(define (problem multirobot_40_10%_c9)
 (:domain multirobot)
 (:objects
  v0 r26
  v1 r41
  v2 r51
  v3 r98
  v4 r43
  v5 r116
  v6
  v7 r50
  v8 r111
  v9 r81
  v10 r153
  v11 r146
  v12 r40
  v13 r15
  v14 r126
  v15 r62
  v16 r96
  v17 r18
  v18 r97
  v19 r150
  v20 r29
  v21 r65
  v22 r31
  v23 r60
  v24 r58
  v25
  v26 r52
  v27 r56
  v28 r140
  v29 r74
  v30 r90
  v31 r103
  v32 r123
  v33 r80
  v34
  v35 r91
  v36 r151
  v37 r113
  v38 r125
  v39
  v40 r28
  v41 r66
  v42 r44
  v43 r147
  v44 r85
  v45
  v46 r57
  v47 r16
  v48 r68
  v49 r75
  v50 r158
  v51 r46
  v52 r89
  v53 r107
  v54 r87
  v55 r94
  v56 r64
  v57 r83
  v58
  v59 r88
  v60 r14
  v61 r49
  v62 r69
  v63 r55
  v64 r136
  v65 r105
  v66 r99
  v67 r129
  v68 r104
  v69 r86
  v70 r34
  v71 r100
  v72 r155
  v73 r101
  v74 r128
  v75 r22
  v76 r117
  v77
  v78 r138
  v79
  v80 r141
  v81 r156
  v82 r59
  v83 r110
  v84 r61
  v85
  v86 r106
  v87 r120
  v88 r79
  v89 r24
  v90 r139
  v91 r37
  v92 r27
  v93 r20
  v94 r121
  v95 r33
  v96 r132
  v97 r32
  v98 r78
  v99
  v100 r148
  v101 r38
  v102 r73
  v103 r47
  v104 r23
  v105 r92
  v106 r127
  v107 r133
  v108 r93
  v109
  v110 r135
  v111 r54
  v112 r118
  v113 r142
  v114 r48
  v115 r77
  v116 r131
  v117 r30
  v118
  v119 r19
  v120 r82
  v121 r45
  v122
  v123 r95
  v124 r154
  v125 r63
  v126 r145
  v127 r109
  v128 r157
  v129 r25
  v130 r108
  v131 r102
  v132 r124
  v133 r130
  v134 r36
  v135 r67
  v136 r114
  v137 r17
  v138 r152
  v139 r115
  v140 r119
  v141 r53
  v142 r112
  v143 r72
  v144 r149
  v145 r144
  v146 r122
  v147 r76
  v148 r35
  v149 r134
  v150 r84
  v151 r71
  v152 r70
  v153 r143
  v154 r137
  v155 r39
  v156
  v157 r42
  v158 r21
 )
 (:init
  (at r26 v0)
  (at r41 v1)
  (at r51 v2)
  (at r98 v3)
  (at r43 v4)
  (at r116 v5)
  (free v6)
  (at r50 v7)
  (at r111 v8)
  (at r81 v9)
  (at r153 v10)
  (at r146 v11)
  (at r40 v12)
  (at r15 v13)
  (at r126 v14)
  (at r62 v15)
  (at r96 v16)
  (at r18 v17)
  (at r97 v18)
  (at r150 v19)
  (at r29 v20)
  (at r65 v21)
  (at r31 v22)
  (at r60 v23)
  (at r58 v24)
  (free v25)
  (at r52 v26)
  (at r56 v27)
  (at r140 v28)
  (at r74 v29)
  (at r90 v30)
  (at r103 v31)
  (at r123 v32)
  (at r80 v33)
  (free v34)
  (at r91 v35)
  (at r151 v36)
  (at r113 v37)
  (at r125 v38)
  (free v39)
  (at r28 v40)
  (at r66 v41)
  (at r44 v42)
  (at r147 v43)
  (at r85 v44)
  (free v45)
  (at r57 v46)
  (at r16 v47)
  (at r68 v48)
  (at r75 v49)
  (at r158 v50)
  (at r46 v51)
  (at r89 v52)
  (at r107 v53)
  (at r87 v54)
  (at r94 v55)
  (at r64 v56)
  (at r83 v57)
  (free v58)
  (at r88 v59)
  (at r14 v60)
  (at r49 v61)
  (at r69 v62)
  (at r55 v63)
  (at r136 v64)
  (at r105 v65)
  (at r99 v66)
  (at r129 v67)
  (at r104 v68)
  (at r86 v69)
  (at r34 v70)
  (at r100 v71)
  (at r155 v72)
  (at r101 v73)
  (at r128 v74)
  (at r22 v75)
  (at r117 v76)
  (free v77)
  (at r138 v78)
  (free v79)
  (at r141 v80)
  (at r156 v81)
  (at r59 v82)
  (at r110 v83)
  (at r61 v84)
  (free v85)
  (at r106 v86)
  (at r120 v87)
  (at r79 v88)
  (at r24 v89)
  (at r139 v90)
  (at r37 v91)
  (at r27 v92)
  (at r20 v93)
  (at r121 v94)
  (at r33 v95)
