(define (problem multirobot_43_10%_c9)
 (:domain multirobot)
 (:objects
  v0 r119
  v1 r108
  v2 r145
  v3 r137
  v4 r52
  v5 r125
  v6 r128
  v7 r62
  v8 r76
  v9
  v10 r73
  v11
  v12 r21
  v13 r45
  v14
  v15 r96
  v16 r100
  v17 r60
  v18 r86
  v19 r65
  v20 r95
  v21
  v22 r102
  v23 r51
  v24
  v25 r97
  v26 r32
  v27 r40
  v28
  v29 r140
  v30 r38
  v31 r81
  v32 r78
  v33 r79
  v34 r123
  v35 r129
  v36 r116
  v37 r50
  v38 r88
  v39 r36
  v40 r101
  v41 r112
  v42 r25
  v43 r92
  v44 r109
  v45
  v46 r127
  v47 r90
  v48 r63
  v49 r68
  v50
  v51 r41
  v52 r126
  v53 r70
  v54
  v55 r55
  v56 r85
  v57 r89
  v58 r75
  v59 r141
  v60 r122
  v61 r124
  v62 r18
  v63 r54
  v64 r132
  v65 r115
  v66 r20
  v67 r80
  v68 r19
  v69 r120
  v70 r28
  v71 r37
  v72 r106
  v73 r93
  v74
  v75 r30
  v76 r134
  v77 r103
  v78 r23
  v79 r104
  v80 r77
  v81
  v82 r22
  v83 r136
  v84
  v85 r144
  v86 r94
  v87 r143
  v88 r29
  v89 r53
  v90 r142
  v91 r87
  v92 r49
  v93 r59
  v94 r91
  v95 r39
  v96 r35
  v97 r34
  v98 r48
  v99 r31
  v100 r56
  v101
  v102 r47
  v103 r83
  v104 r133
  v105 r99
  v106 r69
  v107 r82
  v108 r114
  v109 r105
  v110 r113
  v111 r61
  v112 r42
  v113 r98
  v114 r107
  v115 r74
  v116 r131
  v117 r64
  v118 r67
  v119 r66
  v120
  v121
  v122 r135
  v123 r58
  v124 r117
  v125 r24
  v126 r110
  v127 r44
  v128 r72
  v129 r111
  v130 r138
  v131 r118
  v132 r33
  v133 r57
  v134 r121
  v135 r71
  v136 r27
  v137 r17
  v138 r16
  v139 r26
  v140 r130
  v141 r84
  v142
  v143 r43
  v144 r139
  v145 r46
 )
 (:init
  (at r119 v0)
  (at r108 v1)
  (at r145 v2)
  (at r137 v3)
  (at r52 v4)
  (at r125 v5)
  (at r128 v6)
  (at r62 v7)
  (at r76 v8)
  (free v9)
  (at r73 v10)
  (free v11)
  (at r21 v12)
  (at r45 v13)
  (free v14)
  (at r96 v15)
  (at r100 v16)
  (at r60 v17)
  (at r86 v18)
  (at r65 v19)
  (at r95 v20)
  (free v21)
  (at r102 v22)
  (at r51 v23)
  (free v24)
  (at r97 v25)
  (at r32 v26)
  (at r40 v27)
  (free v28)
  (at r140 v29)
  (at r38 v30)
  (at r81 v31)
  (at r78 v32)
  (at r79 v33)
  (at r123 v34)
  (at r129 v35)
  (at r116 v36)
  (at r50 v37)
  (at r88 v38)
  (at r36 v39)
  (at r101 v40)
  (at r112 v41)
  (at r25 v42)
  (at r92 v43)
  (at r109 v44)
  (free v45)
  (at r127 v46)
  (at r90 v47)
  (at r63 v48)
  (at r68 v49)
  (free v50)
  (at r41 v51)
  (at r126 v52)
  (at r70 v53)
  (free v54)
  (at r55 v55)
  (at r85 v56)
  (at r89 v57)
  (at r75 v58)
  (at r141 v59)
  (at r122 v60)
  (at r124 v61)
  (at r18 v62)
  (at r54 v63)
  (at r132 v64)
  (at r115 v65)
  (at r20 v66)
  (at r80 v67)
  (at r19 v68)
  (at r120 v69)
  (at r28 v70)
  (at r37 v71)
  (at r106 v72)
  (at r93 v73)
  (free v74)
  (at r30 v75)
  (at r134 v76)
  (at r103 v77)
  (at r23 v78)
  (at r104 v79)
  (at r77 v80)
  (free v81)
  (at r22 v82)
  (at r136 v83)
  (free v84)
  (at r144 v85)
  (at r94 v86)
  (at r143 v87)
  (at r29 v88)
  (at r53 v89)
  (at r142 v90)
  (at r87 v91)
  (at r49 v92)
  (at r59 v93)
  (at r91 v94)
  (at r39 v95)
  (at r35 v96)
  (at r34 v97)
  (at r48 v98)
  (at r31 v99)
