(define (problem multirobot_43_10%_c7)
 (:domain multirobot)
 (:objects
  v0 r136
  v1 r24
  v2 r172
  v3 r87
  v4 r73
  v5 r46
  v6
  v7 r99
  v8 r102
  v9 r33
  v10 r130
  v11 r114
  v12 r103
  v13 r128
  v14 r56
  v15 r100
  v16 r44
  v17
  v18 r126
  v19 r61
  v20 r156
  v21
  v22 r122
  v23 r133
  v24 r104
  v25 r164
  v26 r163
  v27 r105
  v28
  v29 r21
  v30
  v31 r66
  v32 r25
  v33 r109
  v34 r36
  v35 r42
  v36 r68
  v37 r154
  v38 r29
  v39 r148
  v40 r80
  v41 r84
  v42
  v43 r134
  v44 r151
  v45 r45
  v46 r120
  v47 r91
  v48 r58
  v49 r17
  v50 r111
  v51 r35
  v52 r142
  v53 r74
  v54 r135
  v55 r158
  v56 r70
  v57
  v58 r16
  v59 r101
  v60 r146
  v61 r89
  v62 r155
  v63 r59
  v64 r76
  v65 r132
  v66 r85
  v67 r75
  v68
  v69 r147
  v70 r139
  v71
  v72 r153
  v73 r152
  v74 r51
  v75 r19
  v76
  v77 r67
  v78 r41
  v79 r57
  v80 r108
  v81 r119
  v82 r69
  v83 r144
  v84
  v85 r65
  v86 r171
  v87 r54
  v88 r72
  v89 r50
  v90 r79
  v91 r31
  v92 r52
  v93 r118
  v94 r49
  v95 r113
  v96 r83
  v97 r124
  v98 r86
  v99 r168
  v100 r131
  v101 r127
  v102 r123
  v103 r81
  v104 r145
  v105 r121
  v106 r165
  v107 r143
  v108 r60
  v109 r28
  v110 r22
  v111
  v112 r20
  v113
  v114 r30
  v115 r40
  v116 r129
  v117 r167
  v118 r159
  v119 r140
  v120 r63
  v121 r78
  v122 r23
  v123 r141
  v124 r150
  v125 r77
  v126 r160
  v127 r37
  v128 r34
  v129 r137
  v130 r43
  v131 r64
  v132 r62
  v133 r39
  v134
  v135 r173
  v136 r161
  v137 r88
  v138 r125
  v139 r138
  v140 r107
  v141 r149
  v142 r106
  v143
  v144 r90
  v145 r94
  v146 r26
  v147 r170
  v148 r53
  v149 r97
  v150 r92
  v151 r162
  v152 r110
  v153 r117
  v154 r95
  v155 r166
  v156 r112
  v157 r96
  v158 r169
  v159
  v160 r27
  v161 r116
  v162 r47
  v163 r93
  v164 r48
  v165 r32
  v166 r157
  v167 r71
  v168 r18
  v169 r55
  v170 r38
  v171 r82
  v172 r115
  v173 r98
 )
 (:init
  (at r136 v0)
  (at r24 v1)
  (at r172 v2)
  (at r87 v3)
  (at r73 v4)
  (at r46 v5)
  (free v6)
  (at r99 v7)
  (at r102 v8)
  (at r33 v9)
  (at r130 v10)
  (at r114 v11)
  (at r103 v12)
  (at r128 v13)
  (at r56 v14)
  (at r100 v15)
  (at r44 v16)
  (free v17)
  (at r126 v18)
  (at r61 v19)
  (at r156 v20)
  (free v21)
  (at r122 v22)
  (at r133 v23)
  (at r104 v24)
  (at r164 v25)
  (at r163 v26)
  (at r105 v27)
  (free v28)
  (at r21 v29)
  (free v30)
  (at r66 v31)
  (at r25 v32)
  (at r109 v33)
  (at r36 v34)
  (at r42 v35)
  (at r68 v36)
  (at r154 v37)
  (at r29 v38)
  (at r148 v39)
  (at r80 v40)
  (at r84 v41)
  (free v42)
  (at r134 v43)
  (at r151 v44)
  (at r45 v45)
  (at r120 v46)
  (at r91 v47)
  (at r58 v48)
  (at r17 v49)
  (at r111 v50)
  (at r35 v51)
  (at r142 v52)
  (at r74 v53)
  (at r135 v54)
  (at r158 v55)
  (at r70 v56)
  (free v57)
  (at r16 v58)
  (at r101 v59)
  (at r146 v60)
  (at r89 v61)
  (at r155 v62)
  (at r59 v63)
  (at r76 v64)
  (at r132 v65)
  (at r85 v66)
  (at r75 v67)
  (free v68)
  (at r147 v69)
  (at r139 v70)
  (free v71)
  (at r153 v72)
  (at r152 v73)
  (at r51 v74)
  (at r19 v75)
  (free v76)
  (at r67 v77)
  (at r41 v78)
  (at r57 v79)
  (at r108 v80)
  (at r119 v81)
  (at r69 v82)
  (at r144 v83)
  (free v84)
  (at r65 v85)
  (at r171 v86)
  (at r54 v87)
  (at r72 v88)
  (at r50 v89)
  (at r79 v90)
  (at r31 v91)
  (at r52 v92)
  (at r118 v93)
  (at r49 v94)
  (at r113 v95)
  (at r83 v96)
  (at r124 v97)
  (at r86 v98)
  (at r168 v99)
  (at r131 v100)
  (at r127 v101)
  (at r123 v102)
  (at r81 v103)
  (at r145 v104)
  (at r121 v105)
  (at r165 v106)
  (at r143 v107)
  (at r60 v108)
  (at r28 v109)