  (at r132 v96)
  (at r32 v97)
  (at r78 v98)
  (free v99)
  (at r148 v100)
  (at r38 v101)
  (at r73 v102)
  (at r47 v103)
  (at r23 v104)
  (at r92 v105)
  (at r127 v106)
  (at r133 v107)
  (at r93 v108)
  (free v109)
  (at r135 v110)
  (at r54 v111)
  (at r118 v112)
  (at r142 v113)
  (at r48 v114)
  (at r77 v115)
  (at r131 v116)
  (at r30 v117)
  (free v118)
  (at r19 v119)
  (at r82 v120)
  (at r45 v121)
  (free v122)
  (at r95 v123)
  (at r154 v124)
  (at r63 v125)
  (at r145 v126)
  (at r109 v127)
  (at r157 v128)
  (at r25 v129)
  (at r108 v130)
  (at r102 v131)
  (at r124 v132)
  (at r130 v133)
  (at r36 v134)
  (at r67 v135)
  (at r114 v136)
  (at r17 v137)
  (at r152 v138)
  (at r115 v139)
  (at r119 v140)
  (at r53 v141)
  (at r112 v142)
  (at r72 v143)
  (at r149 v144)
  (at r144 v145)
  (at r122 v146)
  (at r76 v147)
  (at r35 v148)
  (at r134 v149)
  (at r84 v150)
  (at r71 v151)
  (at r70 v152)
  (at r143 v153)
  (at r137 v154)
  (at r39 v155)
  (free v156)
  (at r42 v157)
  (at r21 v158)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v19)
  (adjacent v0 v25)
  (adjacent v0 v63)
  (adjacent v0 v94)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v7)
  (adjacent v1 v11)
  (adjacent v1 v83)
  (adjacent v1 v89)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v8)
  (adjacent v4 v18)
  (adjacent v4 v78)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v12)
  (adjacent v5 v79)
  (adjacent v5 v112)
  (adjacent v6 v9)
  (adjacent v6 v20)
  (adjacent v6 v21)
  (adjacent v7 v8)
  (adjacent v7 v59)
  (adjacent v7 v72)
  (adjacent v8 v43)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v24)
  (adjacent v12 v13)
  (adjacent v12 v31)
  (adjacent v12 v35)
  (adjacent v12 v82)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v53)
  (adjacent v15 v16)
  (adjacent v15 v66)
  (adjacent v16 v17)
  (adjacent v16 v62)
  (adjacent v17 v18)
  (adjacent v17 v42)
  (adjacent v18 v54)
  (adjacent v19 v20)
  (adjacent v21 v22)
  (adjacent v21 v52)
  (adjacent v22 v23)
  (adjacent v22 v71)
  (adjacent v22 v128)
  (adjacent v23 v24)
  (adjacent v23 v35)
  (adjacent v23 v111)
  (adjacent v24 v71)
  (adjacent v25 v26)
  (adjacent v25 v36)
  (adjacent v25 v139)
  (adjacent v26 v27)
  (adjacent v26 v64)
  (adjacent v26 v119)
  (adjacent v26 v152)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v34)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v67)
  (adjacent v35 v105)
  (adjacent v35 v106)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v49)
  (adjacent v37 v99)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v116)
  (adjacent v43 v44)
  (adjacent v43 v50)
  (adjacent v43 v58)
  (adjacent v43 v65)
  (adjacent v43 v107)
  (adjacent v44 v45)
  (adjacent v44 v88)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v70)
  (adjacent v49 v66)
  (adjacent v50 v51)
  (adjacent v50 v53)
  (adjacent v50 v122)
  (adjacent v51 v52)
  (adjacent v54 v55)
  (adjacent v54 v65)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v93)
  (adjacent v58 v120)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v65 v120)
  (adjacent v66 v140)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v135)
