(define (problem multirobot_41_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r128
  v1 r72
  v2 r49
  v3 r42
  v4 r154
  v5 r161
  v6 r142
  v7 r95
  v8 r96
  v9 r139
  v10 r65
  v11 r111
  v12 r126
  v13 r163
  v14 r84
  v15 r81
  v16 r46
  v17 r32
  v18 r30
  v19 r148
  v20 r45
  v21 r125
  v22 r54
  v23 r150
  v24 r62
  v25 r109
  v26 r103
  v27 r57
  v28 r26
  v29 r66
  v30 r140
  v31 r17
  v32 r63
  v33 r59
  v34
  v35 r136
  v36 r58
  v37 r29
  v38 r78
  v39 r160
  v40 r117
  v41
  v42 r22
  v43 r134
  v44 r105
  v45
  v46 r92
  v47 r87
  v48 r55
  v49 r67
  v50 r151
  v51 r124
  v52 r27
  v53 r132
  v54 r69
  v55 r164
  v56 r131
  v57 r143
  v58 r64
  v59 r50
  v60
  v61 r88
  v62 r86
  v63 r119
  v64
  v65 r141
  v66 r149
  v67 r121
  v68 r112
  v69 r130
  v70 r15
  v71 r47
  v72 r31
  v73 r24
  v74 r43
  v75 r70
  v76 r79
  v77 r165
  v78 r39
  v79 r158
  v80
  v81 r41
  v82 r19
  v83 r61
  v84 r73
  v85 r21
  v86 r44
  v87 r106
  v88 r83
  v89
  v90 r33
  v91
  v92 r116
  v93 r14
  v94 r162
  v95 r122
  v96 r94
  v97 r99
  v98 r71
  v99 r25
  v100 r145
  v101 r129
  v102 r107
  v103 r20
  v104 r34
  v105 r74
  v106 r155
  v107 r159
  v108 r118
  v109
  v110 r133
  v111 r157
  v112
  v113 r127
  v114 r104
  v115 r56
  v116 r114
  v117 r28
  v118 r90
  v119 r82
  v120 r51
  v121 r40
  v122 r123
  v123 r120
  v124 r98
  v125 r144
  v126 r138
  v127 r36
  v128 r53
  v129 r52
  v130 r13
  v131 r60
  v132 r101
  v133 r77
  v134
  v135 r152
  v136 r18
  v137 r156
  v138 r108
  v139 r75
  v140
  v141
  v142 r80
  v143 r38
  v144 r76
  v145 r37
  v146 r100
  v147 r48
  v148 r102
  v149 r97
  v150 r85
  v151 r113
  v152 r35
  v153 r166
  v154 r146
  v155 r137
  v156 r93
  v157 r91
  v158 r135
  v159 r115
  v160 r89
  v161 r23
  v162 r68
  v163 r147
  v164 r153
  v165 r110
  v166 r16
 )
 (:init
  (at r128 v0)
  (at r72 v1)
  (at r49 v2)
  (at r42 v3)
  (at r154 v4)
  (at r161 v5)
  (at r142 v6)
  (at r95 v7)
  (at r96 v8)
  (at r139 v9)
  (at r65 v10)
  (at r111 v11)
  (at r126 v12)
  (at r163 v13)
  (at r84 v14)
  (at r81 v15)
  (at r46 v16)
  (at r32 v17)
  (at r30 v18)
  (at r148 v19)
  (at r45 v20)
  (at r125 v21)
  (at r54 v22)
  (at r150 v23)
  (at r62 v24)
  (at r109 v25)
  (at r103 v26)
  (at r57 v27)
  (at r26 v28)
  (at r66 v29)
  (at r140 v30)
  (at r17 v31)
  (at r63 v32)
  (at r59 v33)
  (free v34)
  (at r136 v35)
  (at r58 v36)
  (at r29 v37)
  (at r78 v38)
  (at r160 v39)
  (at r117 v40)
  (free v41)
  (at r22 v42)
  (at r134 v43)
  (at r105 v44)
  (free v45)
  (at r92 v46)
  (at r87 v47)
  (at r55 v48)
  (at r67 v49)
  (at r151 v50)
  (at r124 v51)
  (at r27 v52)
  (at r132 v53)
  (at r69 v54)
  (at r164 v55)
  (at r131 v56)
  (at r143 v57)
  (at r64 v58)
  (at r50 v59)
  (free v60)
  (at r88 v61)
  (at r86 v62)
  (at r119 v63)
  (free v64)
  (at r141 v65)
  (at r149 v66)
  (at r121 v67)
  (at r112 v68)
  (at r130 v69)
  (at r15 v70)
  (at r47 v71)
  (at r31 v72)
  (at r24 v73)
  (at r43 v74)
  (at r70 v75)
  (at r79 v76)
  (at r165 v77)
  (at r39 v78)
  (at r158 v79)
  (free v80)
  (at r41 v81)
  (at r19 v82)
  (at r61 v83)
  (at r73 v84)
  (at r21 v85)
  (at r44 v86)
  (at r106 v87)
  (at r83 v88)
  (free v89)
  (at r33 v90)
  (free v91)
  (at r116 v92)
  (at r14 v93)
  (at r162 v94)
  (at r122 v95)
  (at r94 v96)
  (at r99 v97)
  (at r71 v98)
  (at r25 v99)
  (at r145 v100)
  (at r129 v101)
  (at r107 v102)
  (at r20 v103)
