(define (problem multirobot_41_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r58
  v1
  v2 r97
  v3 r86
  v4 r34
  v5 r77
  v6 r98
  v7 r36
  v8 r99
  v9 r140
  v10
  v11 r120
  v12 r39
  v13 r68
  v14 r163
  v15 r126
  v16 r114
  v17 r42
  v18 r142
  v19 r25
  v20 r91
  v21 r94
  v22 r37
  v23 r47
  v24 r158
  v25 r33
  v26 r84
  v27 r143
  v28 r157
  v29 r90
  v30 r92
  v31 r100
  v32 r136
  v33 r160
  v34 r135
  v35
  v36 r96
  v37 r95
  v38 r107
  v39 r17
  v40 r137
  v41 r28
  v42 r150
  v43 r156
  v44 r53
  v45 r15
  v46 r164
  v47 r54
  v48 r22
  v49 r101
  v50 r62
  v51 r125
  v52 r152
  v53 r121
  v54
  v55 r154
  v56 r144
  v57 r31
  v58
  v59 r133
  v60 r122
  v61 r112
  v62 r55
  v63 r111
  v64 r149
  v65 r64
  v66 r46
  v67 r27
  v68 r66
  v69 r88
  v70 r162
  v71 r155
  v72 r105
  v73 r72
  v74 r40
  v75 r159
  v76 r16
  v77 r119
  v78 r80
  v79 r44
  v80 r30
  v81 r124
  v82 r146
  v83 r89
  v84 r131
  v85 r79
  v86 r20
  v87 r48
  v88 r115
  v89 r56
  v90 r78
  v91 r123
  v92 r52
  v93 r148
  v94 r21
  v95 r130
  v96 r104
  v97 r83
  v98 r41
  v99 r65
  v100 r116
  v101 r81
  v102 r132
  v103 r29
  v104 r67
  v105 r26
  v106 r151
  v107 r60
  v108 r87
  v109 r93
  v110 r145
  v111 r85
  v112 r161
  v113 r61
  v114 r18
  v115 r117
  v116 r70
  v117 r141
  v118
  v119 r118
  v120 r51
  v121 r128
  v122
  v123 r23
  v124 r113
  v125
  v126
  v127 r43
  v128 r49
  v129 r24
  v130 r165
  v131 r153
  v132 r14
  v133 r75
  v134 r103
  v135 r106
  v136 r110
  v137 r59
  v138 r102
  v139
  v140 r82
  v141 r45
  v142 r166
  v143 r73
  v144
  v145 r38
  v146
  v147 r109
  v148 r147
  v149 r108
  v150 r19
  v151 r74
  v152
  v153 r32
  v154 r134
  v155 r63
  v156 r71
  v157 r138
  v158 r76
  v159 r50
  v160 r69
  v161 r57
  v162
  v163 r139
  v164 r127
  v165 r35
  v166 r129
 )
 (:init
  (at r58 v0)
  (free v1)
  (at r97 v2)
  (at r86 v3)
  (at r34 v4)
  (at r77 v5)
  (at r98 v6)
  (at r36 v7)
  (at r99 v8)
  (at r140 v9)
  (free v10)
  (at r120 v11)
  (at r39 v12)
  (at r68 v13)
  (at r163 v14)
  (at r126 v15)
  (at r114 v16)
  (at r42 v17)
  (at r142 v18)
  (at r25 v19)
  (at r91 v20)
  (at r94 v21)
  (at r37 v22)
  (at r47 v23)
  (at r158 v24)
  (at r33 v25)
  (at r84 v26)
  (at r143 v27)
  (at r157 v28)
  (at r90 v29)
  (at r92 v30)
  (at r100 v31)
  (at r136 v32)
  (at r160 v33)
  (at r135 v34)
  (free v35)
  (at r96 v36)
  (at r95 v37)
  (at r107 v38)
  (at r17 v39)
  (at r137 v40)
  (at r28 v41)
  (at r150 v42)
  (at r156 v43)
  (at r53 v44)
  (at r15 v45)
  (at r164 v46)
  (at r54 v47)
  (at r22 v48)
  (at r101 v49)
  (at r62 v50)
  (at r125 v51)
  (at r152 v52)
  (at r121 v53)
  (free v54)
  (at r154 v55)
  (at r144 v56)
  (at r31 v57)
  (free v58)
  (at r133 v59)
  (at r122 v60)
  (at r112 v61)
  (at r55 v62)
  (at r111 v63)
  (at r149 v64)
  (at r64 v65)
  (at r46 v66)
  (at r27 v67)
  (at r66 v68)
  (at r88 v69)
  (at r162 v70)
  (at r155 v71)
  (at r105 v72)
  (at r72 v73)
  (at r40 v74)
  (at r159 v75)
  (at r16 v76)
  (at r119 v77)
  (at r80 v78)
  (at r44 v79)
  (at r30 v80)
  (at r124 v81)
  (at r146 v82)
  (at r89 v83)
  (at r131 v84)
  (at r79 v85)
  (at r20 v86)
  (at r48 v87)
  (at r115 v88)
  (at r56 v89)
  (at r78 v90)
  (at r123 v91)
  (at r52 v92)
  (at r148 v93)
  (at r21 v94)
  (at r130 v95)
  (at r104 v96)
  (at r83 v97)
  (at r41 v98)
  (at r65 v99)
  (at r116 v100)
  (at r81 v101)
  (at r132 v102)
  (at r29 v103)
