(define (problem multirobot_43_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r106
  v1 r39
  v2 r62
  v3 r105
  v4 r63
  v5 r96
  v6 r28
  v7 r52
  v8 r108
  v9 r74
  v10 r33
  v11 r130
  v12 r118
  v13 r109
  v14 r69
  v15 r149
  v16 r83
  v17
  v18 r101
  v19 r119
  v20 r157
  v21 r148
  v22 r137
  v23 r30
  v24
  v25 r19
  v26 r20
  v27
  v28 r100
  v29 r42
  v30 r70
  v31 r44
  v32 r88
  v33 r23
  v34 r129
  v35 r89
  v36 r98
  v37 r113
  v38 r91
  v39 r72
  v40 r25
  v41 r21
  v42 r86
  v43 r80
  v44
  v45 r154
  v46 r103
  v47
  v48
  v49 r73
  v50 r18
  v51 r97
  v52 r32
  v53 r65
  v54 r125
  v55 r126
  v56 r84
  v57 r40
  v58 r127
  v59 r26
  v60 r34
  v61 r155
  v62 r60
  v63 r59
  v64
  v65 r16
  v66 r45
  v67 r53
  v68 r131
  v69 r31
  v70 r35
  v71 r104
  v72 r115
  v73 r151
  v74 r27
  v75 r71
  v76 r57
  v77 r110
  v78 r46
  v79 r142
  v80 r102
  v81 r116
  v82 r99
  v83
  v84 r114
  v85 r49
  v86 r146
  v87 r29
  v88 r123
  v89 r144
  v90 r133
  v91 r90
  v92 r132
  v93 r41
  v94 r66
  v95 r156
  v96 r77
  v97 r50
  v98
  v99 r67
  v100 r58
  v101
  v102 r112
  v103 r54
  v104 r135
  v105 r38
  v106 r43
  v107 r61
  v108 r141
  v109 r95
  v110 r117
  v111 r92
  v112 r17
  v113 r36
  v114 r48
  v115 r79
  v116 r93
  v117
  v118 r68
  v119 r87
  v120 r51
  v121 r82
  v122 r56
  v123 r81
  v124 r152
  v125 r85
  v126
  v127 r47
  v128 r150
  v129 r143
  v130 r64
  v131 r111
  v132 r128
  v133 r140
  v134
  v135 r24
  v136 r22
  v137 r139
  v138
  v139 r138
  v140 r124
  v141 r147
  v142 r37
  v143 r153
  v144 r120
  v145 r136
  v146 r122
  v147 r78
  v148 r55
  v149 r145
  v150 r121
  v151 r75
  v152 r15
  v153 r107
  v154
  v155 r76
  v156 r94
  v157 r134
 )
 (:init
  (at r106 v0)
  (at r39 v1)
  (at r62 v2)
  (at r105 v3)
  (at r63 v4)
  (at r96 v5)
  (at r28 v6)
  (at r52 v7)
  (at r108 v8)
  (at r74 v9)
  (at r33 v10)
  (at r130 v11)
  (at r118 v12)
  (at r109 v13)
  (at r69 v14)
  (at r149 v15)
  (at r83 v16)
  (free v17)
  (at r101 v18)
  (at r119 v19)
  (at r157 v20)
  (at r148 v21)
  (at r137 v22)
  (at r30 v23)
  (free v24)
  (at r19 v25)
  (at r20 v26)
  (free v27)
  (at r100 v28)
  (at r42 v29)
  (at r70 v30)
  (at r44 v31)
  (at r88 v32)
  (at r23 v33)
  (at r129 v34)
  (at r89 v35)
  (at r98 v36)
  (at r113 v37)
  (at r91 v38)
  (at r72 v39)
  (at r25 v40)
  (at r21 v41)
  (at r86 v42)
  (at r80 v43)
  (free v44)
  (at r154 v45)
  (at r103 v46)
  (free v47)
  (free v48)
  (at r73 v49)
  (at r18 v50)
  (at r97 v51)
  (at r32 v52)
  (at r65 v53)
  (at r125 v54)
  (at r126 v55)
  (at r84 v56)
  (at r40 v57)
  (at r127 v58)
  (at r26 v59)
  (at r34 v60)
  (at r155 v61)
  (at r60 v62)
  (at r59 v63)
  (free v64)
  (at r16 v65)
  (at r45 v66)
  (at r53 v67)
  (at r131 v68)
  (at r31 v69)
  (at r35 v70)
  (at r104 v71)
  (at r115 v72)
  (at r151 v73)
  (at r27 v74)
  (at r71 v75)
  (at r57 v76)
  (at r110 v77)
  (at r46 v78)
  (at r142 v79)
  (at r102 v80)
  (at r116 v81)
  (at r99 v82)
  (free v83)
  (at r114 v84)
  (at r49 v85)
  (at r146 v86)
  (at r29 v87)
  (at r123 v88)
  (at r144 v89)
  (at r133 v90)
  (at r90 v91)
  (at r132 v92)
  (at r41 v93)
  (at r66 v94)
  (at r156 v95)
  (at r77 v96)
  (at r50 v97)
  (free v98)
  (at r67 v99)
  (at r58 v100)
  (free v101)
