(define (problem multirobot_41_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r29
  v1 r53
  v2 r140
  v3 r15
  v4 r152
  v5 r131
  v6 r73
  v7 r162
  v8 r104
  v9
  v10 r111
  v11 r34
  v12
  v13
  v14 r125
  v15 r44
  v16 r141
  v17 r167
  v18 r103
  v19 r77
  v20 r100
  v21
  v22 r161
  v23 r158
  v24 r31
  v25 r102
  v26 r120
  v27 r45
  v28 r70
  v29 r86
  v30 r68
  v31 r32
  v32 r121
  v33 r132
  v34 r160
  v35 r49
  v36 r97
  v37 r80
  v38 r84
  v39 r101
  v40 r51
  v41 r145
  v42 r110
  v43 r58
  v44 r114
  v45
  v46 r66
  v47 r63
  v48 r147
  v49
  v50 r16
  v51 r156
  v52 r124
  v53 r130
  v54 r136
  v55 r118
  v56 r93
  v57 r47
  v58
  v59
  v60 r83
  v61 r40
  v62 r112
  v63 r148
  v64 r115
  v65 r20
  v66 r26
  v67 r19
  v68 r90
  v69 r139
  v70 r35
  v71 r164
  v72 r105
  v73 r163
  v74 r62
  v75 r37
  v76 r96
  v77 r23
  v78 r48
  v79 r169
  v80 r106
  v81 r41
  v82 r135
  v83 r127
  v84 r113
  v85 r107
  v86 r61
  v87 r25
  v88 r143
  v89 r64
  v90
  v91 r144
  v92 r138
  v93 r69
  v94 r98
  v95 r75
  v96 r119
  v97
  v98 r18
  v99 r78
  v100 r38
  v101
  v102 r85
  v103 r166
  v104 r82
  v105 r137
  v106 r81
  v107 r17
  v108 r165
  v109 r72
  v110 r154
  v111 r39
  v112 r142
  v113 r134
  v114 r71
  v115 r50
  v116 r59
  v117
  v118 r87
  v119 r126
  v120 r88
  v121 r65
  v122 r54
  v123 r60
  v124 r117
  v125 r55
  v126 r79
  v127 r153
  v128 r123
  v129 r28
  v130 r146
  v131 r133
  v132 r155
  v133 r27
  v134 r109
  v135 r74
  v136
  v137 r170
  v138
  v139 r92
  v140 r56
  v141 r159
  v142 r91
  v143 r76
  v144 r128
  v145 r52
  v146 r46
  v147 r108
  v148 r129
  v149 r33
  v150
  v151 r67
  v152 r157
  v153 r36
  v154 r149
  v155 r94
  v156 r151
  v157 r99
  v158 r116
  v159 r43
  v160 r30
  v161 r122
  v162 r95
  v163 r24
  v164 r89
  v165 r21
  v166 r150
  v167 r42
  v168 r168
  v169 r57
  v170 r22
 )
 (:init
  (at r29 v0)
  (at r53 v1)
  (at r140 v2)
  (at r15 v3)
  (at r152 v4)
  (at r131 v5)
  (at r73 v6)
  (at r162 v7)
  (at r104 v8)
  (free v9)
  (at r111 v10)
  (at r34 v11)
  (free v12)
  (free v13)
  (at r125 v14)
  (at r44 v15)
  (at r141 v16)
  (at r167 v17)
  (at r103 v18)
  (at r77 v19)
  (at r100 v20)
  (free v21)
  (at r161 v22)
  (at r158 v23)
  (at r31 v24)
  (at r102 v25)
  (at r120 v26)
  (at r45 v27)
  (at r70 v28)
  (at r86 v29)
  (at r68 v30)
  (at r32 v31)
  (at r121 v32)
  (at r132 v33)
  (at r160 v34)
  (at r49 v35)
  (at r97 v36)
  (at r80 v37)
  (at r84 v38)
  (at r101 v39)
  (at r51 v40)
  (at r145 v41)
  (at r110 v42)
  (at r58 v43)
  (at r114 v44)
  (free v45)
  (at r66 v46)
  (at r63 v47)
  (at r147 v48)
  (free v49)
  (at r16 v50)
  (at r156 v51)
  (at r124 v52)
  (at r130 v53)
  (at r136 v54)
  (at r118 v55)
  (at r93 v56)
  (at r47 v57)
  (free v58)
  (free v59)
  (at r83 v60)
  (at r40 v61)
  (at r112 v62)
  (at r148 v63)
  (at r115 v64)
  (at r20 v65)
  (at r26 v66)
  (at r19 v67)
  (at r90 v68)
  (at r139 v69)
  (at r35 v70)
  (at r164 v71)
  (at r105 v72)
  (at r163 v73)
  (at r62 v74)
  (at r37 v75)
  (at r96 v76)
  (at r23 v77)
  (at r48 v78)
  (at r169 v79)
  (at r106 v80)
  (at r41 v81)
  (at r135 v82)
  (at r127 v83)
  (at r113 v84)
  (at r107 v85)
  (at r61 v86)
  (at r25 v87)
  (at r143 v88)
  (at r64 v89)
  (free v90)
  (at r144 v91)
  (at r138 v92)
  (at r69 v93)
  (at r98 v94)
  (at r75 v95)
  (at r119 v96)
  (free v97)
  (at r18 v98)
  (at r78 v99)
  (at r38 v100)
  (free v101)
  (at r85 v102)
