(define (problem multirobot_40_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r64
  v1 r99
  v2 r61
  v3 r102
  v4 r139
  v5 r97
  v6 r110
  v7 r40
  v8 r107
  v9 r32
  v10 r105
  v11 r131
  v12 r111
  v13 r58
  v14 r77
  v15 r100
  v16 r78
  v17 r113
  v18 r108
  v19
  v20 r22
  v21 r118
  v22 r101
  v23 r30
  v24 r52
  v25 r47
  v26 r135
  v27 r112
  v28 r53
  v29 r50
  v30 r82
  v31 r83
  v32 r35
  v33 r124
  v34
  v35 r43
  v36 r114
  v37 r49
  v38 r72
  v39 r90
  v40 r66
  v41 r121
  v42 r36
  v43 r129
  v44 r134
  v45 r120
  v46
  v47 r62
  v48 r126
  v49 r130
  v50 r41
  v51 r140
  v52
  v53 r98
  v54 r27
  v55 r93
  v56 r73
  v57 r85
  v58 r88
  v59 r128
  v60 r138
  v61 r89
  v62 r23
  v63 r132
  v64 r28
  v65 r109
  v66 r29
  v67
  v68 r15
  v69 r117
  v70 r18
  v71
  v72 r38
  v73 r80
  v74 r103
  v75
  v76 r133
  v77 r70
  v78 r125
  v79 r119
  v80 r26
  v81 r68
  v82 r95
  v83 r86
  v84 r74
  v85
  v86 r60
  v87
  v88 r91
  v89
  v90 r59
  v91 r48
  v92 r20
  v93 r16
  v94 r79
  v95 r81
  v96 r76
  v97
  v98 r122
  v99 r25
  v100 r33
  v101 r19
  v102 r63
  v103 r51
  v104 r46
  v105 r57
  v106 r92
  v107 r96
  v108 r136
  v109 r24
  v110 r115
  v111 r69
  v112 r65
  v113 r39
  v114 r42
  v115 r17
  v116 r45
  v117 r94
  v118 r87
  v119 r141
  v120 r75
  v121
  v122 r71
  v123 r21
  v124 r54
  v125 r37
  v126 r123
  v127
  v128 r34
  v129 r84
  v130 r106
  v131 r56
  v132 r116
  v133 r44
  v134 r137
  v135 r104
  v136 r127
  v137 r55
  v138 r67
  v139
  v140 r31
  v141
 )
 (:init
  (at r64 v0)
  (at r99 v1)
  (at r61 v2)
  (at r102 v3)
  (at r139 v4)
  (at r97 v5)
  (at r110 v6)
  (at r40 v7)
  (at r107 v8)
  (at r32 v9)
  (at r105 v10)
  (at r131 v11)
  (at r111 v12)
  (at r58 v13)
  (at r77 v14)
  (at r100 v15)
  (at r78 v16)
  (at r113 v17)
  (at r108 v18)
  (free v19)
  (at r22 v20)
  (at r118 v21)
  (at r101 v22)
  (at r30 v23)
  (at r52 v24)
  (at r47 v25)
  (at r135 v26)
  (at r112 v27)
  (at r53 v28)
  (at r50 v29)
  (at r82 v30)
  (at r83 v31)
  (at r35 v32)
  (at r124 v33)
  (free v34)
  (at r43 v35)
  (at r114 v36)
  (at r49 v37)
  (at r72 v38)
  (at r90 v39)
  (at r66 v40)
  (at r121 v41)
  (at r36 v42)
  (at r129 v43)
  (at r134 v44)
  (at r120 v45)
  (free v46)
  (at r62 v47)
  (at r126 v48)
  (at r130 v49)
  (at r41 v50)
  (at r140 v51)
  (free v52)
  (at r98 v53)
  (at r27 v54)
  (at r93 v55)
  (at r73 v56)
  (at r85 v57)
  (at r88 v58)
  (at r128 v59)
  (at r138 v60)
  (at r89 v61)
  (at r23 v62)
  (at r132 v63)
  (at r28 v64)
  (at r109 v65)
  (at r29 v66)
  (free v67)
  (at r15 v68)
  (at r117 v69)
  (at r18 v70)
  (free v71)
  (at r38 v72)
  (at r80 v73)
  (at r103 v74)
  (free v75)
  (at r133 v76)
  (at r70 v77)
  (at r125 v78)
  (at r119 v79)
  (at r26 v80)
  (at r68 v81)
  (at r95 v82)
  (at r86 v83)
  (at r74 v84)
  (free v85)
  (at r60 v86)
  (free v87)
  (at r91 v88)
  (free v89)
  (at r59 v90)
  (at r48 v91)
  (at r20 v92)
