(define (problem multirobot_42_10%_c7)
 (:domain multirobot)
 (:objects
  v0 r134
  v1 r123
  v2
  v3 r82
  v4 r149
  v5 r35
  v6 r33
  v7 r88
  v8 r17
  v9 r153
  v10 r93
  v11 r115
  v12 r124
  v13 r159
  v14 r56
  v15 r106
  v16 r167
  v17 r139
  v18 r49
  v19 r26
  v20 r68
  v21
  v22 r143
  v23 r141
  v24 r58
  v25 r69
  v26
  v27 r147
  v28 r158
  v29 r77
  v30 r138
  v31 r165
  v32 r20
  v33 r95
  v34
  v35 r31
  v36 r120
  v37 r70
  v38 r18
  v39 r45
  v40 r103
  v41 r122
  v42 r112
  v43 r164
  v44 r55
  v45 r71
  v46 r171
  v47 r74
  v48 r51
  v49 r172
  v50 r160
  v51 r66
  v52 r125
  v53 r48
  v54 r87
  v55 r53
  v56 r63
  v57 r162
  v58 r94
  v59 r173
  v60 r161
  v61 r73
  v62 r22
  v63
  v64 r43
  v65 r127
  v66 r72
  v67 r15
  v68
  v69 r135
  v70 r30
  v71 r155
  v72 r25
  v73 r166
  v74 r40
  v75 r92
  v76 r163
  v77 r34
  v78 r85
  v79 r100
  v80 r133
  v81 r27
  v82 r75
  v83 r29
  v84 r156
  v85 r110
  v86 r148
  v87 r142
  v88 r129
  v89 r42
  v90 r41
  v91 r52
  v92 r157
  v93
  v94 r96
  v95 r104
  v96 r60
  v97 r67
  v98 r37
  v99 r170
  v100
  v101 r116
  v102 r128
  v103 r38
  v104 r59
  v105 r144
  v106 r137
  v107 r36
  v108 r23
  v109 r154
  v110 r79
  v111 r169
  v112 r61
  v113 r99
  v114
  v115
  v116 r47
  v117
  v118 r108
  v119 r168
  v120 r28
  v121 r19
  v122 r90
  v123 r114
  v124 r117
  v125
  v126 r81
  v127 r121
  v128 r65
  v129
  v130
  v131 r136
  v132 r102
  v133 r84
  v134 r107
  v135 r24
  v136 r86
  v137 r83
  v138 r119
  v139 r89
  v140 r64
  v141 r39
  v142 r101
  v143 r91
  v144 r118
  v145 r50
  v146 r46
  v147 r131
  v148 r109
  v149 r21
  v150 r151
  v151 r132
  v152 r62
  v153 r152
  v154 r140
  v155 r146
  v156 r105
  v157 r57
  v158 r113
  v159 r126
  v160 r97
  v161 r78
  v162 r16
  v163 r111
  v164
  v165 r130
  v166 r98
  v167 r80
  v168 r54
  v169 r76
  v170 r145
  v171 r32
  v172 r150
  v173 r44
 )
 (:init
  (at r134 v0)
  (at r123 v1)
  (free v2)
  (at r82 v3)
  (at r149 v4)
  (at r35 v5)
  (at r33 v6)
  (at r88 v7)
  (at r17 v8)
  (at r153 v9)
  (at r93 v10)
  (at r115 v11)
  (at r124 v12)
  (at r159 v13)
  (at r56 v14)
  (at r106 v15)
  (at r167 v16)
  (at r139 v17)
  (at r49 v18)
  (at r26 v19)
  (at r68 v20)
  (free v21)
  (at r143 v22)
  (at r141 v23)
  (at r58 v24)
  (at r69 v25)
  (free v26)
  (at r147 v27)
  (at r158 v28)
  (at r77 v29)
  (at r138 v30)
  (at r165 v31)
  (at r20 v32)
  (at r95 v33)
  (free v34)
  (at r31 v35)
  (at r120 v36)
  (at r70 v37)
  (at r18 v38)
  (at r45 v39)
  (at r103 v40)
  (at r122 v41)
  (at r112 v42)
  (at r164 v43)
  (at r55 v44)
  (at r71 v45)
  (at r171 v46)
  (at r74 v47)
  (at r51 v48)
  (at r172 v49)
  (at r160 v50)
  (at r66 v51)
  (at r125 v52)
  (at r48 v53)
  (at r87 v54)
  (at r53 v55)
  (at r63 v56)
  (at r162 v57)
  (at r94 v58)
  (at r173 v59)
  (at r161 v60)
  (at r73 v61)
  (at r22 v62)
  (free v63)
  (at r43 v64)
  (at r127 v65)
  (at r72 v66)
  (at r15 v67)
  (free v68)
  (at r135 v69)
  (at r30 v70)
  (at r155 v71)
  (at r25 v72)
  (at r166 v73)
  (at r40 v74)
  (at r92 v75)
  (at r163 v76)
  (at r34 v77)
  (at r85 v78)
  (at r100 v79)
  (at r133 v80)
  (at r27 v81)
  (at r75 v82)
  (at r29 v83)
  (at r156 v84)
  (at r110 v85)
  (at r148 v86)
  (at r142 v87)
  (at r129 v88)
  (at r42 v89)
  (at r41 v90)
  (at r52 v91)
  (at r157 v92)
  (free v93)
  (at r96 v94)
  (at r104 v95)
  (at r60 v96)
  (at r67 v97)
  (at r37 v98)
  (at r170 v99)
  (free v100)
  (at r116 v101)
  (at r128 v102)
  (at r38 v103)
  (at r59 v104)
  (at r144 v105)
  (at r137 v106)
  (at r36 v107)
  (at r23 v108)
  (at r154 v109)
  (at r79 v110)
  (at r169 v111)