  (at r166 v103)
  (at r82 v104)
  (at r137 v105)
  (at r81 v106)
  (at r17 v107)
  (at r165 v108)
  (at r72 v109)
  (at r154 v110)
  (at r39 v111)
  (at r142 v112)
  (at r134 v113)
  (at r71 v114)
  (at r50 v115)
  (at r59 v116)
  (free v117)
  (at r87 v118)
  (at r126 v119)
  (at r88 v120)
  (at r65 v121)
  (at r54 v122)
  (at r60 v123)
  (at r117 v124)
  (at r55 v125)
  (at r79 v126)
  (at r153 v127)
  (at r123 v128)
  (at r28 v129)
  (at r146 v130)
  (at r133 v131)
  (at r155 v132)
  (at r27 v133)
  (at r109 v134)
  (at r74 v135)
  (free v136)
  (at r170 v137)
  (free v138)
  (at r92 v139)
  (at r56 v140)
  (at r159 v141)
  (at r91 v142)
  (at r76 v143)
  (at r128 v144)
  (at r52 v145)
  (at r46 v146)
  (at r108 v147)
  (at r129 v148)
  (at r33 v149)
  (free v150)
  (at r67 v151)
  (at r157 v152)
  (at r36 v153)
  (at r149 v154)
  (at r94 v155)
  (at r151 v156)
  (at r99 v157)
  (at r116 v158)
  (at r43 v159)
  (at r30 v160)
  (at r122 v161)
  (at r95 v162)
  (at r24 v163)
  (at r89 v164)
  (at r21 v165)
  (at r150 v166)
  (at r42 v167)
  (at r168 v168)
  (at r57 v169)
  (at r22 v170)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v18)
  (adjacent v0 v19)
  (adjacent v0 v149)
  (adjacent v1 v2)
  (adjacent v1 v70)
  (adjacent v1 v88)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v12)
  (adjacent v3 v46)
  (adjacent v3 v47)
  (adjacent v3 v142)
  (adjacent v4 v139)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v104)
  (adjacent v8 v9)
  (adjacent v8 v35)
  (adjacent v8 v72)
  (adjacent v8 v75)
  (adjacent v9 v10)
  (adjacent v9 v41)
  (adjacent v10 v11)
  (adjacent v10 v24)
  (adjacent v11 v71)
  (adjacent v11 v74)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v114)
  (adjacent v13 v165)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v29)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v30)
  (adjacent v16 v40)
  (adjacent v17 v18)
  (adjacent v18 v25)
  (adjacent v18 v53)
  (adjacent v18 v84)
  (adjacent v19 v20)
  (adjacent v19 v27)
  (adjacent v19 v80)
  (adjacent v19 v82)
  (adjacent v20 v21)
  (adjacent v20 v34)
  (adjacent v20 v58)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v71)
  (adjacent v25 v26)
  (adjacent v25 v64)
  (adjacent v26 v27)
  (adjacent v26 v28)
  (adjacent v28 v29)
  (adjacent v28 v52)
  (adjacent v29 v73)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v107)
  (adjacent v33 v34)
  (adjacent v33 v40)
  (adjacent v34 v39)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v108)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v40 v81)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v122)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v67)
  (adjacent v45 v83)
  (adjacent v46 v96)
  (adjacent v46 v97)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v68)
  (adjacent v50 v51)
  (adjacent v50 v157)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v59)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v109)
  (adjacent v56 v140)
  (adjacent v57 v58)
  (adjacent v57 v68)
  (adjacent v57 v166)
  (adjacent v58 v69)
  (adjacent v58 v83)
  (adjacent v58 v87)
  (adjacent v58 v123)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v90)
  (adjacent v61 v62)
  (adjacent v61 v72)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v115)
  (adjacent v69 v70)
  (adjacent v71 v103)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v75 v156)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v83 v126)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v89)
