(define (problem multirobot_40_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r14
  v1 r53
  v2 r50
  v3 r132
  v4 r92
  v5 r120
  v6 r56
  v7
  v8 r32
  v9 r90
  v10 r139
  v11 r47
  v12 r16
  v13 r123
  v14
  v15 r100
  v16 r30
  v17 r103
  v18 r128
  v19 r116
  v20 r22
  v21 r67
  v22 r73
  v23 r43
  v24 r44
  v25 r82
  v26
  v27 r122
  v28
  v29 r28
  v30 r75
  v31
  v32 r37
  v33 r125
  v34
  v35 r79
  v36 r63
  v37 r99
  v38 r104
  v39 r129
  v40
  v41 r115
  v42 r39
  v43 r98
  v44 r94
  v45 r61
  v46 r117
  v47 r21
  v48 r105
  v49 r109
  v50 r64
  v51 r54
  v52 r86
  v53 r55
  v54 r77
  v55 r18
  v56 r29
  v57 r48
  v58
  v59 r136
  v60 r114
  v61
  v62 r141
  v63 r89
  v64 r126
  v65 r34
  v66 r101
  v67 r46
  v68 r59
  v69 r118
  v70 r121
  v71 r38
  v72 r74
  v73 r113
  v74 r23
  v75 r31
  v76 r102
  v77 r68
  v78 r137
  v79 r88
  v80 r78
  v81 r17
  v82 r20
  v83 r19
  v84 r83
  v85 r24
  v86
  v87 r15
  v88 r62
  v89 r65
  v90 r131
  v91 r66
  v92 r70
  v93 r51
  v94 r60
  v95 r95
  v96 r87
  v97 r40
  v98 r58
  v99 r33
  v100
  v101 r81
  v102 r35
  v103 r130
  v104 r49
  v105 r107
  v106 r127
  v107 r76
  v108 r52
  v109 r84
  v110 r26
  v111 r119
  v112 r45
  v113 r80
  v114 r135
  v115 r110
  v116 r111
  v117 r106
  v118 r72
  v119 r134
  v120 r36
  v121 r91
  v122 r108
  v123 r97
  v124 r142
  v125 r42
  v126 r25
  v127 r138
  v128 r57
  v129 r124
  v130 r69
  v131 r85
  v132 r96
  v133 r112
  v134 r140
  v135 r93
  v136 r133
  v137 r71
  v138
  v139 r41
  v140
  v141 r27
  v142
 )
 (:init
  (at r14 v0)
  (at r53 v1)
  (at r50 v2)
  (at r132 v3)
  (at r92 v4)
  (at r120 v5)
  (at r56 v6)
  (free v7)
  (at r32 v8)
  (at r90 v9)
  (at r139 v10)
  (at r47 v11)
  (at r16 v12)
  (at r123 v13)
  (free v14)
  (at r100 v15)
  (at r30 v16)
  (at r103 v17)
  (at r128 v18)
  (at r116 v19)
  (at r22 v20)
  (at r67 v21)
  (at r73 v22)
  (at r43 v23)
  (at r44 v24)
  (at r82 v25)
  (free v26)
  (at r122 v27)
  (free v28)
  (at r28 v29)
  (at r75 v30)
  (free v31)
  (at r37 v32)
  (at r125 v33)
  (free v34)
  (at r79 v35)
  (at r63 v36)
  (at r99 v37)
  (at r104 v38)
  (at r129 v39)
  (free v40)
  (at r115 v41)
  (at r39 v42)
  (at r98 v43)
  (at r94 v44)
  (at r61 v45)
  (at r117 v46)
  (at r21 v47)
  (at r105 v48)
  (at r109 v49)
  (at r64 v50)
  (at r54 v51)
  (at r86 v52)
  (at r55 v53)
  (at r77 v54)
  (at r18 v55)
  (at r29 v56)
  (at r48 v57)
  (free v58)
  (at r136 v59)
  (at r114 v60)
  (free v61)
  (at r141 v62)
  (at r89 v63)
  (at r126 v64)
  (at r34 v65)
  (at r101 v66)
  (at r46 v67)
  (at r59 v68)
  (at r118 v69)
  (at r121 v70)
  (at r38 v71)
  (at r74 v72)
  (at r113 v73)
  (at r23 v74)
  (at r31 v75)
  (at r102 v76)
  (at r68 v77)
  (at r137 v78)
  (at r88 v79)
  (at r78 v80)
  (at r17 v81)
  (at r20 v82)
  (at r19 v83)
  (at r83 v84)
  (at r24 v85)
  (free v86)
  (at r15 v87)
  (at r62 v88)
  (at r65 v89)
  (at r131 v90)