  (at r61 v112)
  (at r99 v113)
  (free v114)
  (free v115)
  (at r47 v116)
  (free v117)
  (at r108 v118)
  (at r168 v119)
  (at r28 v120)
  (at r19 v121)
  (at r90 v122)
  (at r114 v123)
  (at r117 v124)
  (free v125)
  (at r81 v126)
  (at r121 v127)
  (at r65 v128)
  (free v129)
  (free v130)
  (at r136 v131)
  (at r102 v132)
  (at r84 v133)
  (at r107 v134)
  (at r24 v135)
  (at r86 v136)
  (at r83 v137)
  (at r119 v138)
  (at r89 v139)
  (at r64 v140)
  (at r39 v141)
  (at r101 v142)
  (at r91 v143)
  (at r118 v144)
  (at r50 v145)
  (at r46 v146)
  (at r131 v147)
  (at r109 v148)
  (at r21 v149)
  (at r151 v150)
  (at r132 v151)
  (at r62 v152)
  (at r152 v153)
  (at r140 v154)
  (at r146 v155)
  (at r105 v156)
  (at r57 v157)
  (at r113 v158)
  (at r126 v159)
  (at r97 v160)
  (at r78 v161)
  (at r16 v162)
  (at r111 v163)
  (free v164)
  (at r130 v165)
  (at r98 v166)
  (at r80 v167)
  (at r54 v168)
  (at r76 v169)
  (at r145 v170)
  (at r32 v171)
  (at r150 v172)
  (at r44 v173)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v70)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v30)
  (adjacent v3 v33)
  (adjacent v3 v62)
  (adjacent v4 v25)
  (adjacent v4 v33)
  (adjacent v4 v48)
  (adjacent v5 v6)
  (adjacent v5 v17)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v24)
  (adjacent v6 v32)
  (adjacent v7 v8)
  (adjacent v7 v52)
  (adjacent v8 v9)
  (adjacent v8 v34)
  (adjacent v9 v10)
  (adjacent v9 v75)
  (adjacent v9 v109)
  (adjacent v10 v11)
  (adjacent v12 v13)
  (adjacent v12 v39)
  (adjacent v13 v14)
  (adjacent v13 v42)
  (adjacent v14 v15)
  (adjacent v14 v18)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v40)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v146)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v22 v60)
  (adjacent v22 v61)
  (adjacent v22 v76)
  (adjacent v23 v24)
  (adjacent v24 v84)
  (adjacent v24 v98)
  (adjacent v25 v26)
  (adjacent v25 v49)
  (adjacent v25 v166)
  (adjacent v26 v27)
  (adjacent v26 v78)
  (adjacent v26 v138)
  (adjacent v27 v28)
  (adjacent v27 v81)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v69)
  (adjacent v31 v32)
  (adjacent v32 v41)
  (adjacent v33 v121)
  (adjacent v33 v136)
  (adjacent v34 v35)
  (adjacent v34 v74)
  (adjacent v34 v135)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v63)
  (adjacent v36 v147)
  (adjacent v36 v151)
  (adjacent v37 v38)
  (adjacent v37 v145)
  (adjacent v38 v39)
  (adjacent v40 v41)
  (adjacent v41 v150)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v128)
  (adjacent v44 v45)
  (adjacent v44 v59)
  (adjacent v44 v127)
  (adjacent v45 v46)
  (adjacent v45 v130)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v53)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v60)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v153)
  (adjacent v57 v58)
  (adjacent v57 v129)
  (adjacent v58 v59)
  (adjacent v58 v79)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v115)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v77)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v85)
  (adjacent v68 v151)
  (adjacent v68 v160)
  (adjacent v70 v71)
  (adjacent v70 v80)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v99)
  (adjacent v73 v74)
  (adjacent v73 v152)
  (adjacent v75 v76)
  (adjacent v75 v100)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v92)
  (adjacent v81 v82)
  (adjacent v81 v91)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v85 v106)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v101)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v160)
  (adjacent v95 v96)
