(define (problem multirobot_41_10%_c7)
 (:domain multirobot)
 (:objects
  v0 r82
  v1 r76
  v2 r100
  v3 r119
  v4 r21
  v5 r75
  v6 r86
  v7 r60
  v8 r73
  v9 r114
  v10 r154
  v11 r78
  v12 r37
  v13 r18
  v14 r28
  v15 r91
  v16 r92
  v17 r143
  v18 r30
  v19 r58
  v20 r69
  v21 r128
  v22 r145
  v23 r140
  v24 r95
  v25 r84
  v26 r25
  v27
  v28 r36
  v29 r136
  v30
  v31 r34
  v32 r63
  v33 r153
  v34 r149
  v35
  v36 r26
  v37 r56
  v38 r109
  v39 r40
  v40 r137
  v41 r68
  v42 r147
  v43 r89
  v44 r102
  v45 r155
  v46 r51
  v47 r38
  v48 r94
  v49 r146
  v50 r129
  v51 r31
  v52 r55
  v53 r107
  v54 r123
  v55 r130
  v56 r65
  v57 r53
  v58 r101
  v59
  v60 r17
  v61
  v62 r72
  v63 r135
  v64 r133
  v65 r33
  v66 r144
  v67 r87
  v68 r54
  v69 r49
  v70 r97
  v71
  v72 r90
  v73 r83
  v74 r126
  v75 r98
  v76 r41
  v77 r103
  v78 r142
  v79 r132
  v80 r32
  v81 r50
  v82 r67
  v83 r138
  v84 r52
  v85 r116
  v86 r156
  v87 r79
  v88
  v89 r121
  v90
  v91 r112
  v92 r99
  v93 r44
  v94 r93
  v95 r124
  v96 r113
  v97
  v98 r27
  v99 r125
  v100 r61
  v101 r117
  v102 r141
  v103 r110
  v104 r35
  v105 r39
  v106 r57
  v107 r48
  v108 r111
  v109 r45
  v110 r23
  v111 r150
  v112 r120
  v113 r85
  v114 r104
  v115 r74
  v116 r106
  v117 r122
  v118 r118
  v119
  v120 r20
  v121 r29
  v122 r42
  v123 r152
  v124
  v125 r64
  v126 r127
  v127 r108
  v128 r96
  v129 r59
  v130 r22
  v131 r46
  v132 r80
  v133
  v134 r66
  v135 r47
  v136 r134
  v137 r105
  v138 r19
  v139 r71
  v140 r24
  v141 r139
  v142
  v143 r115
  v144 r62
  v145 r151
  v146
  v147 r70
  v148
  v149 r81
  v150
  v151 r88
  v152 r148
  v153 r131
  v154 r43
  v155 r16
  v156 r77
 )
 (:init
  (at r82 v0)
  (at r76 v1)
  (at r100 v2)
  (at r119 v3)
  (at r21 v4)
  (at r75 v5)
  (at r86 v6)
  (at r60 v7)
  (at r73 v8)
  (at r114 v9)
  (at r154 v10)
  (at r78 v11)
  (at r37 v12)
  (at r18 v13)
  (at r28 v14)
  (at r91 v15)
  (at r92 v16)
  (at r143 v17)
  (at r30 v18)
  (at r58 v19)
  (at r69 v20)
  (at r128 v21)
  (at r145 v22)
  (at r140 v23)
  (at r95 v24)
  (at r84 v25)
  (at r25 v26)
  (free v27)
  (at r36 v28)
  (at r136 v29)
  (free v30)
  (at r34 v31)
  (at r63 v32)
  (at r153 v33)
  (at r149 v34)
  (free v35)
  (at r26 v36)
  (at r56 v37)
  (at r109 v38)
  (at r40 v39)
  (at r137 v40)
  (at r68 v41)
  (at r147 v42)
  (at r89 v43)
  (at r102 v44)
  (at r155 v45)
  (at r51 v46)
  (at r38 v47)
  (at r94 v48)
  (at r146 v49)
  (at r129 v50)
  (at r31 v51)
  (at r55 v52)
  (at r107 v53)
  (at r123 v54)
  (at r130 v55)
  (at r65 v56)
  (at r53 v57)
  (at r101 v58)
  (free v59)
  (at r17 v60)
  (free v61)
  (at r72 v62)
  (at r135 v63)
  (at r133 v64)
  (at r33 v65)
  (at r144 v66)
  (at r87 v67)
  (at r54 v68)
  (at r49 v69)
  (at r97 v70)
  (free v71)
  (at r90 v72)
  (at r83 v73)
  (at r126 v74)
  (at r98 v75)
  (at r41 v76)
  (at r103 v77)
  (at r142 v78)
  (at r132 v79)
  (at r32 v80)
  (at r50 v81)
  (at r67 v82)
  (at r138 v83)
  (at r52 v84)
  (at r116 v85)
  (at r156 v86)
  (at r79 v87)
  (free v88)
  (at r121 v89)
  (free v90)
  (at r112 v91)
  (at r99 v92)
  (at r44 v93)
  (at r93 v94)
  (at r124 v95)
  (at r113 v96)
  (free v97)
