(define (problem multirobot_43_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r37
  v1 r95
  v2 r134
  v3 r84
  v4 r16
  v5 r38
  v6 r25
  v7 r108
  v8 r116
  v9 r89
  v10
  v11 r86
  v12 r124
  v13 r59
  v14 r144
  v15 r78
  v16 r136
  v17 r77
  v18 r125
  v19 r80
  v20 r97
  v21 r67
  v22 r149
  v23 r123
  v24 r110
  v25
  v26 r127
  v27 r23
  v28 r156
  v29 r58
  v30 r73
  v31 r88
  v32 r72
  v33 r20
  v34 r117
  v35 r26
  v36 r145
  v37 r101
  v38 r93
  v39 r75
  v40
  v41 r54
  v42
  v43 r148
  v44 r17
  v45 r158
  v46 r155
  v47 r130
  v48
  v49 r133
  v50 r56
  v51 r29
  v52
  v53 r114
  v54
  v55 r81
  v56 r41
  v57 r19
  v58 r35
  v59 r157
  v60 r40
  v61 r52
  v62
  v63
  v64 r66
  v65 r22
  v66 r135
  v67 r131
  v68 r53
  v69
  v70 r49
  v71 r15
  v72 r104
  v73 r92
  v74 r13
  v75 r121
  v76 r105
  v77 r115
  v78 r120
  v79 r51
  v80 r32
  v81 r126
  v82 r39
  v83 r42
  v84 r132
  v85 r146
  v86 r21
  v87 r140
  v88 r91
  v89 r119
  v90 r138
  v91 r79
  v92 r31
  v93 r147
  v94 r118
  v95 r14
  v96 r44
  v97 r33
  v98 r61
  v99 r137
  v100 r141
  v101 r150
  v102 r76
  v103 r160
  v104 r48
  v105 r99
  v106 r45
  v107 r64
  v108 r96
  v109 r57
  v110 r107
  v111 r111
  v112 r112
  v113 r151
  v114 r113
  v115 r87
  v116 r74
  v117 r71
  v118 r128
  v119 r69
  v120 r129
  v121 r82
  v122 r109
  v123 r139
  v124 r27
  v125
  v126 r154
  v127 r47
  v128 r43
  v129 r28
  v130 r90
  v131 r68
  v132 r34
  v133 r152
  v134 r63
  v135 r122
  v136 r164
  v137 r55
  v138 r18
  v139 r46
  v140 r142
  v141 r36
  v142 r60
  v143 r106
  v144 r62
  v145 r103
  v146
  v147 r98
  v148 r165
  v149 r102
  v150 r83
  v151 r153
  v152 r85
  v153 r30
  v154 r161
  v155 r163
  v156
  v157 r159
  v158 r70
  v159 r143
  v160 r65
  v161 r50
  v162 r100
  v163 r24
  v164 r94
  v165 r162
 )
 (:init
  (at r37 v0)
  (at r95 v1)
  (at r134 v2)
  (at r84 v3)
  (at r16 v4)
  (at r38 v5)
  (at r25 v6)
  (at r108 v7)
  (at r116 v8)
  (at r89 v9)
  (free v10)
  (at r86 v11)
  (at r124 v12)
  (at r59 v13)
  (at r144 v14)
  (at r78 v15)
  (at r136 v16)
  (at r77 v17)
  (at r125 v18)
  (at r80 v19)
  (at r97 v20)
  (at r67 v21)
  (at r149 v22)
  (at r123 v23)
  (at r110 v24)
  (free v25)
  (at r127 v26)
  (at r23 v27)
  (at r156 v28)
  (at r58 v29)
  (at r73 v30)
  (at r88 v31)
  (at r72 v32)
  (at r20 v33)
  (at r117 v34)
  (at r26 v35)
  (at r145 v36)
  (at r101 v37)
  (at r93 v38)
  (at r75 v39)
  (free v40)
  (at r54 v41)
  (free v42)
  (at r148 v43)
  (at r17 v44)
  (at r158 v45)
  (at r155 v46)
  (at r130 v47)
  (free v48)
  (at r133 v49)
  (at r56 v50)
  (at r29 v51)
  (free v52)
  (at r114 v53)
  (free v54)
  (at r81 v55)
  (at r41 v56)
  (at r19 v57)
  (at r35 v58)
  (at r157 v59)
  (at r40 v60)
  (at r52 v61)
  (free v62)
  (free v63)
  (at r66 v64)
  (at r22 v65)
  (at r135 v66)
  (at r131 v67)
  (at r53 v68)
  (free v69)
  (at r49 v70)
  (at r15 v71)
  (at r104 v72)
  (at r92 v73)
  (at r13 v74)
  (at r121 v75)
  (at r105 v76)
  (at r115 v77)
  (at r120 v78)
  (at r51 v79)
  (at r32 v80)
  (at r126 v81)
  (at r39 v82)
  (at r42 v83)
  (at r132 v84)
  (at r146 v85)
  (at r21 v86)
  (at r140 v87)
  (at r91 v88)
  (at r119 v89)
  (at r138 v90)
  (at r79 v91)
  (at r31 v92)
  (at r147 v93)
  (at r118 v94)
  (at r14 v95)
  (at r44 v96)
  (at r33 v97)
  (at r61 v98)
  (at r137 v99)
  (at r141 v100)