  (adjacent v95 v105)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v110)
  (adjacent v99 v100)
  (adjacent v99 v116)
  (adjacent v99 v148)
  (adjacent v101 v102)
  (adjacent v101 v120)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v167)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v161)
  (adjacent v112 v113)
  (adjacent v112 v147)
  (adjacent v113 v114)
  (adjacent v113 v168)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v116 v170)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v152)
  (adjacent v120 v146)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v139)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v159)
  (adjacent v132 v133)
  (adjacent v132 v169)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v173)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v167)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
 )
 (:goal
  (and
  (free v0)
  (at r56 v1)
  (at r139 v2)
  (at r143 v3)
  (at r89 v4)
  (at r46 v5)
  (at r170 v6)
  (at r151 v7)
  (at r150 v8)
  (at r97 v9)
  (at r121 v10)
  (at r44 v11)
  (at r78 v12)
  (at r93 v13)
  (at r70 v14)
  (at r147 v15)
  (at r25 v16)
  (at r149 v17)
  (at r32 v18)
  (at r94 v19)
  (at r51 v20)
  (free v21)
  (at r92 v22)
  (at r47 v23)
  (free v24)
  (at r114 v25)
  (free v26)
  (free v27)
  (at r33 v28)
  (at r117 v29)
  (at r155 v30)
  (at r109 v31)
  (at r152 v32)
  (at r16 v33)
  (at r19 v34)
  (at r153 v35)
  (at r146 v36)
  (at r37 v37)
  (at r98 v38)
  (at r90 v39)
  (at r124 v40)
  (at r66 v41)
  (at r36 v42)
  (at r54 v43)
  (at r57 v44)
  (at r167 v45)
  (at r77 v46)
  (at r171 v47)
  (at r140 v48)
  (at r138 v49)
  (at r106 v50)
  (at r23 v51)
  (at r96 v52)
  (at r20 v53)
  (at r168 v54)
  (at r61 v55)
  (at r28 v56)
  (at r87 v57)
  (free v58)
  (at r156 v59)
  (at r53 v60)
  (at r48 v61)
  (at r35 v62)
  (at r120 v63)
  (at r169 v64)
  (at r22 v65)
  (at r110 v66)
  (at r67 v67)
  (at r39 v68)
  (at r86 v69)
  (at r141 v70)
  (at r99 v71)
  (at r111 v72)
  (at r130 v73)
  (at r69 v74)
  (at r160 v75)
  (at r34 v76)
  (at r173 v77)
  (at r83 v78)
  (at r136 v79)
  (at r75 v80)
  (at r157 v81)
  (free v82)
  (at r71 v83)
  (at r63 v84)
  (at r119 v85)
  (at r128 v86)
  (at r132 v87)
  (at r40 v88)
  (at r102 v89)
  (at r118 v90)
  (at r113 v91)
  (at r148 v92)
  (at r52 v93)
  (at r112 v94)
  (at r88 v95)
  (at r127 v96)
  (at r154 v97)
  (at r164 v98)
  (free v99)
  (at r131 v100)
  (at r172 v101)
  (at r24 v102)
  (at r134 v103)
  (at r41 v104)
  (at r122 v105)
  (at r125 v106)
  (at r100 v107)
  (at r26 v108)
  (at r133 v109)
  (free v110)
  (at r158 v111)
  (at r18 v112)
  (at r17 v113)
  (at r29 v114)
  (free v115)
  (at r58 v116)
  (at r45 v117)
  (at r161 v118)
  (at r62 v119)
  (at r104 v120)
  (free v121)
  (at r68 v122)
  (at r49 v123)
  (at r115 v124)
  (at r82 v125)
  (at r108 v126)
  (at r42 v127)
  (at r79 v128)
  (at r103 v129)
  (free v130)
  (at r91 v131)
  (at r64 v132)
  (at r129 v133)
  (at r107 v134)
  (at r50 v135)
  (at r95 v136)
  (at r144 v137)
  (at r76 v138)
  (at r31 v139)
  (at r43 v140)
  (at r27 v141)
  (at r137 v142)
  (at r101 v143)
  (at r60 v144)
  (at r15 v145)
  (at r72 v146)
  (at r159 v147)
  (at r30 v148)
  (at r80 v149)
  (free v150)
  (free v151)
  (at r166 v152)
  (at r59 v153)
  (at r21 v154)
  (at r105 v155)
  (at r162 v156)
  (at r145 v157)
  (at r73 v158)
  (at r163 v159)
  (at r116 v160)
  (at r123 v161)
  (at r74 v162)
  (free v163)
  (at r38 v164)
  (at r65 v165)
  (at r81 v166)
  (at r55 v167)
  (at r126 v168)
  (at r142 v169)
  (at r135 v170)
  (at r84 v171)
  (at r165 v172)
  (at r85 v173)
  )
 )
)