  (at r16 v93)
  (at r79 v94)
  (at r81 v95)
  (at r76 v96)
  (free v97)
  (at r122 v98)
  (at r25 v99)
  (at r33 v100)
  (at r19 v101)
  (at r63 v102)
  (at r51 v103)
  (at r46 v104)
  (at r57 v105)
  (at r92 v106)
  (at r96 v107)
  (at r136 v108)
  (at r24 v109)
  (at r115 v110)
  (at r69 v111)
  (at r65 v112)
  (at r39 v113)
  (at r42 v114)
  (at r17 v115)
  (at r45 v116)
  (at r94 v117)
  (at r87 v118)
  (at r141 v119)
  (at r75 v120)
  (free v121)
  (at r71 v122)
  (at r21 v123)
  (at r54 v124)
  (at r37 v125)
  (at r123 v126)
  (free v127)
  (at r34 v128)
  (at r84 v129)
  (at r106 v130)
  (at r56 v131)
  (at r116 v132)
  (at r44 v133)
  (at r137 v134)
  (at r104 v135)
  (at r127 v136)
  (at r55 v137)
  (at r67 v138)
  (free v139)
  (at r31 v140)
  (free v141)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v15)
  (adjacent v0 v32)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v27)
  (adjacent v1 v31)
  (adjacent v2 v3)
  (adjacent v2 v39)
  (adjacent v2 v66)
  (adjacent v3 v4)
  (adjacent v3 v35)
  (adjacent v3 v91)
  (adjacent v4 v5)
  (adjacent v4 v126)
  (adjacent v5 v11)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v7 v8)
  (adjacent v7 v77)
  (adjacent v8 v9)
  (adjacent v8 v19)
  (adjacent v8 v22)
  (adjacent v8 v34)
  (adjacent v8 v58)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v21)
  (adjacent v11 v28)
  (adjacent v11 v53)
  (adjacent v11 v58)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v13 v30)
  (adjacent v13 v114)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v86)
  (adjacent v18 v104)
  (adjacent v20 v21)
  (adjacent v20 v100)
  (adjacent v22 v23)
  (adjacent v22 v74)
  (adjacent v22 v82)
  (adjacent v23 v24)
  (adjacent v23 v59)
  (adjacent v24 v25)
  (adjacent v24 v95)
  (adjacent v24 v106)
  (adjacent v25 v26)
  (adjacent v25 v77)
  (adjacent v25 v78)
  (adjacent v26 v27)
  (adjacent v26 v57)
  (adjacent v27 v45)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v103)
  (adjacent v30 v31)
  (adjacent v32 v33)
  (adjacent v32 v52)
  (adjacent v32 v69)
  (adjacent v33 v34)
  (adjacent v34 v40)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v54)
  (adjacent v37 v101)
  (adjacent v38 v39)
  (adjacent v38 v54)
  (adjacent v39 v64)
  (adjacent v39 v83)
  (adjacent v40 v41)
  (adjacent v40 v46)
  (adjacent v40 v53)
  (adjacent v41 v42)
  (adjacent v41 v85)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v55)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v110)
  (adjacent v51 v52)
  (adjacent v51 v66)
  (adjacent v53 v68)
  (adjacent v53 v94)
  (adjacent v54 v76)
  (adjacent v55 v56)
  (adjacent v55 v65)
  (adjacent v55 v67)
  (adjacent v56 v57)
  (adjacent v57 v111)
  (adjacent v59 v60)
  (adjacent v59 v65)
  (adjacent v59 v122)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v81)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v113)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v86)
