(define (problem multirobot_43_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r29
  v1 r67
  v2 r111
  v3 r39
  v4 r18
  v5 r160
  v6 r85
  v7 r71
  v8 r119
  v9 r61
  v10 r163
  v11
  v12 r83
  v13 r156
  v14
  v15
  v16 r131
  v17 r105
  v18 r25
  v19 r148
  v20 r54
  v21 r41
  v22 r161
  v23 r24
  v24 r36
  v25 r84
  v26 r26
  v27
  v28 r112
  v29 r40
  v30 r124
  v31 r103
  v32 r27
  v33
  v34 r145
  v35 r82
  v36 r117
  v37 r133
  v38 r108
  v39 r104
  v40 r48
  v41 r53
  v42 r109
  v43 r125
  v44 r89
  v45 r140
  v46 r139
  v47 r102
  v48 r153
  v49 r90
  v50
  v51 r116
  v52 r142
  v53 r22
  v54 r68
  v55 r110
  v56 r106
  v57 r159
  v58 r152
  v59 r66
  v60 r118
  v61 r43
  v62 r58
  v63 r52
  v64 r86
  v65 r72
  v66 r127
  v67 r115
  v68
  v69 r157
  v70 r45
  v71 r122
  v72 r114
  v73 r94
  v74 r164
  v75 r76
  v76 r100
  v77 r42
  v78 r19
  v79 r93
  v80
  v81 r135
  v82 r60
  v83 r166
  v84
  v85 r132
  v86 r30
  v87 r21
  v88 r121
  v89 r78
  v90 r65
  v91 r63
  v92 r31
  v93 r136
  v94 r137
  v95 r147
  v96 r149
  v97 r38
  v98 r146
  v99 r57
  v100 r99
  v101 r158
  v102 r50
  v103 r165
  v104 r49
  v105 r138
  v106 r101
  v107 r144
  v108 r155
  v109 r46
  v110 r81
  v111 r73
  v112 r128
  v113 r77
  v114 r75
  v115 r59
  v116 r33
  v117 r154
  v118 r64
  v119 r80
  v120 r126
  v121 r120
  v122 r92
  v123 r113
  v124
  v125 r23
  v126
  v127
  v128 r35
  v129 r62
  v130 r56
  v131 r123
  v132 r74
  v133
  v134 r134
  v135 r97
  v136 r141
  v137 r130
  v138 r70
  v139 r51
  v140 r55
  v141 r87
  v142 r96
  v143 r129
  v144 r32
  v145
  v146
  v147 r151
  v148 r167
  v149 r20
  v150 r91
  v151 r37
  v152 r47
  v153 r79
  v154 r17
  v155 r28
  v156 r150
  v157 r88
  v158 r162
  v159
  v160 r107
  v161 r143
  v162 r44
  v163 r69
  v164 r98
  v165 r95
  v166 r34
  v167
 )
 (:init
  (at r29 v0)
  (at r67 v1)
  (at r111 v2)
  (at r39 v3)
  (at r18 v4)
  (at r160 v5)
  (at r85 v6)
  (at r71 v7)
  (at r119 v8)
  (at r61 v9)
  (at r163 v10)
  (free v11)
  (at r83 v12)
  (at r156 v13)
  (free v14)
  (free v15)
  (at r131 v16)
  (at r105 v17)
  (at r25 v18)
  (at r148 v19)
  (at r54 v20)
  (at r41 v21)
  (at r161 v22)
  (at r24 v23)
  (at r36 v24)
  (at r84 v25)
  (at r26 v26)
  (free v27)
  (at r112 v28)
  (at r40 v29)
  (at r124 v30)
  (at r103 v31)
  (at r27 v32)
  (free v33)
  (at r145 v34)
  (at r82 v35)
  (at r117 v36)
  (at r133 v37)
  (at r108 v38)
  (at r104 v39)
  (at r48 v40)
  (at r53 v41)
  (at r109 v42)
  (at r125 v43)
  (at r89 v44)
  (at r140 v45)
  (at r139 v46)
  (at r102 v47)
  (at r153 v48)
  (at r90 v49)
  (free v50)
  (at r116 v51)
  (at r142 v52)
  (at r22 v53)
  (at r68 v54)
  (at r110 v55)
  (at r106 v56)
  (at r159 v57)
  (at r152 v58)
  (at r66 v59)
  (at r118 v60)
  (at r43 v61)
  (at r58 v62)
  (at r52 v63)
  (at r86 v64)
  (at r72 v65)
  (at r127 v66)
  (at r115 v67)
  (free v68)
  (at r157 v69)
  (at r45 v70)
  (at r122 v71)
  (at r114 v72)
  (at r94 v73)
  (at r164 v74)
  (at r76 v75)
  (at r100 v76)
  (at r42 v77)
  (at r19 v78)
  (at r93 v79)
  (free v80)
  (at r135 v81)
  (at r60 v82)
  (at r166 v83)
  (free v84)
  (at r132 v85)
  (at r30 v86)
  (at r21 v87)
  (at r121 v88)
  (at r78 v89)
  (at r65 v90)
  (at r63 v91)
  (at r31 v92)
  (at r136 v93)
  (at r137 v94)
  (at r147 v95)
  (at r149 v96)
  (at r38 v97)
  (at r146 v98)
  (at r57 v99)
  (at r99 v100)
  (at r158 v101)
  (at r50 v102)
  (at r165 v103)
