(define (problem multirobot_45_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r29
  v1 r109
  v2 r35
  v3 r138
  v4 r130
  v5
  v6 r96
  v7 r45
  v8 r54
  v9 r25
  v10 r166
  v11 r78
  v12 r46
  v13 r160
  v14 r111
  v15 r176
  v16 r88
  v17
  v18 r149
  v19 r21
  v20 r106
  v21 r183
  v22
  v23 r91
  v24 r151
  v25 r98
  v26
  v27 r150
  v28 r147
  v29 r179
  v30 r50
  v31 r66
  v32 r31
  v33 r153
  v34 r134
  v35 r77
  v36 r152
  v37 r184
  v38 r18
  v39 r68
  v40 r127
  v41 r131
  v42
  v43 r132
  v44 r42
  v45 r104
  v46 r33
  v47 r53
  v48 r118
  v49 r122
  v50 r116
  v51 r34
  v52 r170
  v53 r185
  v54 r24
  v55 r156
  v56 r23
  v57 r95
  v58 r47
  v59 r120
  v60 r124
  v61 r22
  v62
  v63 r59
  v64 r100
  v65 r191
  v66 r115
  v67 r76
  v68 r117
  v69 r93
  v70 r86
  v71 r83
  v72 r105
  v73 r40
  v74 r81
  v75 r112
  v76 r79
  v77 r30
  v78 r90
  v79 r136
  v80 r171
  v81 r63
  v82 r107
  v83
  v84 r119
  v85
  v86 r92
  v87 r140
  v88 r145
  v89 r27
  v90 r172
  v91 r168
  v92 r108
  v93
  v94 r133
  v95 r182
  v96 r188
  v97 r74
  v98 r61
  v99 r99
  v100 r137
  v101 r58
  v102 r190
  v103 r148
  v104 r82
  v105 r113
  v106 r155
  v107
  v108 r161
  v109 r60
  v110 r69
  v111 r87
  v112 r169
  v113 r39
  v114 r125
  v115 r56
  v116 r189
  v117 r181
  v118 r65
  v119 r55
  v120 r121
  v121 r36
  v122 r175
  v123 r174
  v124 r129
  v125 r142
  v126 r143
  v127
  v128 r180
  v129 r44
  v130 r167
  v131 r144
  v132
  v133
  v134
  v135 r139
  v136 r51
  v137 r48
  v138 r157
  v139 r103
  v140 r41
  v141 r84
  v142 r94
  v143 r43
  v144 r67
  v145 r154
  v146 r165
  v147 r26
  v148 r17
  v149 r19
  v150
  v151 r37
  v152 r38
  v153 r85
  v154 r177
  v155 r102
  v156 r164
  v157 r162
  v158 r52
  v159 r135
  v160 r123
  v161 r158
  v162 r71
  v163 r187
  v164 r57
  v165
  v166 r101
  v167 r159
  v168 r73
  v169 r20
  v170 r70
  v171 r114
  v172 r163
  v173 r178
  v174 r146
  v175 r89
  v176 r75
  v177 r64
  v178 r32
  v179 r62
  v180 r141
  v181 r110
  v182 r49
  v183 r80
  v184 r173
  v185 r126
  v186
  v187 r97
  v188 r72
  v189 r128
  v190 r186
  v191 r28
 )
 (:init
  (at r29 v0)
  (at r109 v1)
  (at r35 v2)
  (at r138 v3)
  (at r130 v4)
  (free v5)
  (at r96 v6)
  (at r45 v7)
  (at r54 v8)
  (at r25 v9)
  (at r166 v10)
  (at r78 v11)
  (at r46 v12)
  (at r160 v13)
  (at r111 v14)
  (at r176 v15)
  (at r88 v16)
  (free v17)
  (at r149 v18)
  (at r21 v19)
  (at r106 v20)
  (at r183 v21)
  (free v22)
  (at r91 v23)
  (at r151 v24)
  (at r98 v25)
  (free v26)
  (at r150 v27)
  (at r147 v28)
  (at r179 v29)
  (at r50 v30)
  (at r66 v31)
  (at r31 v32)
  (at r153 v33)
  (at r134 v34)
  (at r77 v35)
  (at r152 v36)
  (at r184 v37)
  (at r18 v38)
  (at r68 v39)
  (at r127 v40)
  (at r131 v41)
  (free v42)
  (at r132 v43)
  (at r42 v44)
  (at r104 v45)
  (at r33 v46)
  (at r53 v47)
  (at r118 v48)
  (at r122 v49)
  (at r116 v50)
  (at r34 v51)
  (at r170 v52)
