(define (problem multirobot_45_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r49
  v1 r61
  v2 r20
  v3 r92
  v4
  v5 r125
  v6
  v7 r70
  v8 r18
  v9 r107
  v10 r99
  v11 r124
  v12 r98
  v13 r105
  v14 r75
  v15 r81
  v16 r161
  v17 r68
  v18
  v19
  v20 r31
  v21 r88
  v22 r121
  v23 r134
  v24 r21
  v25 r67
  v26 r116
  v27 r118
  v28 r159
  v29 r24
  v30 r147
  v31 r43
  v32 r157
  v33 r54
  v34 r100
  v35
  v36 r117
  v37 r71
  v38 r142
  v39 r42
  v40 r57
  v41 r150
  v42 r38
  v43 r101
  v44 r95
  v45 r55
  v46
  v47 r143
  v48 r126
  v49
  v50 r74
  v51 r149
  v52 r58
  v53 r28
  v54 r112
  v55 r77
  v56 r53
  v57 r63
  v58 r155
  v59 r46
  v60 r27
  v61 r131
  v62 r120
  v63 r45
  v64 r89
  v65 r146
  v66
  v67 r36
  v68 r158
  v69 r115
  v70 r50
  v71 r39
  v72 r111
  v73 r122
  v74 r148
  v75 r84
  v76 r97
  v77 r96
  v78 r60
  v79 r35
  v80 r162
  v81 r139
  v82 r91
  v83 r152
  v84 r114
  v85 r153
  v86 r80
  v87 r86
  v88 r23
  v89 r72
  v90 r104
  v91 r32
  v92 r160
  v93 r87
  v94 r110
  v95 r79
  v96
  v97
  v98 r90
  v99 r48
  v100 r64
  v101 r133
  v102 r47
  v103 r144
  v104 r40
  v105 r135
  v106
  v107 r130
  v108 r73
  v109 r37
  v110 r78
  v111
  v112 r52
  v113 r129
  v114 r17
  v115 r156
  v116 r85
  v117 r94
  v118 r34
  v119
  v120 r137
  v121 r51
  v122
  v123 r138
  v124 r119
  v125 r109
  v126 r69
  v127 r136
  v128 r127
  v129 r29
  v130
  v131 r66
  v132 r128
  v133 r141
  v134 r76
  v135 r22
  v136 r62
  v137 r103
  v138 r41
  v139 r56
  v140 r30
  v141 r113
  v142 r44
  v143 r106
  v144 r59
  v145 r33
  v146 r140
  v147 r25
  v148 r26
  v149 r132
  v150 r102
  v151 r82
  v152
  v153 r93
  v154 r83
  v155 r151
  v156 r19
  v157 r108
  v158 r65
  v159 r123
  v160 r154
  v161
  v162 r145
 )
 (:init
  (at r49 v0)
  (at r61 v1)
  (at r20 v2)
  (at r92 v3)
  (free v4)
  (at r125 v5)
  (free v6)
  (at r70 v7)
  (at r18 v8)
  (at r107 v9)
  (at r99 v10)
  (at r124 v11)
  (at r98 v12)
  (at r105 v13)
  (at r75 v14)
  (at r81 v15)
  (at r161 v16)
  (at r68 v17)
  (free v18)
  (free v19)
  (at r31 v20)
  (at r88 v21)
  (at r121 v22)
  (at r134 v23)
  (at r21 v24)
  (at r67 v25)
  (at r116 v26)
  (at r118 v27)
  (at r159 v28)
  (at r24 v29)
  (at r147 v30)
  (at r43 v31)
  (at r157 v32)
  (at r54 v33)
  (at r100 v34)
  (free v35)
  (at r117 v36)
  (at r71 v37)
  (at r142 v38)
  (at r42 v39)
  (at r57 v40)
  (at r150 v41)
  (at r38 v42)
  (at r101 v43)
  (at r95 v44)
  (at r55 v45)
  (free v46)
  (at r143 v47)
  (at r126 v48)
  (free v49)
  (at r74 v50)
  (at r149 v51)
  (at r58 v52)
  (at r28 v53)
  (at r112 v54)
  (at r77 v55)
  (at r53 v56)
  (at r63 v57)
  (at r155 v58)
  (at r46 v59)
  (at r27 v60)
  (at r131 v61)
  (at r120 v62)
  (at r45 v63)
  (at r89 v64)
  (at r146 v65)
  (free v66)
  (at r36 v67)
  (at r158 v68)
  (at r115 v69)
  (at r50 v70)
  (at r39 v71)
  (at r111 v72)
  (at r122 v73)
  (at r148 v74)
  (at r84 v75)
  (at r97 v76)
  (at r96 v77)
  (at r60 v78)
  (at r35 v79)
  (at r162 v80)
  (at r139 v81)
  (at r91 v82)
  (at r152 v83)
  (at r114 v84)
  (at r153 v85)
  (at r80 v86)
  (at r86 v87)
  (at r23 v88)
  (at r72 v89)
  (at r104 v90)
  (at r32 v91)
  (at r160 v92)
  (at r87 v93)
  (at r110 v94)
  (at r79 v95)
  (free v96)
  (free v97)
  (at r90 v98)
  (at r48 v99)
  (at r64 v100)
  (at r133 v101)
  (at r47 v102)
  (at r144 v103)
  (at r40 v104)
  (at r135 v105)
  (free v106)
  (at r130 v107)
  (at r73 v108)
  (at r37 v109)