  (at r150 v101)
  (at r76 v102)
  (at r160 v103)
  (at r48 v104)
  (at r99 v105)
  (at r45 v106)
  (at r64 v107)
  (at r96 v108)
  (at r57 v109)
  (at r107 v110)
  (at r111 v111)
  (at r112 v112)
  (at r151 v113)
  (at r113 v114)
  (at r87 v115)
  (at r74 v116)
  (at r71 v117)
  (at r128 v118)
  (at r69 v119)
  (at r129 v120)
  (at r82 v121)
  (at r109 v122)
  (at r139 v123)
  (at r27 v124)
  (free v125)
  (at r154 v126)
  (at r47 v127)
  (at r43 v128)
  (at r28 v129)
  (at r90 v130)
  (at r68 v131)
  (at r34 v132)
  (at r152 v133)
  (at r63 v134)
  (at r122 v135)
  (at r164 v136)
  (at r55 v137)
  (at r18 v138)
  (at r46 v139)
  (at r142 v140)
  (at r36 v141)
  (at r60 v142)
  (at r106 v143)
  (at r62 v144)
  (at r103 v145)
  (free v146)
  (at r98 v147)
  (at r165 v148)
  (at r102 v149)
  (at r83 v150)
  (at r153 v151)
  (at r85 v152)
  (at r30 v153)
  (at r161 v154)
  (at r163 v155)
  (free v156)
  (at r159 v157)
  (at r70 v158)
  (at r143 v159)
  (at r65 v160)
  (at r50 v161)
  (at r100 v162)
  (at r24 v163)
  (at r94 v164)
  (at r162 v165)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v19)
  (adjacent v1 v129)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v3 v4)
  (adjacent v3 v25)
  (adjacent v3 v50)
  (adjacent v3 v82)
  (adjacent v4 v5)
  (adjacent v4 v8)
  (adjacent v4 v34)
  (adjacent v5 v6)
  (adjacent v5 v8)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v6 v14)
  (adjacent v6 v17)
  (adjacent v6 v37)
  (adjacent v8 v18)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v9 v32)
  (adjacent v9 v38)
  (adjacent v9 v88)
  (adjacent v10 v11)
  (adjacent v10 v33)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v74)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v12 v80)
  (adjacent v12 v106)
  (adjacent v13 v31)
  (adjacent v13 v152)
  (adjacent v14 v15)
  (adjacent v14 v24)
  (adjacent v15 v16)
  (adjacent v15 v44)
  (adjacent v16 v70)
  (adjacent v17 v59)
  (adjacent v17 v117)
  (adjacent v19 v20)
  (adjacent v19 v150)
  (adjacent v20 v21)
  (adjacent v20 v36)
  (adjacent v20 v124)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v45)
  (adjacent v25 v26)
  (adjacent v25 v53)
  (adjacent v25 v148)
  (adjacent v26 v27)
  (adjacent v26 v54)
  (adjacent v26 v66)
  (adjacent v27 v28)
  (adjacent v27 v35)
  (adjacent v27 v49)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v65)
  (adjacent v29 v136)
  (adjacent v30 v31)
  (adjacent v31 v119)
  (adjacent v32 v33)
  (adjacent v34 v35)
  (adjacent v34 v96)
  (adjacent v36 v37)
  (adjacent v36 v87)
  (adjacent v36 v92)
  (adjacent v37 v98)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v131)
  (adjacent v44 v140)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v83)
  (adjacent v46 v103)
  (adjacent v46 v112)
  (adjacent v47 v48)
  (adjacent v47 v159)
  (adjacent v48 v49)
  (adjacent v48 v69)
  (adjacent v48 v135)
  (adjacent v49 v152)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v60)
  (adjacent v52 v130)
  (adjacent v52 v141)
  (adjacent v52 v153)
  (adjacent v54 v55)
  (adjacent v54 v97)
  (adjacent v54 v104)
  (adjacent v55 v56)
  (adjacent v55 v73)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v79)
  (adjacent v58 v59)
  (adjacent v59 v151)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v66 v110)
  (adjacent v67 v68)
  (adjacent v67 v98)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v111)