  (at r56 v100)
  (free v101)
  (at r47 v102)
  (at r83 v103)
  (at r133 v104)
  (at r99 v105)
  (at r69 v106)
  (at r82 v107)
  (at r114 v108)
  (at r105 v109)
  (at r113 v110)
  (at r61 v111)
  (at r42 v112)
  (at r98 v113)
  (at r107 v114)
  (at r74 v115)
  (at r131 v116)
  (at r64 v117)
  (at r67 v118)
  (at r66 v119)
  (free v120)
  (free v121)
  (at r135 v122)
  (at r58 v123)
  (at r117 v124)
  (at r24 v125)
  (at r110 v126)
  (at r44 v127)
  (at r72 v128)
  (at r111 v129)
  (at r138 v130)
  (at r118 v131)
  (at r33 v132)
  (at r57 v133)
  (at r121 v134)
  (at r71 v135)
  (at r27 v136)
  (at r17 v137)
  (at r16 v138)
  (at r26 v139)
  (at r130 v140)
  (at r84 v141)
  (free v142)
  (at r43 v143)
  (at r139 v144)
  (at r46 v145)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v24)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v27)
  (adjacent v3 v76)
  (adjacent v3 v139)
  (adjacent v4 v45)
  (adjacent v4 v118)
  (adjacent v5 v6)
  (adjacent v5 v23)
  (adjacent v5 v34)
  (adjacent v5 v135)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v8 v9)
  (adjacent v8 v43)
  (adjacent v8 v71)
  (adjacent v9 v10)
  (adjacent v9 v51)
  (adjacent v9 v100)
  (adjacent v9 v101)
  (adjacent v10 v11)
  (adjacent v11 v18)
  (adjacent v11 v114)
  (adjacent v12 v68)
  (adjacent v13 v14)
  (adjacent v13 v68)
  (adjacent v14 v15)
  (adjacent v14 v77)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v26)
  (adjacent v17 v52)
  (adjacent v17 v117)
  (adjacent v18 v19)
  (adjacent v18 v35)
  (adjacent v18 v86)
  (adjacent v19 v20)
  (adjacent v19 v30)
  (adjacent v19 v40)
  (adjacent v20 v21)
  (adjacent v20 v63)
  (adjacent v20 v79)
  (adjacent v21 v22)
  (adjacent v21 v52)
  (adjacent v21 v69)
  (adjacent v22 v23)
  (adjacent v23 v69)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v123)
  (adjacent v26 v29)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v27 v121)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v30 v115)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v44)
  (adjacent v32 v56)
  (adjacent v32 v67)
  (adjacent v33 v34)
  (adjacent v33 v90)
  (adjacent v34 v41)
  (adjacent v35 v36)
  (adjacent v35 v96)
  (adjacent v36 v37)
  (adjacent v36 v138)
  (adjacent v37 v38)
  (adjacent v37 v127)
  (adjacent v38 v39)
  (adjacent v38 v43)
  (adjacent v39 v40)
  (adjacent v39 v44)
  (adjacent v39 v70)
  (adjacent v41 v42)
  (adjacent v42 v53)
  (adjacent v45 v46)
  (adjacent v45 v89)
  (adjacent v46 v47)
  (adjacent v46 v59)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v129)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v55)
  (adjacent v52 v62)
  (adjacent v52 v116)
  (adjacent v53 v54)
  (adjacent v53 v58)
  (adjacent v53 v117)
  (adjacent v54 v55)
  (adjacent v54 v124)
  (adjacent v54 v132)
  (adjacent v55 v107)
  (adjacent v56 v57)
  (adjacent v56 v145)
  (adjacent v57 v58)
  (adjacent v57 v91)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v72)
  (adjacent v63 v64)
  (adjacent v63 v108)
  (adjacent v64 v65)
  (adjacent v64 v85)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v78)
