(define (problem multirobot_40_10%_c1)
 (:domain multirobot)
 (:objects
  v0 r48
  v1 r87
  v2
  v3 r85
  v4 r51
  v5 r33
  v6 r47
  v7
  v8 r66
  v9
  v10 r103
  v11 r131
  v12 r60
  v13 r112
  v14
  v15 r124
  v16 r122
  v17 r61
  v18 r118
  v19 r135
  v20 r126
  v21 r107
  v22 r38
  v23
  v24 r26
  v25 r35
  v26 r71
  v27 r27
  v28 r29
  v29
  v30 r64
  v31
  v32 r75
  v33 r129
  v34 r96
  v35 r98
  v36 r119
  v37 r58
  v38 r139
  v39 r111
  v40 r115
  v41 r108
  v42 r83
  v43 r31
  v44 r114
  v45 r52
  v46 r36
  v47 r137
  v48 r133
  v49 r79
  v50 r120
  v51 r37
  v52 r32
  v53 r39
  v54 r138
  v55 r132
  v56 r44
  v57 r105
  v58 r46
  v59 r45
  v60 r90
  v61 r125
  v62 r104
  v63 r25
  v64 r94
  v65
  v66
  v67 r80
  v68
  v69 r100
  v70 r74
  v71 r68
  v72 r23
  v73 r116
  v74 r22
  v75 r134
  v76 r77
  v77 r34
  v78 r130
  v79 r17
  v80 r72
  v81
  v82 r89
  v83
  v84 r65
  v85 r102
  v86
  v87 r106
  v88 r49
  v89 r41
  v90 r92
  v91 r128
  v92 r91
  v93 r73
  v94 r18
  v95 r55
  v96 r78
  v97 r93
  v98
  v99 r110
  v100 r21
  v101 r109
  v102 r121
  v103 r43
  v104 r19
  v105 r123
  v106 r99
  v107 r54
  v108 r88
  v109 r62
  v110 r76
  v111 r50
  v112 r81
  v113 r59
  v114 r20
  v115 r28
  v116 r67
  v117 r86
  v118 r57
  v119 r113
  v120 r53
  v121 r82
  v122 r63
  v123 r84
  v124 r56
  v125 r97
  v126 r127
  v127 r24
  v128
  v129
  v130 r42
  v131 r136
  v132
  v133 r30
  v134 r117
  v135 r40
  v136 r95
  v137 r101
  v138 r140
  v139 r70
  v140 r69
 )
 (:init
  (at r48 v0)
  (at r87 v1)
  (free v2)
  (at r85 v3)
  (at r51 v4)
  (at r33 v5)
  (at r47 v6)
  (free v7)
  (at r66 v8)
  (free v9)
  (at r103 v10)
  (at r131 v11)
  (at r60 v12)
  (at r112 v13)
  (free v14)
  (at r124 v15)
  (at r122 v16)
  (at r61 v17)
  (at r118 v18)
  (at r135 v19)
  (at r126 v20)
  (at r107 v21)
  (at r38 v22)
  (free v23)
  (at r26 v24)
  (at r35 v25)
  (at r71 v26)
  (at r27 v27)
  (at r29 v28)
  (free v29)
  (at r64 v30)
  (free v31)
  (at r75 v32)
  (at r129 v33)
  (at r96 v34)
  (at r98 v35)
  (at r119 v36)
  (at r58 v37)
  (at r139 v38)
  (at r111 v39)
  (at r115 v40)
  (at r108 v41)
  (at r83 v42)
  (at r31 v43)
  (at r114 v44)
  (at r52 v45)
  (at r36 v46)
  (at r137 v47)
  (at r133 v48)
  (at r79 v49)
  (at r120 v50)
  (at r37 v51)
  (at r32 v52)
  (at r39 v53)
  (at r138 v54)
  (at r132 v55)
  (at r44 v56)
  (at r105 v57)
  (at r46 v58)
  (at r45 v59)
  (at r90 v60)
  (at r125 v61)
  (at r104 v62)
  (at r25 v63)
  (at r94 v64)
  (free v65)
  (free v66)
  (at r80 v67)
  (free v68)
  (at r100 v69)
  (at r74 v70)
  (at r68 v71)
  (at r23 v72)
  (at r116 v73)
  (at r22 v74)
  (at r134 v75)
  (at r77 v76)
  (at r34 v77)
  (at r130 v78)
  (at r17 v79)
  (at r72 v80)
  (free v81)
  (at r89 v82)
  (free v83)
  (at r65 v84)
  (at r102 v85)
  (free v86)
  (at r106 v87)
  (at r49 v88)
  (at r41 v89)
  (at r92 v90)
