(define (problem multirobot_44_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r102
  v1 r97
  v2 r60
  v3 r36
  v4 r32
  v5 r109
  v6 r24
  v7 r148
  v8 r67
  v9 r50
  v10 r68
  v11 r77
  v12
  v13 r84
  v14 r44
  v15 r111
  v16
  v17 r78
  v18 r39
  v19 r58
  v20 r66
  v21 r130
  v22 r122
  v23 r26
  v24 r141
  v25 r150
  v26
  v27 r20
  v28 r131
  v29 r120
  v30 r43
  v31 r161
  v32 r74
  v33 r138
  v34 r152
  v35 r99
  v36 r87
  v37 r132
  v38 r48
  v39 r46
  v40 r106
  v41 r91
  v42 r31
  v43
  v44 r17
  v45 r157
  v46 r125
  v47
  v48 r63
  v49 r140
  v50 r144
  v51 r115
  v52 r54
  v53
  v54 r110
  v55 r101
  v56 r105
  v57 r103
  v58 r90
  v59 r53
  v60 r37
  v61 r65
  v62 r30
  v63 r165
  v64 r61
  v65 r14
  v66 r126
  v67 r168
  v68
  v69 r113
  v70 r146
  v71 r57
  v72
  v73 r40
  v74 r49
  v75 r123
  v76
  v77 r121
  v78 r156
  v79 r81
  v80 r116
  v81 r167
  v82 r25
  v83 r135
  v84 r18
  v85 r128
  v86 r85
  v87 r45
  v88 r69
  v89 r51
  v90 r73
  v91 r108
  v92 r72
  v93 r149
  v94 r38
  v95 r145
  v96 r83
  v97 r104
  v98 r143
  v99 r79
  v100 r82
  v101 r136
  v102 r100
  v103 r139
  v104 r127
  v105 r47
  v106 r80
  v107 r71
  v108 r153
  v109 r52
  v110
  v111 r114
  v112 r15
  v113 r55
  v114 r154
  v115
  v116 r164
  v117 r62
  v118 r117
  v119 r98
  v120 r133
  v121
  v122 r64
  v123 r21
  v124 r75
  v125 r76
  v126 r35
  v127 r151
  v128 r166
  v129 r119
  v130 r56
  v131 r95
  v132 r41
  v133 r147
  v134 r92
  v135 r27
  v136 r19
  v137 r142
  v138 r158
  v139 r137
  v140 r93
  v141 r42
  v142 r29
  v143 r107
  v144 r70
  v145 r160
  v146 r86
  v147 r112
  v148 r155
  v149 r34
  v150
  v151 r88
  v152 r33
  v153 r118
  v154 r16
  v155 r129
  v156 r163
  v157 r89
  v158 r59
  v159 r22
  v160 r124
  v161
  v162 r162
  v163 r23
  v164 r159
  v165 r96
  v166 r28
  v167 r134
  v168 r94
 )
 (:init
  (at r102 v0)
  (at r97 v1)
  (at r60 v2)
  (at r36 v3)
  (at r32 v4)
  (at r109 v5)
  (at r24 v6)
  (at r148 v7)
  (at r67 v8)
  (at r50 v9)
  (at r68 v10)
  (at r77 v11)
  (free v12)
  (at r84 v13)
  (at r44 v14)
  (at r111 v15)
  (free v16)
  (at r78 v17)
  (at r39 v18)
  (at r58 v19)
  (at r66 v20)
  (at r130 v21)
  (at r122 v22)
  (at r26 v23)
  (at r141 v24)
  (at r150 v25)
  (free v26)
  (at r20 v27)
  (at r131 v28)
  (at r120 v29)
  (at r43 v30)
  (at r161 v31)
  (at r74 v32)
  (at r138 v33)
  (at r152 v34)
  (at r99 v35)
  (at r87 v36)
  (at r132 v37)
  (at r48 v38)
  (at r46 v39)
  (at r106 v40)
  (at r91 v41)
  (at r31 v42)
  (free v43)
  (at r17 v44)
  (at r157 v45)
  (at r125 v46)
  (free v47)
  (at r63 v48)
  (at r140 v49)
  (at r144 v50)
  (at r115 v51)
  (at r54 v52)
  (free v53)
  (at r110 v54)
  (at r101 v55)
  (at r105 v56)
  (at r103 v57)
  (at r90 v58)
  (at r53 v59)
  (at r37 v60)
  (at r65 v61)
  (at r30 v62)
  (at r165 v63)
  (at r61 v64)
  (at r14 v65)
  (at r126 v66)
  (at r168 v67)
  (free v68)
  (at r113 v69)
  (at r146 v70)
  (at r57 v71)
  (free v72)
  (at r40 v73)
  (at r49 v74)
  (at r123 v75)
  (free v76)
  (at r121 v77)
  (at r156 v78)
  (at r81 v79)
  (at r116 v80)
  (at r167 v81)
  (at r25 v82)
  (at r135 v83)
  (at r18 v84)
  (at r128 v85)
  (at r85 v86)
  (at r45 v87)
  (at r69 v88)
  (at r51 v89)
  (at r73 v90)
  (at r108 v91)
  (at r72 v92)
  (at r149 v93)
  (at r38 v94)
  (at r145 v95)
  (at r83 v96)
  (at r104 v97)
  (at r143 v98)
  (at r79 v99)
  (at r82 v100)
  (at r136 v101)
  (at r100 v102)