  (adjacent v67 v144)
  (adjacent v68 v122)
  (adjacent v70 v71)
  (adjacent v70 v90)
  (adjacent v70 v95)
  (adjacent v72 v73)
  (adjacent v72 v125)
  (adjacent v72 v130)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v136)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v107)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v106)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v96 v126)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v108 v109)
  (adjacent v108 v124)
  (adjacent v108 v145)
  (adjacent v109 v110)
  (adjacent v109 v140)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v131)
  (adjacent v122 v123)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v139)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
 )
 (:goal
  (and
  (at r43 v0)
  (at r55 v1)
  (at r20 v2)
  (at r104 v3)
  (at r77 v4)
  (at r109 v5)
  (at r94 v6)
  (at r42 v7)
  (at r75 v8)
  (at r91 v9)
  (at r103 v10)
  (at r61 v11)
  (at r40 v12)
  (at r71 v13)
  (at r129 v14)
  (at r142 v15)
  (at r32 v16)
  (at r33 v17)
  (at r18 v18)
  (at r23 v19)
  (at r86 v20)
  (at r81 v21)
  (at r22 v22)
  (at r90 v23)
  (at r64 v24)
  (at r59 v25)
  (at r57 v26)
  (free v27)
  (at r113 v28)
  (at r19 v29)
  (at r139 v30)
  (at r138 v31)
  (at r58 v32)
  (at r69 v33)
  (at r79 v34)
  (at r106 v35)
  (at r131 v36)
  (at r144 v37)
  (at r100 v38)
  (at r135 v39)
  (free v40)
  (at r49 v41)
  (at r137 v42)
  (at r70 v43)
  (at r35 v44)
  (at r105 v45)
  (at r112 v46)
  (at r26 v47)
  (at r39 v48)
  (at r111 v49)
  (at r101 v50)
  (free v51)
  (at r46 v52)
  (at r51 v53)
  (at r136 v54)
  (at r89 v55)
  (at r114 v56)
  (at r72 v57)
  (at r84 v58)
  (at r140 v59)
  (free v60)
  (at r34 v61)
  (at r95 v62)
  (at r50 v63)
  (at r30 v64)
  (at r38 v65)
  (at r28 v66)
  (free v67)
  (at r143 v68)
  (free v69)
  (at r118 v70)
  (at r17 v71)
  (free v72)
  (at r99 v73)
  (at r110 v74)
  (at r67 v75)
  (at r37 v76)
  (free v77)
  (at r53 v78)
  (at r83 v79)
  (at r87 v80)
  (at r48 v81)
  (at r54 v82)
  (free v83)
  (at r123 v84)
  (at r66 v85)
  (at r121 v86)
  (at r97 v87)
  (at r44 v88)
  (at r102 v89)
  (at r62 v90)
  (at r119 v91)
  (at r98 v92)
  (at r21 v93)
  (at r29 v94)
  (free v95)
  (at r47 v96)
  (at r132 v97)
  (at r68 v98)
  (at r41 v99)
  (at r120 v100)
  (at r128 v101)
  (at r78 v102)
  (at r134 v103)
  (at r56 v104)
  (at r74 v105)
  (at r80 v106)
  (at r36 v107)
  (free v108)
  (at r122 v109)
  (at r127 v110)
  (free v111)
  (at r115 v112)
  (at r60 v113)
  (at r96 v114)
  (at r125 v115)
  (at r116 v116)
  (at r63 v117)
  (at r133 v118)
  (at r107 v119)
  (free v120)
  (at r52 v121)
  (at r65 v122)
  (at r27 v123)
  (at r16 v124)
  (at r24 v125)
  (at r126 v126)
  (at r124 v127)
  (at r82 v128)
  (at r130 v129)
  (at r141 v130)
  (at r93 v131)
  (free v132)
  (at r45 v133)
  (at r145 v134)
  (free v135)
  (at r92 v136)
  (at r76 v137)
  (free v138)
  (at r25 v139)
  (at r85 v140)
  (at r31 v141)
  (at r88 v142)
  (at r108 v143)
  (at r117 v144)
  (at r73 v145)
  )
 )
)