  (at r49 v104)
  (at r138 v105)
  (at r101 v106)
  (at r144 v107)
  (at r155 v108)
  (at r46 v109)
  (at r81 v110)
  (at r73 v111)
  (at r128 v112)
  (at r77 v113)
  (at r75 v114)
  (at r59 v115)
  (at r33 v116)
  (at r154 v117)
  (at r64 v118)
  (at r80 v119)
  (at r126 v120)
  (at r120 v121)
  (at r92 v122)
  (at r113 v123)
  (free v124)
  (at r23 v125)
  (free v126)
  (free v127)
  (at r35 v128)
  (at r62 v129)
  (at r56 v130)
  (at r123 v131)
  (at r74 v132)
  (free v133)
  (at r134 v134)
  (at r97 v135)
  (at r141 v136)
  (at r130 v137)
  (at r70 v138)
  (at r51 v139)
  (at r55 v140)
  (at r87 v141)
  (at r96 v142)
  (at r129 v143)
  (at r32 v144)
  (free v145)
  (free v146)
  (at r151 v147)
  (at r167 v148)
  (at r20 v149)
  (at r91 v150)
  (at r37 v151)
  (at r47 v152)
  (at r79 v153)
  (at r17 v154)
  (at r28 v155)
  (at r150 v156)
  (at r88 v157)
  (at r162 v158)
  (free v159)
  (at r107 v160)
  (at r143 v161)
  (at r44 v162)
  (at r69 v163)
  (at r98 v164)
  (at r95 v165)
  (at r34 v166)
  (free v167)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v21)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v12)
  (adjacent v1 v29)
  (adjacent v1 v137)
  (adjacent v2 v3)
  (adjacent v2 v44)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v30)
  (adjacent v3 v36)
  (adjacent v3 v61)
  (adjacent v4 v126)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v22)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v8 v50)
  (adjacent v8 v120)
  (adjacent v9 v10)
  (adjacent v9 v28)
  (adjacent v9 v35)
  (adjacent v10 v11)
  (adjacent v10 v59)
  (adjacent v10 v73)
  (adjacent v10 v89)
  (adjacent v11 v46)
  (adjacent v11 v135)
  (adjacent v12 v13)
  (adjacent v12 v19)
  (adjacent v12 v52)
  (adjacent v12 v148)
  (adjacent v13 v14)
  (adjacent v13 v88)
  (adjacent v13 v96)
  (adjacent v14 v15)
  (adjacent v14 v38)
  (adjacent v14 v80)
  (adjacent v14 v103)
  (adjacent v15 v16)
  (adjacent v15 v56)
  (adjacent v16 v17)
  (adjacent v16 v60)
  (adjacent v17 v18)
  (adjacent v17 v34)
  (adjacent v17 v39)
  (adjacent v19 v20)
  (adjacent v19 v29)
  (adjacent v20 v21)
  (adjacent v21 v45)
  (adjacent v22 v23)
  (adjacent v22 v98)
  (adjacent v22 v99)
  (adjacent v23 v24)
  (adjacent v23 v35)
  (adjacent v23 v84)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v49)
  (adjacent v25 v162)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v70)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v149)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v35 v114)
  (adjacent v36 v37)
  (adjacent v36 v141)
  (adjacent v37 v38)
  (adjacent v37 v64)
  (adjacent v38 v53)
  (adjacent v38 v66)
  (adjacent v38 v79)
  (adjacent v38 v82)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v67)
  (adjacent v42 v43)
  (adjacent v42 v65)
  (adjacent v42 v161)
  (adjacent v43 v44)
  (adjacent v43 v47)
  (adjacent v43 v71)
  (adjacent v45 v46)
  (adjacent v45 v74)
  (adjacent v46 v156)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v102)
  (adjacent v50 v51)
  (adjacent v50 v57)
  (adjacent v50 v62)
  (adjacent v50 v109)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v67 v89)
  (adjacent v68 v69)
  (adjacent v68 v97)
  (adjacent v69 v70)
  (adjacent v69 v83)
  (adjacent v69 v85)
  (adjacent v69 v90)
  (adjacent v69 v98)
  (adjacent v71 v72)
  (adjacent v71 v120)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v74 v127)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v136)