  (at r22 v110)
  (free v111)
  (at r20 v112)
  (free v113)
  (at r30 v114)
  (at r40 v115)
  (at r129 v116)
  (at r167 v117)
  (at r159 v118)
  (at r140 v119)
  (at r63 v120)
  (at r78 v121)
  (at r23 v122)
  (at r141 v123)
  (at r150 v124)
  (at r77 v125)
  (at r160 v126)
  (at r37 v127)
  (at r34 v128)
  (at r137 v129)
  (at r43 v130)
  (at r64 v131)
  (at r62 v132)
  (at r39 v133)
  (free v134)
  (at r173 v135)
  (at r161 v136)
  (at r88 v137)
  (at r125 v138)
  (at r138 v139)
  (at r107 v140)
  (at r149 v141)
  (at r106 v142)
  (free v143)
  (at r90 v144)
  (at r94 v145)
  (at r26 v146)
  (at r170 v147)
  (at r53 v148)
  (at r97 v149)
  (at r92 v150)
  (at r162 v151)
  (at r110 v152)
  (at r117 v153)
  (at r95 v154)
  (at r166 v155)
  (at r112 v156)
  (at r96 v157)
  (at r169 v158)
  (free v159)
  (at r27 v160)
  (at r116 v161)
  (at r47 v162)
  (at r93 v163)
  (at r48 v164)
  (at r32 v165)
  (at r157 v166)
  (at r71 v167)
  (at r18 v168)
  (at r55 v169)
  (at r38 v170)
  (at r82 v171)
  (at r115 v172)
  (at r98 v173)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v8)
  (adjacent v0 v13)
  (adjacent v0 v24)
  (adjacent v0 v48)
  (adjacent v0 v98)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v65)
  (adjacent v2 v3)
  (adjacent v2 v122)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v9)
  (adjacent v3 v42)
  (adjacent v4 v18)
  (adjacent v4 v31)
  (adjacent v4 v84)
  (adjacent v4 v138)
  (adjacent v5 v68)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v33)
  (adjacent v9 v10)
  (adjacent v9 v125)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v12 v13)
  (adjacent v12 v26)
  (adjacent v13 v23)
  (adjacent v14 v15)
  (adjacent v14 v30)
  (adjacent v14 v112)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v16 v27)
  (adjacent v17 v18)
  (adjacent v18 v105)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v68)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v22 v41)
  (adjacent v23 v80)
  (adjacent v24 v25)
  (adjacent v24 v57)
  (adjacent v25 v26)
  (adjacent v26 v34)
  (adjacent v26 v81)
  (adjacent v27 v28)
  (adjacent v27 v51)
  (adjacent v28 v29)
  (adjacent v28 v35)
  (adjacent v29 v30)
  (adjacent v29 v155)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v47)
  (adjacent v32 v139)
  (adjacent v35 v36)
  (adjacent v35 v48)
  (adjacent v35 v102)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v83)
  (adjacent v39 v40)
  (adjacent v39 v91)
  (adjacent v40 v41)
  (adjacent v40 v173)
  (adjacent v41 v50)
  (adjacent v41 v124)
  (adjacent v42 v43)
  (adjacent v42 v49)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v58)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v49 v50)
  (adjacent v49 v75)
  (adjacent v49 v97)
  (adjacent v49 v99)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v64)
  (adjacent v54 v145)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v101)
  (adjacent v56 v117)
  (adjacent v56 v123)
  (adjacent v58 v59)
  (adjacent v58 v67)
  (adjacent v59 v60)
  (adjacent v59 v90)
  (adjacent v59 v150)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v151)
  (adjacent v63 v161)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v69)
  (adjacent v67 v119)
  (adjacent v69 v70)
  (adjacent v69 v76)
  (adjacent v70 v71)
  (adjacent v70 v132)
  (adjacent v71 v72)
  (adjacent v71 v111)
  (adjacent v72 v73)
  (adjacent v72 v131)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v76 v98)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v81 v99)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v100)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v106)