  (at r78 v110)
  (free v111)
  (at r52 v112)
  (at r129 v113)
  (at r17 v114)
  (at r156 v115)
  (at r85 v116)
  (at r94 v117)
  (at r34 v118)
  (free v119)
  (at r137 v120)
  (at r51 v121)
  (free v122)
  (at r138 v123)
  (at r119 v124)
  (at r109 v125)
  (at r69 v126)
  (at r136 v127)
  (at r127 v128)
  (at r29 v129)
  (free v130)
  (at r66 v131)
  (at r128 v132)
  (at r141 v133)
  (at r76 v134)
  (at r22 v135)
  (at r62 v136)
  (at r103 v137)
  (at r41 v138)
  (at r56 v139)
  (at r30 v140)
  (at r113 v141)
  (at r44 v142)
  (at r106 v143)
  (at r59 v144)
  (at r33 v145)
  (at r140 v146)
  (at r25 v147)
  (at r26 v148)
  (at r132 v149)
  (at r102 v150)
  (at r82 v151)
  (free v152)
  (at r93 v153)
  (at r83 v154)
  (at r151 v155)
  (at r19 v156)
  (at r108 v157)
  (at r65 v158)
  (at r123 v159)
  (at r154 v160)
  (free v161)
  (at r145 v162)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v13)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v46)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v14)
  (adjacent v3 v112)
  (adjacent v4 v10)
  (adjacent v4 v29)
  (adjacent v5 v6)
  (adjacent v5 v25)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v25)
  (adjacent v9 v20)
  (adjacent v9 v24)
  (adjacent v9 v31)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v11 v12)
  (adjacent v11 v15)
  (adjacent v11 v32)
  (adjacent v11 v57)
  (adjacent v11 v68)
  (adjacent v12 v13)
  (adjacent v12 v16)
  (adjacent v12 v89)
  (adjacent v13 v86)
  (adjacent v14 v17)
  (adjacent v14 v150)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v15 v26)
  (adjacent v17 v18)
  (adjacent v17 v139)
  (adjacent v17 v144)
  (adjacent v18 v19)
  (adjacent v18 v143)
  (adjacent v19 v20)
  (adjacent v19 v123)
  (adjacent v20 v47)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v21 v80)
  (adjacent v22 v23)
  (adjacent v22 v137)
  (adjacent v23 v24)
  (adjacent v23 v43)
  (adjacent v23 v65)
  (adjacent v23 v122)
  (adjacent v24 v28)
  (adjacent v26 v27)
  (adjacent v26 v146)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v131)
  (adjacent v30 v31)
  (adjacent v30 v107)
  (adjacent v31 v61)
  (adjacent v32 v33)
  (adjacent v32 v39)
  (adjacent v32 v58)
  (adjacent v32 v149)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v120)
  (adjacent v35 v36)
  (adjacent v35 v69)
  (adjacent v36 v37)
  (adjacent v36 v44)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v39 v80)
  (adjacent v39 v143)
  (adjacent v40 v41)
  (adjacent v40 v87)
  (adjacent v41 v42)
  (adjacent v41 v54)
  (adjacent v41 v118)
  (adjacent v42 v43)
  (adjacent v42 v60)
  (adjacent v42 v79)
  (adjacent v44 v45)
  (adjacent v44 v53)
  (adjacent v45 v46)
  (adjacent v46 v108)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v113)
  (adjacent v51 v52)
  (adjacent v51 v102)
  (adjacent v51 v119)
  (adjacent v52 v53)
  (adjacent v52 v95)
  (adjacent v52 v138)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v128)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v142)
  (adjacent v60 v66)
  (adjacent v60 v75)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v103)
  (adjacent v62 v117)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v76)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v109)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v90)
  (adjacent v81 v82)
  (adjacent v81 v156)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v117)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v87 v96)