  (adjacent v71 v72)
  (adjacent v71 v99)
  (adjacent v72 v73)
  (adjacent v72 v113)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v125)
  (adjacent v78 v79)
  (adjacent v78 v91)
  (adjacent v79 v105)
  (adjacent v79 v147)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v125)
  (adjacent v89 v90)
  (adjacent v89 v128)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v97)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v118)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v104 v149)
  (adjacent v104 v165)
  (adjacent v105 v126)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v118)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v160)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
 )
 (:goal
  (and
  (at r33 v0)
  (at r164 v1)
  (free v2)
  (at r57 v3)
  (at r72 v4)
  (free v5)
  (at r49 v6)
  (at r68 v7)
  (free v8)
  (free v9)
  (at r43 v10)
  (at r143 v11)
  (at r84 v12)
  (at r45 v13)
  (at r121 v14)
  (at r149 v15)
  (at r52 v16)
  (free v17)
  (at r105 v18)
  (at r76 v19)
  (at r73 v20)
  (at r101 v21)
  (at r135 v22)
  (free v23)
  (at r44 v24)
  (at r61 v25)
  (at r78 v26)
  (free v27)
  (at r75 v28)
  (at r40 v29)
  (at r25 v30)
  (at r20 v31)
  (at r124 v32)
  (at r150 v33)
  (at r35 v34)
  (at r154 v35)
  (at r134 v36)
  (at r34 v37)
  (at r107 v38)
  (at r136 v39)
  (at r50 v40)
  (at r82 v41)
  (at r140 v42)
  (at r158 v43)
  (at r145 v44)
  (at r59 v45)
  (at r77 v46)
  (at r133 v47)
  (at r53 v48)
  (at r160 v49)
  (at r86 v50)
  (at r99 v51)
  (at r132 v52)
  (at r131 v53)
  (at r127 v54)
  (at r13 v55)
  (at r114 v56)
  (at r96 v57)
  (at r63 v58)
  (at r98 v59)
  (at r64 v60)
  (at r153 v61)
  (at r112 v62)
  (at r58 v63)
  (at r130 v64)
  (at r91 v65)
  (at r152 v66)
  (at r85 v67)
  (free v68)
  (at r15 v69)
  (at r54 v70)
  (free v71)
  (at r62 v72)
  (at r137 v73)
  (free v74)
  (at r141 v75)
  (at r156 v76)
  (at r115 v77)
  (at r26 v78)
  (at r110 v79)
  (at r66 v80)
  (at r47 v81)
  (at r111 v82)
  (at r146 v83)
  (at r125 v84)
  (at r151 v85)
  (at r157 v86)
  (at r89 v87)
  (at r30 v88)
  (at r113 v89)
  (at r88 v90)
  (at r17 v91)
  (at r32 v92)
  (at r48 v93)
  (at r46 v94)
  (at r24 v95)
  (at r36 v96)
  (at r122 v97)
  (at r37 v98)
  (at r69 v99)
  (at r42 v100)
  (at r94 v101)
  (at r22 v102)
  (at r93 v103)
  (at r39 v104)
  (free v105)
  (at r14 v106)
  (at r138 v107)
  (at r56 v108)
  (at r147 v109)
  (at r83 v110)
  (at r129 v111)
  (at r90 v112)
  (at r159 v113)
  (at r119 v114)
  (at r117 v115)
  (at r106 v116)
  (at r71 v117)
  (free v118)
  (at r70 v119)
  (at r116 v120)
  (at r38 v121)
  (at r19 v122)
  (at r28 v123)
  (at r126 v124)
  (at r108 v125)
  (at r16 v126)
  (at r31 v127)
  (at r118 v128)
  (at r18 v129)
  (at r87 v130)
  (free v131)
  (at r92 v132)
  (at r155 v133)
  (at r123 v134)
  (at r128 v135)
  (at r97 v136)
  (at r104 v137)
  (at r100 v138)
  (at r81 v139)
  (at r144 v140)
  (at r65 v141)
  (at r142 v142)
  (at r55 v143)
  (at r67 v144)
  (at r80 v145)
  (at r139 v146)
  (at r27 v147)
  (at r120 v148)
  (at r60 v149)
  (at r29 v150)
  (at r95 v151)
  (at r51 v152)
  (at r79 v153)
  (at r23 v154)
  (at r103 v155)
  (at r41 v156)
  (at r161 v157)
  (at r102 v158)
  (at r74 v159)
  (at r165 v160)
  (at r21 v161)
  (at r163 v162)
  (at r109 v163)
  (at r148 v164)
  (at r162 v165)
  )
 )
)