(define (problem multirobot_41_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r61
  v1 r72
  v2 r128
  v3 r92
  v4 r26
  v5 r43
  v6 r80
  v7
  v8 r30
  v9 r111
  v10 r81
  v11
  v12 r21
  v13 r78
  v14 r84
  v15 r54
  v16 r39
  v17 r103
  v18 r63
  v19
  v20 r40
  v21 r17
  v22 r134
  v23 r108
  v24 r32
  v25 r117
  v26 r49
  v27
  v28 r60
  v29 r121
  v30 r67
  v31 r135
  v32 r47
  v33 r85
  v34 r133
  v35
  v36 r23
  v37 r68
  v38 r122
  v39 r139
  v40 r143
  v41 r74
  v42 r95
  v43 r33
  v44 r93
  v45 r131
  v46 r64
  v47 r56
  v48 r105
  v49 r123
  v50 r120
  v51 r50
  v52 r119
  v53 r146
  v54 r29
  v55 r59
  v56 r70
  v57 r38
  v58 r96
  v59 r90
  v60 r102
  v61 r118
  v62 r22
  v63
  v64 r138
  v65 r110
  v66 r42
  v67 r124
  v68 r41
  v69 r45
  v70 r53
  v71 r104
  v72 r113
  v73 r37
  v74 r136
  v75 r46
  v76 r126
  v77 r18
  v78 r101
  v79 r142
  v80 r145
  v81 r98
  v82
  v83 r129
  v84 r77
  v85 r106
  v86 r82
  v87 r94
  v88 r66
  v89 r28
  v90 r97
  v91 r76
  v92 r116
  v93 r89
  v94 r69
  v95 r44
  v96 r125
  v97
  v98 r86
  v99 r27
  v100 r31
  v101 r25
  v102 r48
  v103 r130
  v104 r137
  v105
  v106 r147
  v107 r91
  v108 r34
  v109 r57
  v110 r109
  v111 r51
  v112 r36
  v113 r127
  v114 r16
  v115 r35
  v116 r140
  v117
  v118 r144
  v119 r65
  v120
  v121
  v122 r83
  v123 r71
  v124 r100
  v125 r79
  v126 r19
  v127
  v128 r20
  v129 r58
  v130 r87
  v131 r62
  v132 r73
  v133
  v134 r88
  v135 r132
  v136 r107
  v137 r114
  v138 r24
  v139 r112
  v140 r75
  v141
  v142 r99
  v143 r55
  v144 r141
  v145 r52
  v146 r115
  v147
 )
 (:init
  (at r61 v0)
  (at r72 v1)
  (at r128 v2)
  (at r92 v3)
  (at r26 v4)
  (at r43 v5)
  (at r80 v6)
  (free v7)
  (at r30 v8)
  (at r111 v9)
  (at r81 v10)
  (free v11)
  (at r21 v12)
  (at r78 v13)
  (at r84 v14)
  (at r54 v15)
  (at r39 v16)
  (at r103 v17)
  (at r63 v18)
  (free v19)
  (at r40 v20)
  (at r17 v21)
  (at r134 v22)
  (at r108 v23)
  (at r32 v24)
  (at r117 v25)
  (at r49 v26)
  (free v27)
  (at r60 v28)
  (at r121 v29)
  (at r67 v30)
  (at r135 v31)
  (at r47 v32)
  (at r85 v33)
  (at r133 v34)
  (free v35)
  (at r23 v36)
  (at r68 v37)
  (at r122 v38)
  (at r139 v39)
  (at r143 v40)
  (at r74 v41)
  (at r95 v42)
  (at r33 v43)
  (at r93 v44)
  (at r131 v45)
  (at r64 v46)
  (at r56 v47)
  (at r105 v48)
  (at r123 v49)
  (at r120 v50)
  (at r50 v51)
  (at r119 v52)
  (at r146 v53)
  (at r29 v54)
  (at r59 v55)
  (at r70 v56)
  (at r38 v57)
  (at r96 v58)
  (at r90 v59)
  (at r102 v60)
  (at r118 v61)
  (at r22 v62)
  (free v63)
  (at r138 v64)
  (at r110 v65)
  (at r42 v66)
  (at r124 v67)
  (at r41 v68)
  (at r45 v69)
  (at r53 v70)
  (at r104 v71)
  (at r113 v72)
  (at r37 v73)
  (at r136 v74)
  (at r46 v75)
  (at r126 v76)
  (at r18 v77)
  (at r101 v78)
  (at r142 v79)
  (at r145 v80)
  (at r98 v81)
  (free v82)
  (at r129 v83)
  (at r77 v84)
  (at r106 v85)
  (at r82 v86)
  (at r94 v87)
  (at r66 v88)
  (at r28 v89)
  (at r97 v90)
  (at r76 v91)
  (at r116 v92)
  (at r89 v93)
  (at r69 v94)