  (at r66 v91)
  (at r70 v92)
  (at r51 v93)
  (at r60 v94)
  (at r95 v95)
  (at r87 v96)
  (at r40 v97)
  (at r58 v98)
  (at r33 v99)
  (free v100)
  (at r81 v101)
  (at r35 v102)
  (at r130 v103)
  (at r49 v104)
  (at r107 v105)
  (at r127 v106)
  (at r76 v107)
  (at r52 v108)
  (at r84 v109)
  (at r26 v110)
  (at r119 v111)
  (at r45 v112)
  (at r80 v113)
  (at r135 v114)
  (at r110 v115)
  (at r111 v116)
  (at r106 v117)
  (at r72 v118)
  (at r134 v119)
  (at r36 v120)
  (at r91 v121)
  (at r108 v122)
  (at r97 v123)
  (at r142 v124)
  (at r42 v125)
  (at r25 v126)
  (at r138 v127)
  (at r57 v128)
  (at r124 v129)
  (at r69 v130)
  (at r85 v131)
  (at r96 v132)
  (at r112 v133)
  (at r140 v134)
  (at r93 v135)
  (at r133 v136)
  (at r71 v137)
  (free v138)
  (at r41 v139)
  (free v140)
  (at r27 v141)
  (free v142)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v12)
  (adjacent v0 v14)
  (adjacent v0 v34)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v14)
  (adjacent v1 v27)
  (adjacent v1 v76)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v16)
  (adjacent v2 v26)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v12)
  (adjacent v3 v33)
  (adjacent v4 v5)
  (adjacent v4 v6)
  (adjacent v4 v7)
  (adjacent v4 v30)
  (adjacent v5 v16)
  (adjacent v6 v13)
  (adjacent v6 v102)
  (adjacent v6 v104)
  (adjacent v6 v118)
  (adjacent v7 v8)
  (adjacent v7 v17)
  (adjacent v7 v41)
  (adjacent v7 v82)
  (adjacent v8 v9)
  (adjacent v8 v114)
  (adjacent v9 v10)
  (adjacent v9 v51)
  (adjacent v9 v97)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v10 v40)
  (adjacent v11 v15)
  (adjacent v11 v57)
  (adjacent v12 v100)
  (adjacent v13 v50)
  (adjacent v13 v99)
  (adjacent v14 v15)
  (adjacent v14 v19)
  (adjacent v16 v50)
  (adjacent v16 v120)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v18 v19)
  (adjacent v18 v51)
  (adjacent v18 v61)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v98)
  (adjacent v22 v23)
  (adjacent v22 v52)
  (adjacent v23 v24)
  (adjacent v23 v31)
  (adjacent v23 v82)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v69)
  (adjacent v27 v28)
  (adjacent v27 v56)
  (adjacent v27 v103)
  (adjacent v27 v106)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v128)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v43)
  (adjacent v32 v62)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v75)
  (adjacent v37 v38)
  (adjacent v37 v42)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v83)
  (adjacent v41 v42)
  (adjacent v41 v49)
  (adjacent v41 v129)
  (adjacent v42 v64)
  (adjacent v43 v44)
  (adjacent v43 v81)
  (adjacent v44 v45)
  (adjacent v44 v91)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v90)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v105)
  (adjacent v48 v115)