  (adjacent v72 v73)
  (adjacent v72 v82)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v116)
  (adjacent v77 v92)
  (adjacent v77 v107)
  (adjacent v78 v79)
  (adjacent v78 v87)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v132)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v133)
  (adjacent v94 v141)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v127)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v139)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v123)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v117)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v127 v140)
  (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)
  (adjacent v140 v141)
 )
 (:goal
  (and
  (at r118 v0)
  (free v1)
  (at r67 v2)
  (at r40 v3)
  (at r31 v4)
  (at r75 v5)
  (at r102 v6)
  (at r33 v7)
  (at r72 v8)
  (at r50 v9)
  (at r30 v10)
  (at r129 v11)
  (at r79 v12)
  (at r93 v13)
  (at r91 v14)
  (at r89 v15)
  (at r125 v16)
  (at r139 v17)
  (at r61 v18)
  (at r83 v19)
  (at r19 v20)
  (at r140 v21)
  (free v22)
  (at r82 v23)
  (at r21 v24)
  (at r121 v25)
  (at r65 v26)
  (at r24 v27)
  (at r124 v28)
  (at r99 v29)
  (free v30)
  (at r51 v31)
  (at r38 v32)
  (at r88 v33)
  (free v34)
  (at r98 v35)
  (at r134 v36)
  (at r59 v37)
  (at r58 v38)
  (at r90 v39)
  (at r137 v40)
  (at r119 v41)
  (at r138 v42)
  (at r22 v43)
  (at r49 v44)
  (at r42 v45)
  (at r101 v46)
  (at r84 v47)
  (at r87 v48)
  (at r46 v49)
  (free v50)
  (at r110 v51)
  (at r17 v52)
  (at r133 v53)
  (at r32 v54)
  (at r80 v55)
  (at r132 v56)
  (at r95 v57)
  (at r141 v58)
  (at r64 v59)
  (at r57 v60)
  (at r109 v61)
  (at r117 v62)
  (at r85 v63)
  (at r111 v64)
  (at r73 v65)
  (at r122 v66)
  (at r26 v67)
  (at r69 v68)
  (at r36 v69)
  (at r123 v70)
  (free v71)
  (at r62 v72)
  (at r27 v73)
  (at r94 v74)
  (at r23 v75)
  (at r107 v76)
  (at r115 v77)
  (at r25 v78)
  (free v79)
  (at r136 v80)
  (free v81)
  (at r18 v82)
  (at r76 v83)
  (at r112 v84)
  (free v85)
  (at r86 v86)
  (free v87)
  (at r47 v88)
  (at r29 v89)
  (at r130 v90)
  (at r66 v91)
  (at r71 v92)
  (at r114 v93)
  (at r63 v94)
  (at r116 v95)
  (at r128 v96)
  (at r48 v97)
  (at r96 v98)
  (at r60 v99)
  (at r131 v100)
  (at r92 v101)
  (at r120 v102)
  (at r53 v103)
  (at r126 v104)
  (free v105)
  (at r52 v106)
  (at r70 v107)
  (at r135 v108)
  (at r74 v109)
  (at r37 v110)
  (at r15 v111)
  (at r28 v112)
  (at r106 v113)
  (at r105 v114)
  (at r43 v115)
  (at r81 v116)
  (at r16 v117)
  (at r41 v118)
  (at r20 v119)
  (at r45 v120)
  (at r35 v121)
  (at r113 v122)
  (at r55 v123)
  (at r78 v124)
  (at r34 v125)
  (at r77 v126)
  (at r56 v127)
  (free v128)
  (free v129)
  (at r103 v130)
  (at r54 v131)
  (at r127 v132)
  (at r68 v133)
  (at r108 v134)
  (at r97 v135)
  (at r39 v136)
  (at r100 v137)
  (free v138)
  (free v139)
  (at r44 v140)
  (at r104 v141)
  )
 )
)