  (at r112 v102)
  (at r54 v103)
  (at r135 v104)
  (at r38 v105)
  (at r43 v106)
  (at r61 v107)
  (at r141 v108)
  (at r95 v109)
  (at r117 v110)
  (at r92 v111)
  (at r17 v112)
  (at r36 v113)
  (at r48 v114)
  (at r79 v115)
  (at r93 v116)
  (free v117)
  (at r68 v118)
  (at r87 v119)
  (at r51 v120)
  (at r82 v121)
  (at r56 v122)
  (at r81 v123)
  (at r152 v124)
  (at r85 v125)
  (free v126)
  (at r47 v127)
  (at r150 v128)
  (at r143 v129)
  (at r64 v130)
  (at r111 v131)
  (at r128 v132)
  (at r140 v133)
  (free v134)
  (at r24 v135)
  (at r22 v136)
  (at r139 v137)
  (free v138)
  (at r138 v139)
  (at r124 v140)
  (at r147 v141)
  (at r37 v142)
  (at r153 v143)
  (at r120 v144)
  (at r136 v145)
  (at r122 v146)
  (at r78 v147)
  (at r55 v148)
  (at r145 v149)
  (at r121 v150)
  (at r75 v151)
  (at r15 v152)
  (at r107 v153)
  (free v154)
  (at r76 v155)
  (at r94 v156)
  (at r134 v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v33)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v29)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v7)
  (adjacent v3 v4)
  (adjacent v3 v15)
  (adjacent v3 v56)
  (adjacent v4 v5)
  (adjacent v4 v76)
  (adjacent v4 v140)
  (adjacent v5 v16)
  (adjacent v5 v113)
  (adjacent v6 v10)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v7 v98)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v8 v50)
  (adjacent v8 v88)
  (adjacent v9 v10)
  (adjacent v9 v17)
  (adjacent v9 v51)
  (adjacent v11 v12)
  (adjacent v11 v62)
  (adjacent v12 v13)
  (adjacent v12 v75)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v45)
  (adjacent v14 v147)
  (adjacent v15 v23)
  (adjacent v15 v38)
  (adjacent v16 v28)
  (adjacent v16 v34)
  (adjacent v17 v18)
  (adjacent v17 v69)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v132)
  (adjacent v20 v21)
  (adjacent v20 v60)
  (adjacent v20 v107)
  (adjacent v21 v22)
  (adjacent v21 v107)
  (adjacent v22 v23)
  (adjacent v22 v39)
  (adjacent v22 v57)
  (adjacent v22 v73)
  (adjacent v23 v24)
  (adjacent v23 v97)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v84)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v70)
  (adjacent v28 v46)
  (adjacent v28 v75)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v122)
  (adjacent v32 v33)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v156)
  (adjacent v35 v36)
  (adjacent v35 v49)
  (adjacent v36 v37)
  (adjacent v36 v102)
  (adjacent v37 v38)
  (adjacent v38 v72)
  (adjacent v38 v81)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v48)
  (adjacent v41 v72)
  (adjacent v41 v85)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v71)
  (adjacent v44 v45)
  (adjacent v44 v89)
  (adjacent v45 v74)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v49 v71)
  (adjacent v49 v103)
  (adjacent v49 v125)
  (adjacent v49 v152)
  (adjacent v50 v86)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v112)
  (adjacent v53 v54)
  (adjacent v53 v82)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v70)
  (adjacent v55 v92)
  (adjacent v56 v101)
  (adjacent v56 v157)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v91)
  (adjacent v60 v106)
  (adjacent v61 v62)
  (adjacent v61 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v126)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v72 v114)