  (at r67 v104)
  (at r26 v105)
  (at r151 v106)
  (at r60 v107)
  (at r87 v108)
  (at r93 v109)
  (at r145 v110)
  (at r85 v111)
  (at r161 v112)
  (at r61 v113)
  (at r18 v114)
  (at r117 v115)
  (at r70 v116)
  (at r141 v117)
  (free v118)
  (at r118 v119)
  (at r51 v120)
  (at r128 v121)
  (free v122)
  (at r23 v123)
  (at r113 v124)
  (free v125)
  (free v126)
  (at r43 v127)
  (at r49 v128)
  (at r24 v129)
  (at r165 v130)
  (at r153 v131)
  (at r14 v132)
  (at r75 v133)
  (at r103 v134)
  (at r106 v135)
  (at r110 v136)
  (at r59 v137)
  (at r102 v138)
  (free v139)
  (at r82 v140)
  (at r45 v141)
  (at r166 v142)
  (at r73 v143)
  (free v144)
  (at r38 v145)
  (free v146)
  (at r109 v147)
  (at r147 v148)
  (at r108 v149)
  (at r19 v150)
  (at r74 v151)
  (free v152)
  (at r32 v153)
  (at r134 v154)
  (at r63 v155)
  (at r71 v156)
  (at r138 v157)
  (at r76 v158)
  (at r50 v159)
  (at r69 v160)
  (at r57 v161)
  (free v162)
  (at r139 v163)
  (at r127 v164)
  (at r35 v165)
  (at r129 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v54)
  (adjacent v1 v2)
  (adjacent v1 v14)
  (adjacent v1 v22)
  (adjacent v1 v129)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v3 v8)
  (adjacent v3 v21)
  (adjacent v3 v47)
  (adjacent v3 v121)
  (adjacent v4 v19)
  (adjacent v4 v77)
  (adjacent v4 v79)
  (adjacent v5 v6)
  (adjacent v5 v20)
  (adjacent v5 v22)
  (adjacent v5 v33)
  (adjacent v5 v103)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v6 v79)
  (adjacent v6 v119)
  (adjacent v7 v27)
  (adjacent v7 v41)
  (adjacent v7 v61)
  (adjacent v7 v76)
  (adjacent v8 v9)
  (adjacent v8 v23)
  (adjacent v8 v44)
  (adjacent v9 v10)
  (adjacent v9 v59)
  (adjacent v10 v11)
  (adjacent v10 v127)
  (adjacent v11 v12)
  (adjacent v11 v32)
  (adjacent v12 v13)
  (adjacent v14 v15)
  (adjacent v14 v69)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v28)
  (adjacent v18 v45)
  (adjacent v20 v21)
  (adjacent v23 v24)
  (adjacent v23 v39)
  (adjacent v23 v46)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v83)
  (adjacent v26 v27)
  (adjacent v26 v45)
  (adjacent v27 v68)
  (adjacent v28 v29)
  (adjacent v28 v120)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v29 v60)
  (adjacent v30 v31)
  (adjacent v30 v42)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v147)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v137)
  (adjacent v37 v38)
  (adjacent v38 v40)
  (adjacent v38 v41)
  (adjacent v39 v40)
  (adjacent v39 v120)
  (adjacent v40 v53)
  (adjacent v41 v90)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v46)
  (adjacent v47 v48)
  (adjacent v47 v78)
  (adjacent v48 v49)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v60)
  (adjacent v53 v126)
  (adjacent v54 v55)
  (adjacent v54 v128)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v109)
  (adjacent v56 v129)
  (adjacent v57 v58)
  (adjacent v57 v102)
  (adjacent v58 v59)
  (adjacent v58 v75)
  (adjacent v59 v68)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v151)
  (adjacent v62 v157)
  (adjacent v63 v64)
  (adjacent v63 v82)
  (adjacent v63 v89)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v131)
  (adjacent v71 v72)
  (adjacent v71 v76)
  (adjacent v71 v144)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v78 v80)
  (adjacent v78 v95)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v114)
  (adjacent v83 v84)
  (adjacent v83 v96)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v146)