  (at r185 v53)
  (at r24 v54)
  (at r156 v55)
  (at r23 v56)
  (at r95 v57)
  (at r47 v58)
  (at r120 v59)
  (at r124 v60)
  (at r22 v61)
  (free v62)
  (at r59 v63)
  (at r100 v64)
  (at r191 v65)
  (at r115 v66)
  (at r76 v67)
  (at r117 v68)
  (at r93 v69)
  (at r86 v70)
  (at r83 v71)
  (at r105 v72)
  (at r40 v73)
  (at r81 v74)
  (at r112 v75)
  (at r79 v76)
  (at r30 v77)
  (at r90 v78)
  (at r136 v79)
  (at r171 v80)
  (at r63 v81)
  (at r107 v82)
  (free v83)
  (at r119 v84)
  (free v85)
  (at r92 v86)
  (at r140 v87)
  (at r145 v88)
  (at r27 v89)
  (at r172 v90)
  (at r168 v91)
  (at r108 v92)
  (free v93)
  (at r133 v94)
  (at r182 v95)
  (at r188 v96)
  (at r74 v97)
  (at r61 v98)
  (at r99 v99)
  (at r137 v100)
  (at r58 v101)
  (at r190 v102)
  (at r148 v103)
  (at r82 v104)
  (at r113 v105)
  (at r155 v106)
  (free v107)
  (at r161 v108)
  (at r60 v109)
  (at r69 v110)
  (at r87 v111)
  (at r169 v112)
  (at r39 v113)
  (at r125 v114)
  (at r56 v115)
  (at r189 v116)
  (at r181 v117)
  (at r65 v118)
  (at r55 v119)
  (at r121 v120)
  (at r36 v121)
  (at r175 v122)
  (at r174 v123)
  (at r129 v124)
  (at r142 v125)
  (at r143 v126)
  (free v127)
  (at r180 v128)
  (at r44 v129)
  (at r167 v130)
  (at r144 v131)
  (free v132)
  (free v133)
  (free v134)
  (at r139 v135)
  (at r51 v136)
  (at r48 v137)
  (at r157 v138)
  (at r103 v139)
  (at r41 v140)
  (at r84 v141)
  (at r94 v142)
  (at r43 v143)
  (at r67 v144)
  (at r154 v145)
  (at r165 v146)
  (at r26 v147)
  (at r17 v148)
  (at r19 v149)
  (free v150)
  (at r37 v151)
  (at r38 v152)
  (at r85 v153)
  (at r177 v154)
  (at r102 v155)
  (at r164 v156)
  (at r162 v157)
  (at r52 v158)
  (at r135 v159)
  (at r123 v160)
  (at r158 v161)
  (at r71 v162)
  (at r187 v163)
  (at r57 v164)
  (free v165)
  (at r101 v166)
  (at r159 v167)
  (at r73 v168)
  (at r20 v169)
  (at r70 v170)
  (at r114 v171)
  (at r163 v172)
  (at r178 v173)
  (at r146 v174)
  (at r89 v175)
  (at r75 v176)
  (at r64 v177)
  (at r32 v178)
  (at r62 v179)
  (at r141 v180)
  (at r110 v181)
  (at r49 v182)
  (at r80 v183)
  (at r173 v184)
  (at r126 v185)
  (free v186)
  (at r97 v187)
  (at r72 v188)
  (at r128 v189)
  (at r186 v190)
  (at r28 v191)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v97)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v10)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v35)
  (adjacent v4 v8)
  (adjacent v4 v25)
  (adjacent v4 v69)
  (adjacent v4 v92)
  (adjacent v5 v6)
  (adjacent v5 v18)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v19)
  (adjacent v8 v36)
  (adjacent v9 v10)
  (adjacent v11 v12)
  (adjacent v11 v13)
  (adjacent v13 v14)
  (adjacent v13 v94)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v24)
  (adjacent v15 v31)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v80)
  (adjacent v17 v105)
  (adjacent v17 v150)
  (adjacent v18 v66)
  (adjacent v18 v137)