  (adjacent v73 v74)
  (adjacent v76 v77)
  (adjacent v76 v104)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v83)
  (adjacent v80 v81)
  (adjacent v80 v153)
  (adjacent v82 v83)
  (adjacent v83 v90)
  (adjacent v84 v85)
  (adjacent v85 v87)
  (adjacent v86 v87)
  (adjacent v87 v108)
  (adjacent v88 v89)
  (adjacent v88 v115)
  (adjacent v90 v91)
  (adjacent v90 v156)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v139)
  (adjacent v105 v106)
  (adjacent v106 v121)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v126 v133)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v155)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v146)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v153 v157)
  (adjacent v154 v155)
 )
 (:goal
  (and
  (at r92 v0)
  (at r64 v1)
  (at r141 v2)
  (at r24 v3)
  (at r109 v4)
  (at r153 v5)
  (free v6)
  (at r61 v7)
  (at r15 v8)
  (at r138 v9)
  (at r65 v10)
  (at r132 v11)
  (free v12)
  (at r106 v13)
  (at r18 v14)
  (at r29 v15)
  (at r116 v16)
  (free v17)
  (at r122 v18)
  (at r80 v19)
  (at r51 v20)
  (at r53 v21)
  (at r49 v22)
  (at r58 v23)
  (at r142 v24)
  (at r140 v25)
  (at r52 v26)
  (at r104 v27)
  (at r28 v28)
  (at r144 v29)
  (free v30)
  (at r36 v31)
  (free v32)
  (at r54 v33)
  (at r55 v34)
  (at r154 v35)
  (at r100 v36)
  (at r75 v37)
  (at r50 v38)
  (at r113 v39)
  (at r139 v40)
  (at r145 v41)
  (at r110 v42)
  (at r38 v43)
  (at r21 v44)
  (free v45)
  (at r48 v46)
  (free v47)
  (at r42 v48)
  (at r150 v49)
  (at r66 v50)
  (at r123 v51)
  (at r127 v52)
  (at r91 v53)
  (at r85 v54)
  (at r86 v55)
  (at r23 v56)
  (at r149 v57)
  (at r105 v58)
  (at r124 v59)
  (at r41 v60)
  (at r27 v61)
  (at r88 v62)
  (at r60 v63)
  (at r47 v64)
  (at r26 v65)
  (at r134 v66)
  (at r98 v67)
  (at r31 v68)
  (at r137 v69)
  (at r155 v70)
  (at r34 v71)
  (at r121 v72)
  (at r57 v73)
  (at r20 v74)
  (at r78 v75)
  (at r112 v76)
  (at r103 v77)
  (at r107 v78)
  (at r117 v79)
  (at r119 v80)
  (at r76 v81)
  (at r102 v82)
  (at r63 v83)
  (at r96 v84)
  (at r62 v85)
  (free v86)
  (at r82 v87)
  (at r70 v88)
  (at r94 v89)
  (at r90 v90)
  (free v91)
  (at r59 v92)
  (at r77 v93)
  (at r35 v94)
  (at r79 v95)
  (at r156 v96)
  (at r37 v97)
  (at r81 v98)
  (at r147 v99)
  (at r128 v100)
  (at r32 v101)
  (at r101 v102)
  (at r83 v103)
  (at r89 v104)
  (at r146 v105)
  (at r135 v106)
  (at r125 v107)
  (at r97 v108)
  (at r95 v109)
  (free v110)
  (at r43 v111)
  (at r46 v112)
  (at r71 v113)
  (at r131 v114)
  (at r129 v115)
  (at r56 v116)
  (at r17 v117)
  (free v118)
  (at r120 v119)
  (at r148 v120)
  (at r25 v121)
  (at r133 v122)
  (at r68 v123)
  (at r39 v124)
  (at r114 v125)
  (at r143 v126)
  (at r73 v127)
  (at r67 v128)
  (at r74 v129)
  (at r72 v130)
  (at r19 v131)
  (free v132)
  (free v133)
  (at r69 v134)
  (at r45 v135)
  (free v136)
  (at r33 v137)
  (at r115 v138)
  (at r44 v139)
  (free v140)
  (at r136 v141)
  (at r130 v142)
  (at r111 v143)
  (at r151 v144)
  (at r99 v145)
  (at r22 v146)
  (at r30 v147)
  (at r16 v148)
  (at r40 v149)
  (at r84 v150)
  (at r152 v151)
  (at r108 v152)
  (at r126 v153)
  (at r93 v154)
  (at r118 v155)
  (at r87 v156)
  (at r157 v157)
  )
 )
)