  (at r34 v104)
  (at r74 v105)
  (at r155 v106)
  (at r159 v107)
  (at r118 v108)
  (free v109)
  (at r133 v110)
  (at r157 v111)
  (free v112)
  (at r127 v113)
  (at r104 v114)
  (at r56 v115)
  (at r114 v116)
  (at r28 v117)
  (at r90 v118)
  (at r82 v119)
  (at r51 v120)
  (at r40 v121)
  (at r123 v122)
  (at r120 v123)
  (at r98 v124)
  (at r144 v125)
  (at r138 v126)
  (at r36 v127)
  (at r53 v128)
  (at r52 v129)
  (at r13 v130)
  (at r60 v131)
  (at r101 v132)
  (at r77 v133)
  (free v134)
  (at r152 v135)
  (at r18 v136)
  (at r156 v137)
  (at r108 v138)
  (at r75 v139)
  (free v140)
  (free v141)
  (at r80 v142)
  (at r38 v143)
  (at r76 v144)
  (at r37 v145)
  (at r100 v146)
  (at r48 v147)
  (at r102 v148)
  (at r97 v149)
  (at r85 v150)
  (at r113 v151)
  (at r35 v152)
  (at r166 v153)
  (at r146 v154)
  (at r137 v155)
  (at r93 v156)
  (at r91 v157)
  (at r135 v158)
  (at r115 v159)
  (at r89 v160)
  (at r23 v161)
  (at r68 v162)
  (at r147 v163)
  (at r153 v164)
  (at r110 v165)
  (at r16 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v48)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v20)
  (adjacent v1 v93)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v4 v164)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v5 v21)
  (adjacent v5 v45)
  (adjacent v5 v85)
  (adjacent v6 v7)
  (adjacent v6 v25)
  (adjacent v6 v35)
  (adjacent v6 v40)
  (adjacent v6 v92)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v19)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v44)
  (adjacent v9 v53)
  (adjacent v9 v150)
  (adjacent v9 v160)
  (adjacent v10 v11)
  (adjacent v10 v73)
  (adjacent v11 v12)
  (adjacent v11 v36)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v13 v145)
  (adjacent v14 v15)
  (adjacent v14 v29)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v30)
  (adjacent v19 v43)
  (adjacent v19 v67)
  (adjacent v19 v136)
  (adjacent v19 v159)
  (adjacent v20 v24)
  (adjacent v21 v22)
  (adjacent v21 v79)
  (adjacent v22 v23)
  (adjacent v22 v39)
  (adjacent v22 v45)
  (adjacent v23 v24)
  (adjacent v24 v120)
  (adjacent v25 v26)
  (adjacent v25 v132)
  (adjacent v26 v27)
  (adjacent v26 v46)
  (adjacent v27 v28)
  (adjacent v27 v66)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v59)
  (adjacent v34 v35)
  (adjacent v34 v44)
  (adjacent v35 v105)
  (adjacent v36 v37)
  (adjacent v36 v142)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v95)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v49)
  (adjacent v42 v43)
  (adjacent v43 v77)
  (adjacent v45 v84)
  (adjacent v46 v47)
  (adjacent v46 v54)
  (adjacent v47 v48)
  (adjacent v47 v101)
  (adjacent v48 v94)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v96)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v119)
  (adjacent v54 v55)
  (adjacent v54 v78)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v60)
  (adjacent v56 v74)
  (adjacent v57 v58)
  (adjacent v57 v110)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v122)
  (adjacent v65 v66)
  (adjacent v65 v80)
  (adjacent v65 v123)
  (adjacent v67 v68)
  (adjacent v67 v91)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v165)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v130)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v115)
  (adjacent v91 v124)
  (adjacent v92 v93)
  (adjacent v93 v104)
  (adjacent v93 v146)
  (adjacent v94 v95)