  (adjacent v88 v146)
  (adjacent v88 v166)
  (adjacent v89 v90)
  (adjacent v89 v117)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v99 v118)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v102 v171)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v116)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v118)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v118 v170)
  (adjacent v119 v120)
  (adjacent v119 v154)
  (adjacent v120 v121)
  (adjacent v120 v155)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v173)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v132 v167)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v156)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v147 v162)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v163 v172)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r158 v0)
  (free v1)
  (at r25 v2)
  (at r162 v3)
  (free v4)
  (at r95 v5)
  (at r81 v6)
  (at r21 v7)
  (at r103 v8)
  (at r155 v9)
  (at r125 v10)
  (at r107 v11)
  (free v12)
  (at r145 v13)
  (at r129 v14)
  (at r77 v15)
  (at r168 v16)
  (at r141 v17)
  (at r68 v18)
  (at r65 v19)
  (at r126 v20)
  (at r76 v21)
  (at r169 v22)
  (at r114 v23)
  (at r94 v24)
  (at r18 v25)
  (at r61 v26)
  (at r48 v27)
  (at r85 v28)
  (free v29)
  (at r165 v30)
  (at r54 v31)
  (at r40 v32)
  (at r122 v33)
  (at r108 v34)
  (at r93 v35)
  (at r33 v36)
  (at r70 v37)
  (at r58 v38)
  (at r134 v39)
  (at r150 v40)
  (at r19 v41)
  (at r55 v42)
  (at r49 v43)
  (at r106 v44)
  (at r91 v45)
  (at r109 v46)
  (at r151 v47)
  (at r74 v48)
  (at r52 v49)
  (at r62 v50)
  (at r22 v51)
  (at r127 v52)
  (at r97 v53)
  (at r57 v54)
  (at r157 v55)
  (free v56)
  (free v57)
  (at r64 v58)
  (at r84 v59)
  (at r59 v60)
  (at r44 v61)
  (at r166 v62)
  (at r140 v63)
  (at r90 v64)
  (at r43 v65)
  (at r27 v66)
  (at r46 v67)
  (at r143 v68)
  (at r111 v69)
  (at r89 v70)
  (at r60 v71)
  (at r34 v72)
  (at r159 v73)
  (at r101 v74)
  (at r154 v75)
  (at r135 v76)
  (at r163 v77)
  (at r170 v78)
  (at r123 v79)
  (at r164 v80)
  (at r160 v81)
  (at r35 v82)
  (at r75 v83)
  (at r171 v84)
  (at r26 v85)
  (at r146 v86)
  (at r147 v87)
  (at r23 v88)
  (at r29 v89)
  (at r53 v90)
  (at r124 v91)
  (at r148 v92)
  (free v93)
  (at r39 v94)
  (at r38 v95)
  (at r152 v96)
  (at r102 v97)
  (at r136 v98)
  (at r119 v99)
  (free v100)
  (at r153 v101)
  (at r132 v102)
  (at r37 v103)
  (at r79 v104)
  (at r73 v105)
  (at r42 v106)
  (free v107)
  (at r71 v108)
  (at r128 v109)
  (at r115 v110)
  (at r41 v111)
  (at r20 v112)
  (at r28 v113)
  (at r30 v114)
  (at r113 v115)
  (at r144 v116)
  (at r66 v117)
  (at r80 v118)
  (free v119)
  (at r45 v120)
  (at r98 v121)
  (at r32 v122)
  (at r69 v123)
  (at r86 v124)
  (at r83 v125)
  (at r149 v126)
  (at r56 v127)
  (at r96 v128)
  (at r50 v129)
  (at r118 v130)
  (at r104 v131)
  (at r161 v132)
  (free v133)
  (at r88 v134)
  (at r137 v135)
  (at r120 v136)
  (at r121 v137)
  (free v138)
  (at r100 v139)
  (at r131 v140)
  (at r36 v141)
  (free v142)
  (at r24 v143)
  (at r167 v144)
  (at r173 v145)
  (at r116 v146)
  (at r117 v147)
  (at r110 v148)
  (at r16 v149)
  (at r133 v150)
  (at r138 v151)
  (at r130 v152)
  (at r82 v153)
  (at r105 v154)
  (at r142 v155)
  (at r99 v156)
  (free v157)
  (at r92 v158)
  (at r112 v159)
  (at r72 v160)
  (at r67 v161)
  (at r87 v162)
  (at r139 v163)
  (free v164)
  (at r17 v165)
  (at r172 v166)
  (at r78 v167)
  (at r63 v168)
  (free v169)
  (at r47 v170)
  (at r51 v171)
  (at r156 v172)
  (at r31 v173)
  )
 )
)