  (adjacent v83 v84)
  (adjacent v83 v115)
  (adjacent v85 v86)
  (adjacent v85 v97)
  (adjacent v85 v119)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v140)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v142)
  (adjacent v96 v108)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v121)
  (adjacent v102 v128)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v125)
  (adjacent v111 v112)
  (adjacent v111 v141)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v134)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v167)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v142 v143)
  (adjacent v142 v155)
  (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 v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
 )
 (:goal
  (and
  (at r43 v0)
  (at r103 v1)
  (at r143 v2)
  (at r45 v3)
  (at r111 v4)
  (at r94 v5)
  (at r66 v6)
  (at r154 v7)
  (at r68 v8)
  (at r55 v9)
  (free v10)
  (free v11)
  (at r166 v12)
  (at r69 v13)
  (at r128 v14)
  (at r122 v15)
  (at r110 v16)
  (at r160 v17)
  (at r50 v18)
  (at r119 v19)
  (at r31 v20)
  (at r40 v21)
  (at r32 v22)
  (at r34 v23)
  (at r97 v24)
  (at r133 v25)
  (at r163 v26)
  (at r27 v27)
  (at r20 v28)
  (free v29)
  (at r92 v30)
  (at r58 v31)
  (at r135 v32)
  (at r76 v33)
  (at r152 v34)
  (at r36 v35)
  (at r147 v36)
  (at r54 v37)
  (at r18 v38)
  (at r74 v39)
  (free v40)
  (at r124 v41)
  (at r96 v42)
  (at r114 v43)
  (at r145 v44)
  (free v45)
  (free v46)
  (at r120 v47)
  (at r167 v48)
  (free v49)
  (at r98 v50)
  (at r132 v51)
  (free v52)
  (at r123 v53)
  (at r28 v54)
  (at r86 v55)
  (at r88 v56)
  (at r90 v57)
  (free v58)
  (at r25 v59)
  (free v60)
  (at r130 v61)
  (at r35 v62)
  (at r142 v63)
  (at r104 v64)
  (at r56 v65)
  (at r149 v66)
  (at r22 v67)
  (at r79 v68)
  (at r52 v69)
  (at r60 v70)
  (at r95 v71)
  (at r77 v72)
  (at r17 v73)
  (at r141 v74)
  (at r71 v75)
  (at r126 v76)
  (at r44 v77)
  (at r61 v78)
  (at r75 v79)
  (at r99 v80)
  (at r82 v81)
  (at r48 v82)
  (free v83)
  (free v84)
  (at r140 v85)
  (at r29 v86)
  (at r23 v87)
  (at r30 v88)
  (at r72 v89)
  (at r102 v90)
  (at r81 v91)
  (at r65 v92)
  (at r105 v93)
  (at r134 v94)
  (at r53 v95)
  (at r101 v96)
  (at r70 v97)
  (at r162 v98)
  (at r85 v99)
  (at r150 v100)
  (at r38 v101)
  (at r117 v102)
  (at r57 v103)
  (at r24 v104)
  (at r64 v105)
  (at r89 v106)
  (at r151 v107)
  (at r80 v108)
  (at r108 v109)
  (at r118 v110)
  (free v111)
  (at r63 v112)
  (at r112 v113)
  (at r78 v114)
  (at r121 v115)
  (at r115 v116)
  (free v117)
  (at r42 v118)
  (at r125 v119)
  (free v120)
  (at r136 v121)
  (at r46 v122)
  (free v123)
  (at r165 v124)
  (at r164 v125)
  (at r158 v126)
  (at r59 v127)
  (at r116 v128)
  (at r109 v129)
  (at r157 v130)
  (at r131 v131)
  (at r87 v132)
  (at r49 v133)
  (at r21 v134)
  (at r41 v135)
  (at r51 v136)
  (at r33 v137)
  (at r91 v138)
  (at r161 v139)
  (at r107 v140)
  (at r37 v141)
  (at r129 v142)
  (at r153 v143)
  (at r146 v144)
  (at r26 v145)
  (at r83 v146)
  (at r144 v147)
  (at r155 v148)
  (at r100 v149)
  (at r62 v150)
  (at r93 v151)
  (at r67 v152)
  (at r84 v153)
  (at r106 v154)
  (at r127 v155)
  (at r39 v156)
  (at r73 v157)
  (at r139 v158)
  (at r138 v159)
  (at r113 v160)
  (at r156 v161)
  (at r47 v162)
  (at r137 v163)
  (free v164)
  (at r148 v165)
  (at r19 v166)
  (at r159 v167)
  )
 )
)