  (adjacent v88 v89)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v124)
  (adjacent v92 v93)
  (adjacent v92 v116)
  (adjacent v92 v129)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v123)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v103 v108)
  (adjacent v104 v105)
  (adjacent v104 v162)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v138)
  (adjacent v109 v110)
  (adjacent v109 v113)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v114)
  (adjacent v111 v129)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v148)
  (adjacent v117 v155)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v120 v149)
  (adjacent v121 v122)
  (adjacent v122 v147)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v130)
  (adjacent v128 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (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 v161 v162)
 )
 (:goal
  (and
  (at r91 v0)
  (at r125 v1)
  (at r19 v2)
  (at r95 v3)
  (free v4)
  (at r72 v5)
  (at r138 v6)
  (free v7)
  (at r152 v8)
  (at r90 v9)
  (at r60 v10)
  (at r74 v11)
  (free v12)
  (at r32 v13)
  (at r75 v14)
  (at r30 v15)
  (at r46 v16)
  (at r67 v17)
  (at r120 v18)
  (free v19)
  (at r98 v20)
  (at r100 v21)
  (at r41 v22)
  (at r118 v23)
  (at r115 v24)
  (at r160 v25)
  (at r126 v26)
  (at r102 v27)
  (at r56 v28)
  (at r38 v29)
  (at r68 v30)
  (at r42 v31)
  (at r88 v32)
  (free v33)
  (at r35 v34)
  (at r99 v35)
  (at r151 v36)
  (at r54 v37)
  (at r97 v38)
  (at r37 v39)
  (at r31 v40)
  (at r145 v41)
  (at r96 v42)
  (at r144 v43)
  (at r94 v44)
  (free v45)
  (free v46)
  (at r70 v47)
  (at r122 v48)
  (at r77 v49)
  (at r106 v50)
  (at r89 v51)
  (at r127 v52)
  (at r135 v53)
  (at r139 v54)
  (at r86 v55)
  (at r154 v56)
  (at r137 v57)
  (at r93 v58)
  (free v59)
  (at r107 v60)
  (at r116 v61)
  (at r103 v62)
  (at r129 v63)
  (at r36 v64)
  (at r110 v65)
  (at r149 v66)
  (at r130 v67)
  (at r84 v68)
  (at r78 v69)
  (at r64 v70)
  (at r45 v71)
  (at r117 v72)
  (at r141 v73)
  (at r158 v74)
  (at r109 v75)
  (at r66 v76)
  (at r80 v77)
  (at r155 v78)
  (at r23 v79)
  (at r92 v80)
  (free v81)
  (at r57 v82)
  (at r53 v83)
  (at r20 v84)
  (at r48 v85)
  (at r153 v86)
  (at r148 v87)
  (at r76 v88)
  (free v89)
  (at r63 v90)
  (at r62 v91)
  (at r101 v92)
  (at r143 v93)
  (at r123 v94)
  (at r150 v95)
  (at r59 v96)
  (at r47 v97)
  (at r108 v98)
  (at r142 v99)
  (at r133 v100)
  (at r140 v101)
  (at r51 v102)
  (at r134 v103)
  (at r87 v104)
  (free v105)
  (at r65 v106)
  (at r24 v107)
  (at r119 v108)
  (free v109)
  (at r73 v110)
  (at r104 v111)
  (at r39 v112)
  (at r157 v113)
  (at r58 v114)
  (at r44 v115)
  (at r17 v116)
  (at r61 v117)
  (at r105 v118)
  (at r146 v119)
  (at r147 v120)
  (at r49 v121)
  (at r71 v122)
  (at r33 v123)
  (at r28 v124)
  (at r79 v125)
  (at r136 v126)
  (at r29 v127)
  (at r27 v128)
  (at r132 v129)
  (at r81 v130)
  (at r128 v131)
  (free v132)
  (at r114 v133)
  (at r156 v134)
  (at r113 v135)
  (at r55 v136)
  (free v137)
  (at r69 v138)
  (at r82 v139)
  (at r162 v140)
  (free v141)
  (at r112 v142)
  (at r131 v143)
  (at r22 v144)
  (at r18 v145)
  (at r124 v146)
  (at r25 v147)
  (at r159 v148)
  (at r52 v149)
  (at r34 v150)
  (at r161 v151)
  (at r26 v152)
  (at r50 v153)
  (at r121 v154)
  (at r40 v155)
  (at r21 v156)
  (at r111 v157)
  (free v158)
  (at r43 v159)
  (free v160)
  (at r85 v161)
  (at r83 v162)
  )
 )
)