  (at r27 v98)
  (at r125 v99)
  (at r61 v100)
  (at r117 v101)
  (at r141 v102)
  (at r110 v103)
  (at r35 v104)
  (at r39 v105)
  (at r57 v106)
  (at r48 v107)
  (at r111 v108)
  (at r45 v109)
  (at r23 v110)
  (at r150 v111)
  (at r120 v112)
  (at r85 v113)
  (at r104 v114)
  (at r74 v115)
  (at r106 v116)
  (at r122 v117)
  (at r118 v118)
  (free v119)
  (at r20 v120)
  (at r29 v121)
  (at r42 v122)
  (at r152 v123)
  (free v124)
  (at r64 v125)
  (at r127 v126)
  (at r108 v127)
  (at r96 v128)
  (at r59 v129)
  (at r22 v130)
  (at r46 v131)
  (at r80 v132)
  (free v133)
  (at r66 v134)
  (at r47 v135)
  (at r134 v136)
  (at r105 v137)
  (at r19 v138)
  (at r71 v139)
  (at r24 v140)
  (at r139 v141)
  (free v142)
  (at r115 v143)
  (at r62 v144)
  (at r151 v145)
  (free v146)
  (at r70 v147)
  (free v148)
  (at r81 v149)
  (free v150)
  (at r88 v151)
  (at r148 v152)
  (at r131 v153)
  (at r43 v154)
  (at r16 v155)
  (at r77 v156)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v15)
  (adjacent v0 v100)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v14)
  (adjacent v1 v16)
  (adjacent v1 v51)
  (adjacent v2 v3)
  (adjacent v2 v28)
  (adjacent v2 v92)
  (adjacent v2 v143)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v11)
  (adjacent v4 v68)
  (adjacent v4 v101)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v5 v15)
  (adjacent v5 v19)
  (adjacent v5 v51)
  (adjacent v5 v52)
  (adjacent v6 v7)
  (adjacent v6 v108)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v9 v35)
  (adjacent v10 v29)
  (adjacent v10 v36)
  (adjacent v10 v123)
  (adjacent v11 v12)
  (adjacent v11 v69)
  (adjacent v11 v142)
  (adjacent v12 v13)
  (adjacent v12 v21)
  (adjacent v12 v42)
  (adjacent v12 v62)
  (adjacent v13 v14)
  (adjacent v14 v73)
  (adjacent v14 v86)
  (adjacent v16 v17)
  (adjacent v16 v83)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v17 v57)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v19 v45)
  (adjacent v20 v24)
  (adjacent v20 v93)
  (adjacent v21 v22)
  (adjacent v21 v63)
  (adjacent v21 v79)
  (adjacent v22 v23)
  (adjacent v22 v41)
  (adjacent v23 v24)
  (adjacent v23 v151)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v50)
  (adjacent v26 v133)
  (adjacent v27 v28)
  (adjacent v27 v112)
  (adjacent v29 v30)
  (adjacent v29 v142)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v72)
  (adjacent v31 v99)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v34 v35)
  (adjacent v35 v81)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v150)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v75)
  (adjacent v40 v41)
  (adjacent v40 v56)
  (adjacent v42 v43)
  (adjacent v42 v124)
  (adjacent v42 v128)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v76)
  (adjacent v47 v82)
  (adjacent v48 v49)
  (adjacent v48 v82)
  (adjacent v49 v50)
  (adjacent v49 v145)
  (adjacent v50 v141)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v117)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v135)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v116)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v106)
  (adjacent v69 v70)
  (adjacent v69 v100)
  (adjacent v69 v134)