  (at r44 v95)
  (at r125 v96)
  (free v97)
  (at r86 v98)
  (at r27 v99)
  (at r31 v100)
  (at r25 v101)
  (at r48 v102)
  (at r130 v103)
  (at r137 v104)
  (free v105)
  (at r147 v106)
  (at r91 v107)
  (at r34 v108)
  (at r57 v109)
  (at r109 v110)
  (at r51 v111)
  (at r36 v112)
  (at r127 v113)
  (at r16 v114)
  (at r35 v115)
  (at r140 v116)
  (free v117)
  (at r144 v118)
  (at r65 v119)
  (free v120)
  (free v121)
  (at r83 v122)
  (at r71 v123)
  (at r100 v124)
  (at r79 v125)
  (at r19 v126)
  (free v127)
  (at r20 v128)
  (at r58 v129)
  (at r87 v130)
  (at r62 v131)
  (at r73 v132)
  (free v133)
  (at r88 v134)
  (at r132 v135)
  (at r107 v136)
  (at r114 v137)
  (at r24 v138)
  (at r112 v139)
  (at r75 v140)
  (free v141)
  (at r99 v142)
  (at r55 v143)
  (at r141 v144)
  (at r52 v145)
  (at r115 v146)
  (free v147)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v11)
  (adjacent v1 v12)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v23)
  (adjacent v2 v54)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v3 v7)
  (adjacent v4 v24)
  (adjacent v4 v31)
  (adjacent v4 v75)
  (adjacent v4 v91)
  (adjacent v5 v12)
  (adjacent v5 v13)
  (adjacent v5 v95)
  (adjacent v6 v135)
  (adjacent v7 v8)
  (adjacent v7 v70)
  (adjacent v7 v139)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v10 v11)
  (adjacent v10 v42)
  (adjacent v10 v43)
  (adjacent v10 v68)
  (adjacent v11 v22)
  (adjacent v12 v88)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v52)
  (adjacent v15 v16)
  (adjacent v16 v25)
  (adjacent v17 v18)
  (adjacent v17 v69)
  (adjacent v18 v19)
  (adjacent v18 v36)
  (adjacent v18 v49)
  (adjacent v18 v97)
  (adjacent v19 v20)
  (adjacent v19 v32)
  (adjacent v19 v53)
  (adjacent v19 v85)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v96)
  (adjacent v22 v35)
  (adjacent v23 v24)
  (adjacent v24 v101)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v86)
  (adjacent v26 v114)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v93)
  (adjacent v29 v30)
  (adjacent v29 v79)
  (adjacent v30 v31)
  (adjacent v30 v69)
  (adjacent v31 v62)
  (adjacent v32 v33)
  (adjacent v32 v63)
  (adjacent v32 v112)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v50)
  (adjacent v39 v53)
  (adjacent v40 v41)
  (adjacent v40 v76)
  (adjacent v41 v42)
  (adjacent v41 v56)
  (adjacent v41 v92)
  (adjacent v41 v127)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v57)
  (adjacent v45 v46)
  (adjacent v45 v120)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v139)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v140)
  (adjacent v59 v60)
  (adjacent v59 v89)
  (adjacent v60 v61)
  (adjacent v60 v132)
  (adjacent v61 v62)
  (adjacent v61 v96)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v113)
  (adjacent v66 v67)
  (adjacent v66 v113)
  (adjacent v66 v126)
  (adjacent v67 v68)
  (adjacent v69 v118)
  (adjacent v70 v71)
  (adjacent v70 v109)
  (adjacent v71 v72)
  (adjacent v71 v123)
  (adjacent v72 v73)