  (at r139 v103)
  (at r127 v104)
  (at r47 v105)
  (at r80 v106)
  (at r71 v107)
  (at r153 v108)
  (at r52 v109)
  (free v110)
  (at r114 v111)
  (at r15 v112)
  (at r55 v113)
  (at r154 v114)
  (free v115)
  (at r164 v116)
  (at r62 v117)
  (at r117 v118)
  (at r98 v119)
  (at r133 v120)
  (free v121)
  (at r64 v122)
  (at r21 v123)
  (at r75 v124)
  (at r76 v125)
  (at r35 v126)
  (at r151 v127)
  (at r166 v128)
  (at r119 v129)
  (at r56 v130)
  (at r95 v131)
  (at r41 v132)
  (at r147 v133)
  (at r92 v134)
  (at r27 v135)
  (at r19 v136)
  (at r142 v137)
  (at r158 v138)
  (at r137 v139)
  (at r93 v140)
  (at r42 v141)
  (at r29 v142)
  (at r107 v143)
  (at r70 v144)
  (at r160 v145)
  (at r86 v146)
  (at r112 v147)
  (at r155 v148)
  (at r34 v149)
  (free v150)
  (at r88 v151)
  (at r33 v152)
  (at r118 v153)
  (at r16 v154)
  (at r129 v155)
  (at r163 v156)
  (at r89 v157)
  (at r59 v158)
  (at r22 v159)
  (at r124 v160)
  (free v161)
  (at r162 v162)
  (at r23 v163)
  (at r159 v164)
  (at r96 v165)
  (at r28 v166)
  (at r134 v167)
  (at r94 v168)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v12)
  (adjacent v0 v78)
  (adjacent v0 v110)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v111)
  (adjacent v3 v4)
  (adjacent v3 v72)
  (adjacent v3 v105)
  (adjacent v4 v12)
  (adjacent v4 v16)
  (adjacent v5 v6)
  (adjacent v5 v19)
  (adjacent v5 v28)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v6 v15)
  (adjacent v6 v24)
  (adjacent v6 v50)
  (adjacent v6 v70)
  (adjacent v7 v8)
  (adjacent v7 v87)
  (adjacent v8 v9)
  (adjacent v8 v13)
  (adjacent v8 v49)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v14)
  (adjacent v12 v30)
  (adjacent v12 v74)
  (adjacent v13 v39)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v15 v29)
  (adjacent v15 v31)
  (adjacent v16 v17)
  (adjacent v16 v98)
  (adjacent v17 v18)
  (adjacent v17 v73)
  (adjacent v18 v19)
  (adjacent v18 v20)
  (adjacent v18 v116)
  (adjacent v20 v21)
  (adjacent v20 v29)
  (adjacent v20 v65)
  (adjacent v20 v88)
  (adjacent v21 v22)
  (adjacent v21 v71)
  (adjacent v21 v126)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v145)
  (adjacent v26 v27)
  (adjacent v26 v40)
  (adjacent v26 v55)
  (adjacent v27 v28)
  (adjacent v27 v32)
  (adjacent v28 v43)
  (adjacent v29 v56)
  (adjacent v29 v73)
  (adjacent v30 v31)
  (adjacent v30 v44)
  (adjacent v31 v38)
  (adjacent v32 v33)
  (adjacent v32 v92)
  (adjacent v33 v34)
  (adjacent v33 v70)
  (adjacent v33 v99)
  (adjacent v33 v110)
  (adjacent v33 v153)
  (adjacent v34 v35)
  (adjacent v34 v82)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v39)
  (adjacent v37 v132)
  (adjacent v38 v69)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v139)
  (adjacent v42 v43)
  (adjacent v42 v91)
  (adjacent v43 v66)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v71)
  (adjacent v46 v124)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v59)
  (adjacent v55 v125)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v60)
  (adjacent v58 v59)
  (adjacent v58 v140)
  (adjacent v58 v168)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v123)
  (adjacent v65 v146)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v104)
  (adjacent v69 v72)
  (adjacent v71 v81)
  (adjacent v71 v95)
  (adjacent v72 v77)
  (adjacent v74 v75)
  (adjacent v74 v161)
  (adjacent v75 v76)
  (adjacent v75 v109)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v96)