  (at r128 v91)
  (at r91 v92)
  (at r73 v93)
  (at r18 v94)
  (at r55 v95)
  (at r78 v96)
  (at r93 v97)
  (free v98)
  (at r110 v99)
  (at r21 v100)
  (at r109 v101)
  (at r121 v102)
  (at r43 v103)
  (at r19 v104)
  (at r123 v105)
  (at r99 v106)
  (at r54 v107)
  (at r88 v108)
  (at r62 v109)
  (at r76 v110)
  (at r50 v111)
  (at r81 v112)
  (at r59 v113)
  (at r20 v114)
  (at r28 v115)
  (at r67 v116)
  (at r86 v117)
  (at r57 v118)
  (at r113 v119)
  (at r53 v120)
  (at r82 v121)
  (at r63 v122)
  (at r84 v123)
  (at r56 v124)
  (at r97 v125)
  (at r127 v126)
  (at r24 v127)
  (free v128)
  (free v129)
  (at r42 v130)
  (at r136 v131)
  (free v132)
  (at r30 v133)
  (at r117 v134)
  (at r40 v135)
  (at r95 v136)
  (at r101 v137)
  (at r140 v138)
  (at r70 v139)
  (at r69 v140)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v32)
  (adjacent v0 v68)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v17)
  (adjacent v4 v15)
  (adjacent v4 v36)
  (adjacent v5 v52)
  (adjacent v5 v125)
  (adjacent v6 v7)
  (adjacent v6 v35)
  (adjacent v6 v82)
  (adjacent v7 v8)
  (adjacent v7 v14)
  (adjacent v7 v48)
  (adjacent v7 v72)
  (adjacent v8 v9)
  (adjacent v8 v71)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v16)
  (adjacent v10 v60)
  (adjacent v11 v69)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v78)
  (adjacent v14 v59)
  (adjacent v14 v73)
  (adjacent v15 v16)
  (adjacent v15 v26)
  (adjacent v16 v20)
  (adjacent v16 v27)
  (adjacent v16 v41)
  (adjacent v16 v59)
  (adjacent v16 v96)
  (adjacent v16 v116)
  (adjacent v17 v18)
  (adjacent v17 v112)
  (adjacent v18 v19)
  (adjacent v18 v28)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v22 v23)
  (adjacent v22 v119)
  (adjacent v23 v24)
  (adjacent v23 v118)
  (adjacent v24 v25)
  (adjacent v24 v42)
  (adjacent v25 v26)
  (adjacent v25 v29)
  (adjacent v25 v65)
  (adjacent v25 v70)
  (adjacent v26 v58)
  (adjacent v26 v97)
  (adjacent v26 v120)
  (adjacent v27 v28)
  (adjacent v27 v66)
  (adjacent v28 v33)
  (adjacent v28 v35)
  (adjacent v28 v132)
  (adjacent v29 v30)
  (adjacent v29 v126)
  (adjacent v30 v31)
  (adjacent v30 v47)
  (adjacent v30 v83)
  (adjacent v31 v32)
  (adjacent v31 v51)
  (adjacent v33 v34)
  (adjacent v34 v89)
  (adjacent v36 v37)
  (adjacent v36 v74)
  (adjacent v37 v38)
  (adjacent v37 v51)
  (adjacent v38 v39)
  (adjacent v38 v117)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v48)
  (adjacent v40 v98)
  (adjacent v41 v49)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v50)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v73)
  (adjacent v46 v93)
  (adjacent v49 v50)
  (adjacent v51 v75)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v74)
  (adjacent v59 v77)
  (adjacent v59 v101)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v99)
  (adjacent v62 v63)
  (adjacent v62 v93)