  (adjacent v72 v80)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v108)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v137)
  (adjacent v78 v79)
  (adjacent v78 v92)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v93)
  (adjacent v81 v143)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v134)
  (adjacent v84 v138)
  (adjacent v85 v102)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v131)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v142)
  (adjacent v96 v138)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v147)
  (adjacent v104 v105)
  (adjacent v104 v117)
  (adjacent v105 v106)
  (adjacent v105 v119)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v122)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
 )
 (:goal
  (and
  (at r95 v0)
  (at r147 v1)
  (at r132 v2)
  (at r88 v3)
  (at r119 v4)
  (at r121 v5)
  (free v6)
  (at r60 v7)
  (free v8)
  (at r138 v9)
  (at r38 v10)
  (at r44 v11)
  (at r53 v12)
  (at r31 v13)
  (at r27 v14)
  (at r75 v15)
  (at r24 v16)
  (at r43 v17)
  (at r137 v18)
  (at r123 v19)
  (at r50 v20)
  (at r20 v21)
  (at r102 v22)
  (at r62 v23)
  (free v24)
  (at r96 v25)
  (at r76 v26)
  (at r90 v27)
  (at r82 v28)
  (at r127 v29)
  (at r141 v30)
  (at r18 v31)
  (at r124 v32)
  (at r92 v33)
  (at r146 v34)
  (at r70 v35)
  (at r97 v36)
  (at r143 v37)
  (at r80 v38)
  (at r28 v39)
  (at r56 v40)
  (at r59 v41)
  (free v42)
  (at r23 v43)
  (at r101 v44)
  (at r100 v45)
  (at r66 v46)
  (at r111 v47)
  (at r54 v48)
  (at r131 v49)
  (at r129 v50)
  (at r104 v51)
  (at r140 v52)
  (free v53)
  (at r93 v54)
  (at r16 v55)
  (at r37 v56)
  (at r136 v57)
  (at r73 v58)
  (at r49 v59)
  (at r112 v60)
  (at r69 v61)
  (at r106 v62)
  (free v63)
  (at r94 v64)
  (at r29 v65)
  (at r40 v66)
  (at r72 v67)
  (at r133 v68)
  (at r33 v69)
  (at r78 v70)
  (at r32 v71)
  (at r64 v72)
  (free v73)
  (at r130 v74)
  (at r30 v75)
  (at r63 v76)
  (free v77)
  (free v78)
  (at r105 v79)
  (at r83 v80)
  (at r55 v81)
  (at r68 v82)
  (at r86 v83)
  (at r47 v84)
  (at r57 v85)
  (at r114 v86)
  (at r122 v87)
  (at r58 v88)
  (free v89)
  (at r46 v90)
  (at r87 v91)
  (at r103 v92)
  (at r91 v93)
  (at r36 v94)
  (at r77 v95)
  (at r19 v96)
  (at r42 v97)
  (at r52 v98)
  (at r142 v99)
  (at r48 v100)
  (at r65 v101)
  (at r125 v102)
  (at r34 v103)
  (at r89 v104)
  (at r39 v105)
  (free v106)
  (at r115 v107)
  (at r79 v108)
  (at r85 v109)
  (at r117 v110)
  (at r135 v111)
  (free v112)
  (at r67 v113)
  (at r128 v114)
  (at r109 v115)
  (at r134 v116)
  (at r45 v117)
  (at r113 v118)
  (at r41 v119)
  (at r120 v120)
  (at r51 v121)
  (at r110 v122)
  (free v123)
  (free v124)
  (at r107 v125)
  (at r74 v126)
  (at r25 v127)
  (free v128)
  (at r139 v129)
  (at r81 v130)
  (at r98 v131)
  (at r99 v132)
  (at r21 v133)
  (at r17 v134)
  (at r126 v135)
  (at r84 v136)
  (at r35 v137)
  (at r108 v138)
  (at r22 v139)
  (free v140)
  (at r116 v141)
  (at r26 v142)
  (at r144 v143)
  (at r71 v144)
  (at r145 v145)
  (at r61 v146)
  (at r118 v147)
  )
 )
)