  (adjacent v19 v20)
  (adjacent v19 v44)
  (adjacent v19 v45)
  (adjacent v19 v98)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v30)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v142)
  (adjacent v26 v154)
  (adjacent v27 v28)
  (adjacent v27 v50)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v57)
  (adjacent v31 v32)
  (adjacent v31 v42)
  (adjacent v31 v43)
  (adjacent v31 v93)
  (adjacent v32 v33)
  (adjacent v32 v86)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v36 v59)
  (adjacent v37 v38)
  (adjacent v37 v108)
  (adjacent v38 v39)
  (adjacent v38 v79)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v172)
  (adjacent v41 v42)
  (adjacent v41 v119)
  (adjacent v41 v181)
  (adjacent v42 v131)
  (adjacent v43 v44)
  (adjacent v44 v51)
  (adjacent v44 v174)
  (adjacent v45 v46)
  (adjacent v45 v155)
  (adjacent v46 v47)
  (adjacent v46 v190)
  (adjacent v47 v48)
  (adjacent v47 v65)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v173)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v58)
  (adjacent v52 v75)
  (adjacent v53 v54)
  (adjacent v53 v68)
  (adjacent v53 v74)
  (adjacent v54 v55)
  (adjacent v54 v175)
  (adjacent v55 v56)
  (adjacent v55 v58)
  (adjacent v56 v57)
  (adjacent v56 v85)
  (adjacent v56 v106)
  (adjacent v57 v95)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v113)
  (adjacent v60 v155)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v125)
  (adjacent v64 v65)
  (adjacent v65 v80)
  (adjacent v66 v67)
  (adjacent v66 v107)
  (adjacent v66 v159)
  (adjacent v67 v68)
  (adjacent v67 v149)
  (adjacent v68 v112)
  (adjacent v69 v70)
  (adjacent v69 v104)
  (adjacent v69 v120)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v160)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v126)
  (adjacent v75 v76)
  (adjacent v75 v81)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v153)
  (adjacent v80 v191)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v161)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v120)
  (adjacent v84 v143)
  (adjacent v84 v156)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v121)
  (adjacent v90 v91)
  (adjacent v90 v105)
  (adjacent v91 v92)
  (adjacent v91 v184)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v165)
  (adjacent v97 v182)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v136)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v130)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v160)
  (adjacent v128 v174)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v185)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v166)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v148 v191)
  (adjacent v150 v151)
  (adjacent v150 v154)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v169 v173)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r168 v0)
  (at r52 v1)
  (at r111 v2)
  (at r76 v3)
  (at r116 v4)
  (at r27 v5)
  (at r55 v6)