  (adjacent v87 v133)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v90 v134)
  (adjacent v90 v162)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v170)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v108)
  (adjacent v105 v106)
  (adjacent v105 v127)
  (adjacent v105 v148)
  (adjacent v106 v107)
  (adjacent v106 v121)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v155)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v141)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v122)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v163)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v156)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
 )
 (:goal
  (and
  (at r99 v0)
  (at r122 v1)
  (at r96 v2)
  (free v3)
  (at r120 v4)
  (at r17 v5)
  (at r97 v6)
  (at r145 v7)
  (at r81 v8)
  (at r36 v9)
  (at r169 v10)
  (at r126 v11)
  (free v12)
  (at r74 v13)
  (at r128 v14)
  (free v15)
  (at r91 v16)
  (at r142 v17)
  (at r155 v18)
  (at r57 v19)
  (at r165 v20)
  (at r21 v21)
  (at r114 v22)
  (at r33 v23)
  (at r34 v24)
  (at r40 v25)
  (at r26 v26)
  (at r85 v27)
  (at r24 v28)
  (at r65 v29)
  (at r72 v30)
  (at r44 v31)
  (at r61 v32)
  (at r140 v33)
  (at r121 v34)
  (at r52 v35)
  (at r138 v36)
  (at r147 v37)
  (at r116 v38)
  (at r154 v39)
  (at r168 v40)
  (at r39 v41)
  (at r100 v42)
  (at r109 v43)
  (at r78 v44)
  (free v45)
  (at r139 v46)
  (at r110 v47)
  (at r127 v48)
  (free v49)
  (free v50)
  (at r87 v51)
  (at r133 v52)
  (at r41 v53)
  (at r143 v54)
  (at r55 v55)
  (at r89 v56)
  (at r125 v57)
  (at r112 v58)
  (at r124 v59)
  (at r153 v60)
  (at r134 v61)
  (at r63 v62)
  (at r132 v63)
  (at r18 v64)
  (at r35 v65)
  (at r162 v66)
  (at r59 v67)
  (at r108 v68)
  (at r51 v69)
  (at r170 v70)
  (at r92 v71)
  (at r118 v72)
  (at r104 v73)
  (at r113 v74)
  (at r54 v75)
  (at r66 v76)
  (at r75 v77)
  (free v78)
  (free v79)
  (at r164 v80)
  (at r62 v81)
  (at r119 v82)
  (at r48 v83)
  (at r56 v84)
  (at r16 v85)
  (at r141 v86)
  (at r95 v87)
  (at r156 v88)
  (at r151 v89)
  (at r79 v90)
  (free v91)
  (at r71 v92)
  (at r131 v93)
  (at r161 v94)
  (at r46 v95)
  (at r77 v96)
  (at r42 v97)
  (at r43 v98)
  (at r76 v99)
  (at r90 v100)
  (at r152 v101)
  (at r64 v102)
  (at r31 v103)
  (at r49 v104)
  (at r38 v105)
  (free v106)
  (at r29 v107)
  (at r45 v108)
  (at r137 v109)
  (at r102 v110)
  (at r20 v111)
  (at r53 v112)
  (at r22 v113)
  (at r136 v114)
  (at r123 v115)
  (at r101 v116)
  (at r80 v117)
  (at r149 v118)
  (at r88 v119)
  (at r166 v120)
  (at r58 v121)
  (at r60 v122)
  (at r107 v123)
  (at r130 v124)
  (at r94 v125)
  (at r27 v126)
  (at r67 v127)
  (at r82 v128)
  (at r19 v129)
  (at r117 v130)
  (at r148 v131)
  (at r23 v132)
  (at r163 v133)
  (at r98 v134)
  (at r83 v135)
  (free v136)
  (at r150 v137)
  (at r73 v138)
  (at r68 v139)
  (at r69 v140)
  (at r70 v141)
  (free v142)
  (at r105 v143)
  (at r37 v144)
  (at r106 v145)
  (free v146)
  (at r25 v147)
  (at r93 v148)
  (at r115 v149)
  (at r157 v150)
  (at r144 v151)
  (at r159 v152)
  (at r111 v153)
  (at r28 v154)
  (at r167 v155)
  (at r146 v156)
  (free v157)
  (at r32 v158)
  (at r135 v159)
  (at r50 v160)
  (at r15 v161)
  (at r47 v162)
  (at r84 v163)
  (at r103 v164)
  (at r158 v165)
  (at r86 v166)
  (free v167)
  (at r129 v168)
  (at r160 v169)
  (at r30 v170)
  )
 )
)