  (free v66)
  (at r175 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r179 v71)
  (free v72)
  (at r166 v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r183 v81)
  (free v82)
  (at r123 v83)
  (at r129 v84)
  (at r114 v85)
  (free v86)
  (free v87)
  (at r154 v88)
  (at r152 v89)
  (at r117 v90)
  (free v91)
  (free v92)
  (free v93)
  (free v94)
  (free v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r131 v101)
  (at r125 v102)
  (free v103)
  (free v104)
  (at r135 v105)
  (free v106)
  (at r132 v107)
  (free v108)
  (free v109)
  (free v110)
  (at r150 v111)
  (free v112)
  (at r181 v113)
  (free v114)
  (free v115)
  (free v116)
  (free v117)
  (at r170 v118)
  (free v119)
  (at r124 v120)
  (free v121)
  (free v122)
  (at r115 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r139 v127)
  (at r184 v128)
  (free v129)
  (free v130)
  (at r138 v131)
  (free v132)
  (at r156 v133)
  (free v134)
  (free v135)
  (at r161 v136)
  (free v137)
  (free v138)
  (free v139)
  (at r136 v140)
  (at r146 v141)
  (at r122 v142)
  (free v143)
  (at r153 v144)
  (at r147 v145)
  (at r142 v146)
  (at r151 v147)
  (at r160 v148)
  (free v149)
  (free v150)
  (free v151)
  (at r169 v152)
  (free v153)
  (at r120 v154)
  (free v155)
  (at r130 v156)
  (at r148 v157)
  (free v158)
  (at r158 v159)
  (free v160)
  (free v161)
  (at r119 v162)
  (at r165 v163)
  (free v164)
  (free v165)
  (at r182 v166)
  (free v167)
  (free v168)
  (free v169)
  (free v170)
  (at r141 v171)
  (at r149 v172)
  (free v173)
  (at r174 v174)
  (free v175)
  (free v176)
  (free v177)
  (free v178)
  (at r140 v179)
  (at r145 v180)
  (at r162 v181)
  (free v182)
  (free v183)
  (free v184)
  (free v185)
  )
 )
)