  (adjacent v86 v87)
  (adjacent v86 v115)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v108)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v162)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v152)
  (adjacent v109 v110)
  (adjacent v109 v156)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v130)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v166)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v161)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v136)
  (adjacent v123 v124)
  (adjacent v123 v130)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v143)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (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 v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
 )
 (:goal
  (and
  (free v0)
  (at r45 v1)
  (free v2)
  (at r79 v3)
  (free v4)
  (at r111 v5)
  (at r50 v6)
  (at r153 v7)
  (at r82 v8)
  (at r163 v9)
  (at r166 v10)
  (at r114 v11)
  (at r76 v12)
  (at r118 v13)
  (at r34 v14)
  (at r143 v15)
  (at r159 v16)
  (at r94 v17)
  (free v18)
  (at r49 v19)
  (at r135 v20)
  (at r72 v21)
  (at r67 v22)
  (at r152 v23)
  (at r74 v24)
  (at r108 v25)
  (at r77 v26)
  (at r123 v27)
  (at r54 v28)
  (at r125 v29)
  (at r121 v30)
  (at r20 v31)
  (at r127 v32)
  (at r115 v33)
  (free v34)
  (at r96 v35)
  (at r28 v36)
  (at r126 v37)
  (at r47 v38)
  (at r62 v39)
  (at r51 v40)
  (at r29 v41)
  (free v42)
  (at r40 v43)
  (at r66 v44)
  (at r85 v45)
  (free v46)
  (at r71 v47)
  (at r46 v48)
  (at r146 v49)
  (at r164 v50)
  (at r119 v51)
  (at r133 v52)
  (at r14 v53)
  (at r148 v54)
  (at r154 v55)
  (at r17 v56)
  (at r91 v57)
  (at r15 v58)
  (at r107 v59)
  (at r56 v60)
  (at r61 v61)
  (at r149 v62)
  (at r23 v63)
  (at r128 v64)
  (at r155 v65)
  (at r122 v66)
  (at r89 v67)
  (at r165 v68)
  (at r75 v69)
  (at r64 v70)
  (at r99 v71)
  (at r100 v72)
  (at r21 v73)
  (at r98 v74)
  (at r65 v75)
  (free v76)
  (free v77)
  (at r117 v78)
  (at r141 v79)
  (at r83 v80)
  (at r93 v81)
  (at r87 v82)
  (at r97 v83)
  (at r41 v84)
  (at r136 v85)
  (at r42 v86)
  (at r16 v87)
  (at r60 v88)
  (at r33 v89)
  (at r24 v90)
  (at r104 v91)
  (free v92)
  (at r144 v93)
  (at r27 v94)
  (at r30 v95)
  (at r19 v96)
  (at r32 v97)
  (at r151 v98)
  (at r35 v99)
  (at r156 v100)
  (at r102 v101)
  (at r106 v102)
  (at r55 v103)
  (at r31 v104)
  (free v105)
  (at r53 v106)
  (at r18 v107)
  (at r86 v108)
  (at r113 v109)
  (at r158 v110)
  (at r147 v111)
  (at r116 v112)
  (at r124 v113)
  (at r140 v114)
  (at r132 v115)
  (at r160 v116)
  (free v117)
  (at r88 v118)
  (at r92 v119)
  (at r43 v120)
  (at r112 v121)
  (at r162 v122)
  (at r84 v123)
  (at r22 v124)
  (at r131 v125)
  (at r103 v126)
  (at r120 v127)
  (at r52 v128)
  (at r105 v129)
  (at r63 v130)
  (at r95 v131)
  (at r80 v132)
  (at r68 v133)
  (at r78 v134)
  (free v135)
  (at r109 v136)
  (at r130 v137)
  (at r145 v138)
  (at r25 v139)
  (at r150 v140)
  (at r73 v141)
  (at r59 v142)
  (at r138 v143)
  (at r37 v144)
  (at r161 v145)
  (at r36 v146)
  (at r48 v147)
  (at r110 v148)
  (free v149)
  (at r26 v150)
  (at r134 v151)
  (at r38 v152)
  (at r70 v153)
  (at r142 v154)
  (at r129 v155)
  (at r39 v156)
  (at r58 v157)
  (at r137 v158)
  (at r90 v159)
  (at r81 v160)
  (at r157 v161)
  (at r57 v162)
  (at r44 v163)
  (at r101 v164)
  (at r139 v165)
  (at r69 v166)
  )
 )
)