  (adjacent v80 v81)
  (adjacent v80 v117)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v135)
  (adjacent v91 v155)
  (adjacent v92 v93)
  (adjacent v92 v146)
  (adjacent v93 v94)
  (adjacent v93 v168)
  (adjacent v94 v95)
  (adjacent v95 v134)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v156)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v105 v160)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v133)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v147)
  (adjacent v137 v154)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v167)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v156)
  (adjacent v154 v155)
  (adjacent v154 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
 )
 (:goal
  (and
  (at r84 v0)
  (at r93 v1)
  (at r147 v2)
  (at r107 v3)
  (at r149 v4)
  (at r50 v5)
  (at r117 v6)
  (at r85 v7)
  (at r121 v8)
  (at r115 v9)
  (free v10)
  (at r161 v11)
  (at r42 v12)
  (at r25 v13)
  (at r62 v14)
  (at r33 v15)
  (at r17 v16)
  (at r118 v17)
  (at r28 v18)
  (at r27 v19)
  (at r83 v20)
  (at r100 v21)
  (at r23 v22)
  (at r132 v23)
  (at r55 v24)
  (at r157 v25)
  (at r82 v26)
  (at r73 v27)
  (at r135 v28)
  (at r71 v29)
  (at r116 v30)
  (at r120 v31)
  (free v32)
  (at r119 v33)
  (at r18 v34)
  (at r136 v35)
  (at r53 v36)
  (at r105 v37)
  (at r150 v38)
  (at r151 v39)
  (at r148 v40)
  (free v41)
  (at r94 v42)
  (at r112 v43)
  (at r61 v44)
  (at r167 v45)
  (at r98 v46)
  (at r130 v47)
  (at r24 v48)
  (at r129 v49)
  (free v50)
  (at r96 v51)
  (at r123 v52)
  (at r43 v53)
  (at r37 v54)
  (at r144 v55)
  (free v56)
  (at r158 v57)
  (at r65 v58)
  (at r110 v59)
  (at r48 v60)
  (at r39 v61)
  (at r128 v62)
  (at r63 v63)
  (at r46 v64)
  (at r67 v65)
  (at r99 v66)
  (at r70 v67)
  (at r34 v68)
  (at r80 v69)
  (at r163 v70)
  (at r56 v71)
  (at r95 v72)
  (at r40 v73)
  (at r81 v74)
  (at r103 v75)
  (at r45 v76)
  (at r74 v77)
  (at r145 v78)
  (at r22 v79)
  (at r142 v80)
  (at r66 v81)
  (at r78 v82)
  (at r75 v83)
  (at r36 v84)
  (at r104 v85)
  (at r160 v86)
  (at r26 v87)
  (at r159 v88)
  (at r72 v89)
  (at r164 v90)
  (free v91)
  (at r57 v92)
  (at r146 v93)
  (free v94)
  (at r68 v95)
  (at r125 v96)
  (at r124 v97)
  (at r165 v98)
  (at r113 v99)
  (at r60 v100)
  (at r49 v101)
  (at r141 v102)
  (at r111 v103)
  (at r139 v104)
  (at r21 v105)
  (at r59 v106)
  (at r162 v107)
  (at r126 v108)
  (at r41 v109)
  (at r109 v110)
  (at r35 v111)
  (free v112)
  (at r131 v113)
  (at r44 v114)
  (at r166 v115)
  (at r114 v116)
  (at r152 v117)
  (at r122 v118)
  (at r153 v119)
  (at r77 v120)
  (free v121)
  (at r134 v122)
  (at r140 v123)
  (free v124)
  (free v125)
  (at r133 v126)
  (at r52 v127)
  (at r29 v128)
  (at r88 v129)
  (at r14 v130)
  (at r16 v131)
  (free v132)
  (at r155 v133)
  (at r137 v134)
  (at r90 v135)
  (free v136)
  (at r91 v137)
  (at r138 v138)
  (at r32 v139)
  (free v140)
  (at r127 v141)
  (at r31 v142)
  (at r76 v143)
  (at r64 v144)
  (at r79 v145)
  (at r54 v146)
  (at r86 v147)
  (at r97 v148)
  (at r38 v149)
  (at r101 v150)
  (at r102 v151)
  (at r19 v152)
  (at r106 v153)
  (at r15 v154)
  (at r47 v155)
  (at r20 v156)
  (at r30 v157)
  (at r108 v158)
  (at r143 v159)
  (at r156 v160)
  (at r69 v161)
  (at r154 v162)
  (at r87 v163)
  (at r89 v164)
  (at r58 v165)
  (at r51 v166)
  (at r168 v167)
  (at r92 v168)
  )
 )
)