  (adjacent v70 v71)
  (adjacent v70 v80)
  (adjacent v71 v72)
  (adjacent v71 v140)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v110)
  (adjacent v76 v77)
  (adjacent v76 v85)
  (adjacent v77 v78)
  (adjacent v77 v109)
  (adjacent v77 v146)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v109)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v156)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v107)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v111)
  (adjacent v107 v108)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v127)
  (adjacent v113 v114)
  (adjacent v113 v155)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v134)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
 )
 (:goal
  (and
  (at r96 v0)
  (at r114 v1)
  (at r29 v2)
  (at r84 v3)
  (at r35 v4)
  (at r148 v5)
  (at r118 v6)
  (at r50 v7)
  (at r151 v8)
  (at r98 v9)
  (at r62 v10)
  (at r49 v11)
  (at r110 v12)
  (at r47 v13)
  (at r24 v14)
  (at r69 v15)
  (free v16)
  (at r78 v17)
  (at r87 v18)
  (at r125 v19)
  (at r60 v20)
  (at r25 v21)
  (at r45 v22)
  (at r66 v23)
  (free v24)
  (free v25)
  (at r102 v26)
  (at r61 v27)
  (at r94 v28)
  (at r80 v29)
  (at r122 v30)
  (at r54 v31)
  (at r109 v32)
  (at r59 v33)
  (at r40 v34)
  (at r138 v35)
  (at r43 v36)
  (at r73 v37)
  (free v38)
  (at r85 v39)
  (at r51 v40)
  (at r129 v41)
  (at r79 v42)
  (at r63 v43)
  (at r134 v44)
  (at r27 v45)
  (at r22 v46)
  (at r44 v47)
  (at r46 v48)
  (at r48 v49)
  (at r130 v50)
  (at r16 v51)
  (at r144 v52)
  (at r91 v53)
  (at r57 v54)
  (at r147 v55)
  (at r99 v56)
  (at r123 v57)
  (at r128 v58)
  (at r31 v59)
  (free v60)
  (at r32 v61)
  (at r137 v62)
  (at r26 v63)
  (at r103 v64)
  (at r140 v65)
  (at r100 v66)
  (at r67 v67)
  (at r142 v68)
  (at r155 v69)
  (at r36 v70)
  (at r89 v71)
  (at r124 v72)
  (at r113 v73)
  (at r135 v74)
  (at r97 v75)
  (free v76)
  (at r37 v77)
  (at r33 v78)
  (at r150 v79)
  (at r23 v80)
  (at r56 v81)
  (at r17 v82)
  (at r81 v83)
  (at r126 v84)
  (at r105 v85)
  (at r64 v86)
  (at r68 v87)
  (at r34 v88)
  (at r76 v89)
  (at r53 v90)
  (at r133 v91)
  (at r119 v92)
  (free v93)
  (free v94)
  (at r149 v95)
  (at r52 v96)
  (at r72 v97)
  (at r28 v98)
  (at r132 v99)
  (at r93 v100)
  (at r19 v101)
  (at r90 v102)
  (at r38 v103)
  (at r41 v104)
  (free v105)
  (at r111 v106)
  (at r18 v107)
  (at r39 v108)
  (at r131 v109)
  (at r139 v110)
  (free v111)
  (at r71 v112)
  (at r92 v113)
  (at r83 v114)
  (at r120 v115)
  (at r121 v116)
  (at r127 v117)
  (free v118)
  (free v119)
  (at r116 v120)
  (at r58 v121)
  (at r95 v122)
  (at r42 v123)
  (at r156 v124)
  (at r88 v125)
  (at r30 v126)
  (at r21 v127)
  (at r20 v128)
  (at r70 v129)
  (free v130)
  (free v131)
  (at r143 v132)
  (at r145 v133)
  (at r74 v134)
  (at r65 v135)
  (at r153 v136)
  (at r86 v137)
  (at r75 v138)
  (at r101 v139)
  (at r104 v140)
  (at r154 v141)
  (at r112 v142)
  (free v143)
  (at r146 v144)
  (at r115 v145)
  (at r136 v146)
  (at r77 v147)
  (at r106 v148)
  (at r82 v149)
  (at r152 v150)
  (at r117 v151)
  (at r141 v152)
  (at r108 v153)
  (at r55 v154)
  (free v155)
  (at r107 v156)
  )
 )
)