  (adjacent v62 v139)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v92)
  (adjacent v66 v67)
  (adjacent v66 v105)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v94)
  (adjacent v71 v72)
  (adjacent v73 v100)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v90)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v104)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v119)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v111)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v133)
  (adjacent v107 v108)
  (adjacent v107 v140)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v140)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
 )
 (:goal
  (and
  (at r112 v0)
  (at r113 v1)
  (at r110 v2)
  (at r25 v3)
  (at r49 v4)
  (at r60 v5)
  (at r126 v6)
  (at r122 v7)
  (at r42 v8)
  (at r62 v9)
  (at r70 v10)
  (at r41 v11)
  (at r135 v12)
  (at r21 v13)
  (free v14)
  (at r130 v15)
  (at r96 v16)
  (at r87 v17)
  (at r107 v18)
  (at r131 v19)
  (at r22 v20)
  (at r84 v21)
  (at r105 v22)
  (free v23)
  (at r123 v24)
  (at r30 v25)
  (at r127 v26)
  (at r73 v27)
  (at r111 v28)
  (at r68 v29)
  (at r114 v30)
  (at r132 v31)
  (at r66 v32)
  (at r51 v33)
  (at r20 v34)
  (at r115 v35)
  (at r95 v36)
  (at r118 v37)
  (at r78 v38)
  (at r57 v39)
  (at r133 v40)
  (free v41)
  (free v42)
  (at r79 v43)
  (at r99 v44)
  (at r82 v45)
  (at r109 v46)
  (at r108 v47)
  (at r89 v48)
  (at r92 v49)
  (at r76 v50)
  (at r72 v51)
  (at r45 v52)
  (at r137 v53)
  (at r27 v54)
  (at r46 v55)
  (at r134 v56)
  (at r63 v57)
  (at r28 v58)
  (at r48 v59)
  (free v60)
  (at r102 v61)
  (at r104 v62)
  (at r56 v63)
  (at r47 v64)
  (at r54 v65)
  (at r31 v66)
  (at r52 v67)
  (at r80 v68)
  (free v69)
  (at r37 v70)
  (at r53 v71)
  (at r119 v72)
  (at r98 v73)
  (at r85 v74)
  (at r77 v75)
  (at r121 v76)
  (at r40 v77)
  (at r50 v78)
  (at r23 v79)
  (free v80)
  (free v81)
  (at r64 v82)
  (at r117 v83)
  (at r55 v84)
  (free v85)
  (at r39 v86)
  (at r61 v87)
  (at r90 v88)
  (at r86 v89)
  (at r71 v90)
  (at r26 v91)
  (at r44 v92)
  (at r101 v93)
  (at r128 v94)
  (at r106 v95)
  (free v96)
  (at r83 v97)
  (at r140 v98)
  (at r18 v99)
  (at r58 v100)
  (at r75 v101)
  (free v102)
  (at r138 v103)
  (at r29 v104)
  (at r67 v105)
  (at r38 v106)
  (at r120 v107)
  (at r136 v108)
  (at r33 v109)
  (at r94 v110)
  (at r59 v111)
  (at r19 v112)
  (at r69 v113)
  (free v114)
  (at r124 v115)
  (at r81 v116)
  (at r125 v117)
  (at r43 v118)
  (at r139 v119)
  (at r36 v120)
  (at r116 v121)
  (at r32 v122)
  (at r88 v123)
  (at r35 v124)
  (at r129 v125)
  (free v126)
  (at r34 v127)
  (free v128)
  (at r93 v129)
  (at r74 v130)
  (at r65 v131)
  (at r17 v132)
  (free v133)
  (at r100 v134)
  (at r24 v135)
  (at r91 v136)
  (at r97 v137)
  (free v138)
  (free v139)
  (at r103 v140)
  )
 )
)