  (adjacent v72 v73)
  (adjacent v72 v129)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v115)
  (adjacent v74 v151)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v98)
  (adjacent v87 v88)
  (adjacent v88 v134)
  (adjacent v89 v90)
  (adjacent v89 v147)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v106)
  (adjacent v94 v95)
  (adjacent v94 v144)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v146)
  (adjacent v105 v121)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v121)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v145)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v158)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
 )
 (:goal
  (and
  (at r131 v0)
  (at r53 v1)
  (at r155 v2)
  (at r145 v3)
  (at r134 v4)
  (at r44 v5)
  (at r88 v6)
  (at r152 v7)
  (at r96 v8)
  (at r83 v9)
  (at r18 v10)
  (at r57 v11)
  (at r35 v12)
  (at r39 v13)
  (at r102 v14)
  (at r98 v15)
  (at r90 v16)
  (free v17)
  (at r65 v18)
  (at r25 v19)
  (at r24 v20)
  (at r60 v21)
  (at r148 v22)
  (at r43 v23)
  (free v24)
  (at r17 v25)
  (at r72 v26)
  (at r110 v27)
  (at r141 v28)
  (at r46 v29)
  (at r157 v30)
  (at r144 v31)
  (at r142 v32)
  (at r42 v33)
  (at r122 v34)
  (at r50 v35)
  (at r70 v36)
  (at r121 v37)
  (at r119 v38)
  (free v39)
  (at r31 v40)
  (free v41)
  (at r34 v42)
  (at r77 v43)
  (at r153 v44)
  (at r124 v45)
  (free v46)
  (at r56 v47)
  (at r99 v48)
  (at r78 v49)
  (at r133 v50)
  (free v51)
  (at r68 v52)
  (free v53)
  (at r125 v54)
  (at r29 v55)
  (at r51 v56)
  (at r132 v57)
  (at r26 v58)
  (at r69 v59)
  (at r135 v60)
  (at r128 v61)
  (at r63 v62)
  (at r54 v63)
  (at r117 v64)
  (at r147 v65)
  (at r149 v66)
  (at r93 v67)
  (at r36 v68)
  (at r106 v69)
  (at r112 v70)
  (free v71)
  (at r123 v72)
  (free v73)
  (at r82 v74)
  (at r79 v75)
  (at r143 v76)
  (at r86 v77)
  (at r140 v78)
  (at r103 v79)
  (at r137 v80)
  (at r71 v81)
  (at r139 v82)
  (at r150 v83)
  (at r109 v84)
  (at r45 v85)
  (at r21 v86)
  (at r37 v87)
  (at r156 v88)
  (at r129 v89)
  (at r154 v90)
  (free v91)
  (at r62 v92)
  (at r151 v93)
  (at r108 v94)
  (at r115 v95)
  (at r47 v96)
  (at r120 v97)
  (at r105 v98)
  (at r91 v99)
  (at r59 v100)
  (free v101)
  (at r16 v102)
  (at r80 v103)
  (at r64 v104)
  (at r114 v105)
  (at r118 v106)
  (at r41 v107)
  (at r32 v108)
  (at r127 v109)
  (at r23 v110)
  (at r52 v111)
  (at r81 v112)
  (at r101 v113)
  (at r61 v114)
  (at r126 v115)
  (at r104 v116)
  (at r22 v117)
  (at r15 v118)
  (at r55 v119)
  (at r48 v120)
  (at r66 v121)
  (at r94 v122)
  (at r33 v123)
  (at r28 v124)
  (at r89 v125)
  (at r130 v126)
  (at r19 v127)
  (at r113 v128)
  (at r74 v129)
  (at r95 v130)
  (at r27 v131)
  (at r111 v132)
  (at r67 v133)
  (free v134)
  (at r158 v135)
  (at r107 v136)
  (at r92 v137)
  (at r97 v138)
  (at r138 v139)
  (at r85 v140)
  (at r20 v141)
  (at r116 v142)
  (at r30 v143)
  (at r38 v144)
  (free v145)
  (free v146)
  (at r76 v147)
  (at r84 v148)
  (at r73 v149)
  (at r40 v150)
  (at r14 v151)
  (at r75 v152)
  (at r49 v153)
  (at r58 v154)
  (at r87 v155)
  (at r100 v156)
  (at r146 v157)
  (at r136 v158)
  )
 )
)