  (adjacent v95 v123)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v139)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v144)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v153)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v116)
  (adjacent v108 v135)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v138)
  (adjacent v111 v112)
  (adjacent v111 v145)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v149)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v116 v131)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v143)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v124 v125)
  (adjacent v124 v131)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v154)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v150 v166)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
 )
 (:goal
  (and
  (at r165 v0)
  (at r160 v1)
  (at r68 v2)
  (at r82 v3)
  (at r84 v4)
  (at r161 v5)
  (at r90 v6)
  (at r39 v7)
  (at r63 v8)
  (at r78 v9)
  (at r38 v10)
  (at r117 v11)
  (at r76 v12)
  (at r91 v13)
  (at r109 v14)
  (at r17 v15)
  (free v16)
  (at r20 v17)
  (at r115 v18)
  (at r100 v19)
  (at r134 v20)
  (at r75 v21)
  (at r55 v22)
  (free v23)
  (at r145 v24)
  (free v25)
  (at r25 v26)
  (at r26 v27)
  (at r15 v28)
  (at r83 v29)
  (at r33 v30)
  (at r65 v31)
  (at r132 v32)
  (at r45 v33)
  (at r85 v34)
  (at r123 v35)
  (at r141 v36)
  (at r112 v37)
  (at r22 v38)
  (at r149 v39)
  (at r95 v40)
  (at r43 v41)
  (free v42)
  (at r164 v43)
  (at r16 v44)
  (at r40 v45)
  (at r127 v46)
  (at r120 v47)
  (at r35 v48)
  (at r126 v49)
  (at r60 v50)
  (at r163 v51)
  (at r129 v52)
  (at r111 v53)
  (at r94 v54)
  (at r67 v55)
  (at r131 v56)
  (at r128 v57)
  (at r52 v58)
  (at r152 v59)
  (at r139 v60)
  (at r73 v61)
  (at r47 v62)
  (at r138 v63)
  (at r116 v64)
  (at r74 v65)
  (at r70 v66)
  (at r130 v67)
  (at r137 v68)
  (at r133 v69)
  (at r136 v70)
  (at r30 v71)
  (at r49 v72)
  (at r53 v73)
  (at r125 v74)
  (at r154 v75)
  (at r36 v76)
  (at r140 v77)
  (free v78)
  (at r150 v79)
  (free v80)
  (at r89 v81)
  (at r144 v82)
  (at r118 v83)
  (at r48 v84)
  (at r92 v85)
  (at r66 v86)
  (at r56 v87)
  (at r88 v88)
  (at r32 v89)
  (free v90)
  (at r21 v91)
  (at r103 v92)
  (at r113 v93)
  (at r13 v94)
  (at r61 v95)
  (free v96)
  (at r97 v97)
  (at r104 v98)
  (at r166 v99)
  (free v100)
  (free v101)
  (at r93 v102)
  (free v103)
  (at r57 v104)
  (at r18 v105)
  (free v106)
  (at r143 v107)
  (at r151 v108)
  (at r79 v109)
  (at r24 v110)
  (at r153 v111)
  (at r42 v112)
  (at r29 v113)
  (at r106 v114)
  (at r31 v115)
  (at r142 v116)
  (at r54 v117)
  (at r102 v118)
  (at r148 v119)
  (at r108 v120)
  (at r124 v121)
  (at r80 v122)
  (at r96 v123)
  (at r158 v124)
  (at r58 v125)
  (at r37 v126)
  (at r46 v127)
  (at r86 v128)
  (at r62 v129)
  (at r157 v130)
  (at r72 v131)
  (at r59 v132)
  (at r44 v133)
  (at r119 v134)
  (at r14 v135)
  (at r28 v136)
  (at r34 v137)
  (at r27 v138)
  (at r50 v139)
  (at r77 v140)
  (at r121 v141)
  (at r98 v142)
  (at r101 v143)
  (at r64 v144)
  (at r105 v145)
  (at r146 v146)
  (at r99 v147)
  (at r110 v148)
  (at r19 v149)
  (at r41 v150)
  (at r71 v151)
  (at r147 v152)
  (at r159 v153)
  (at r135 v154)
  (at r81 v155)
  (free v156)
  (at r23 v157)
  (at r162 v158)
  (at r122 v159)
  (at r51 v160)
  (at r156 v161)
  (at r114 v162)
  (at r69 v163)
  (at r107 v164)
  (at r87 v165)
  (at r155 v166)
  )
 )
)