  (adjacent v50 v84)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v65)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v105)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v68)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v119)
  (adjacent v68 v107)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v108)
  (adjacent v73 v125)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v85)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v85 v114)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v113)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v142)
  (adjacent v93 v94)
  (adjacent v93 v136)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v124)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v135)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
 )
 (:goal
  (and
  (at r95 v0)
  (at r54 v1)
  (at r137 v2)
  (at r16 v3)
  (at r66 v4)
  (at r116 v5)
  (at r21 v6)
  (at r43 v7)
  (at r142 v8)
  (at r50 v9)
  (at r88 v10)
  (at r80 v11)
  (at r101 v12)
  (at r119 v13)
  (free v14)
  (free v15)
  (at r70 v16)
  (at r73 v17)
  (at r114 v18)
  (at r26 v19)
  (at r55 v20)
  (at r123 v21)
  (at r140 v22)
  (at r136 v23)
  (at r122 v24)
  (at r74 v25)
  (at r105 v26)
  (at r44 v27)
  (at r57 v28)
  (at r14 v29)
  (at r22 v30)
  (at r97 v31)
  (at r128 v32)
  (at r131 v33)
  (at r15 v34)
  (at r53 v35)
  (at r92 v36)
  (at r34 v37)
  (at r56 v38)
  (at r46 v39)
  (at r87 v40)
  (at r37 v41)
  (at r24 v42)
  (at r117 v43)
  (at r35 v44)
  (at r65 v45)
  (free v46)
  (at r100 v47)
  (at r111 v48)
  (at r18 v49)
  (at r112 v50)
  (at r19 v51)
  (free v52)
  (free v53)
  (at r60 v54)
  (at r96 v55)
  (at r62 v56)
  (at r83 v57)
  (at r85 v58)
  (at r81 v59)
  (at r47 v60)
  (at r104 v61)
  (at r107 v62)
  (at r115 v63)
  (at r110 v64)
  (at r141 v65)
  (at r64 v66)
  (at r33 v67)
  (at r91 v68)
  (at r132 v69)
  (at r84 v70)
  (at r134 v71)
  (at r129 v72)
  (at r135 v73)
  (at r30 v74)
  (at r78 v75)
  (at r75 v76)
  (free v77)
  (at r133 v78)
  (free v79)
  (at r20 v80)
  (at r109 v81)
  (at r94 v82)
  (at r69 v83)
  (at r31 v84)
  (at r99 v85)
  (at r108 v86)
  (at r77 v87)
  (at r124 v88)
  (at r48 v89)
  (at r86 v90)
  (at r29 v91)
  (at r125 v92)
  (at r138 v93)
  (at r98 v94)
  (at r39 v95)
  (at r71 v96)
  (at r61 v97)
  (at r41 v98)
  (at r120 v99)
  (free v100)
  (at r118 v101)
  (at r139 v102)
  (at r42 v103)
  (at r113 v104)
  (at r121 v105)
  (at r68 v106)
  (at r76 v107)
  (at r63 v108)
  (at r79 v109)
  (at r102 v110)
  (free v111)
  (at r106 v112)
  (at r52 v113)
  (at r82 v114)
  (free v115)
  (at r17 v116)
  (free v117)
  (at r103 v118)
  (at r40 v119)
  (at r90 v120)
  (free v121)
  (at r127 v122)
  (at r130 v123)
  (at r23 v124)
  (at r67 v125)
  (at r38 v126)
  (free v127)
  (at r25 v128)
  (at r45 v129)
  (free v130)
  (at r126 v131)
  (at r89 v132)
  (at r28 v133)
  (at r72 v134)
  (at r58 v135)
  (at r27 v136)
  (at r59 v137)
  (at r49 v138)
  (at r36 v139)
  (at r32 v140)
  (at r93 v141)
  (at r51 v142)
  )
 )
)