  (free v7)
  (at r138 v8)
  (at r115 v9)
  (at r189 v10)
  (at r21 v11)
  (at r166 v12)
  (at r22 v13)
  (at r49 v14)
  (at r50 v15)
  (at r19 v16)
  (at r118 v17)
  (at r144 v18)
  (at r41 v19)
  (at r113 v20)
  (free v21)
  (at r135 v22)
  (free v23)
  (at r28 v24)
  (at r86 v25)
  (at r64 v26)
  (at r17 v27)
  (at r128 v28)
  (at r190 v29)
  (at r24 v30)
  (at r95 v31)
  (at r99 v32)
  (at r184 v33)
  (at r87 v34)
  (free v35)
  (at r43 v36)
  (at r173 v37)
  (at r183 v38)
  (at r164 v39)
  (at r44 v40)
  (at r58 v41)
  (at r85 v42)
  (free v43)
  (at r180 v44)
  (at r120 v45)
  (at r172 v46)
  (at r37 v47)
  (at r105 v48)
  (at r126 v49)
  (at r129 v50)
  (at r31 v51)
  (free v52)
  (at r185 v53)
  (at r130 v54)
  (free v55)
  (at r156 v56)
  (at r79 v57)
  (at r30 v58)
  (at r36 v59)
  (at r46 v60)
  (at r176 v61)
  (at r155 v62)
  (at r158 v63)
  (at r119 v64)
  (at r23 v65)
  (at r153 v66)
  (at r65 v67)
  (at r67 v68)
  (at r134 v69)
  (free v70)
  (at r108 v71)
  (at r167 v72)
  (at r175 v73)
  (at r122 v74)
  (at r123 v75)
  (at r42 v76)
  (at r136 v77)
  (at r83 v78)
  (at r142 v79)
  (at r97 v80)
  (free v81)
  (at r132 v82)
  (at r131 v83)
  (at r70 v84)
  (free v85)
  (at r161 v86)
  (at r152 v87)
  (at r80 v88)
  (at r29 v89)
  (at r109 v90)
  (at r170 v91)
  (at r82 v92)
  (at r145 v93)
  (at r39 v94)
  (at r66 v95)
  (free v96)
  (at r102 v97)
  (at r63 v98)
  (free v99)
  (free v100)
  (at r154 v101)
  (at r151 v102)
  (at r103 v103)
  (at r48 v104)
  (free v105)
  (at r150 v106)
  (at r25 v107)
  (at r26 v108)
  (at r96 v109)
  (at r51 v110)
  (at r98 v111)
  (at r146 v112)
  (at r100 v113)
  (at r57 v114)
  (at r179 v115)
  (at r137 v116)
  (at r38 v117)
  (at r62 v118)
  (at r140 v119)
  (at r160 v120)
  (free v121)
  (at r40 v122)
  (at r101 v123)
  (at r148 v124)
  (at r45 v125)
  (at r188 v126)
  (at r106 v127)
  (at r60 v128)
  (at r71 v129)
  (at r73 v130)
  (at r127 v131)
  (at r178 v132)
  (at r187 v133)
  (at r174 v134)
  (at r18 v135)
  (at r75 v136)
  (at r35 v137)
  (at r20 v138)
  (at r68 v139)
  (at r177 v140)
  (at r159 v141)
  (at r121 v142)
  (at r94 v143)
  (at r61 v144)
  (at r114 v145)
  (at r77 v146)
  (at r34 v147)
  (at r125 v148)
  (free v149)
  (at r33 v150)
  (free v151)
  (at r47 v152)
  (at r104 v153)
  (at r162 v154)
  (at r54 v155)
  (at r141 v156)
  (at r89 v157)
  (at r143 v158)
  (at r84 v159)
  (at r56 v160)
  (at r112 v161)
  (at r182 v162)
  (at r72 v163)
  (at r78 v164)
  (at r59 v165)
  (at r186 v166)
  (at r81 v167)
  (at r90 v168)
  (at r32 v169)
  (at r117 v170)
  (at r181 v171)
  (at r171 v172)
  (at r92 v173)
  (at r91 v174)
  (at r88 v175)
  (at r133 v176)
  (at r191 v177)
  (at r149 v178)
  (at r69 v179)
  (at r107 v180)
  (at r53 v181)
  (at r139 v182)
  (at r163 v183)
  (at r93 v184)
  (at r165 v185)
  (at r147 v186)
  (at r74 v187)
  (at r124 v188)
  (at r169 v189)
  (at r110 v190)
  (at r157 v191)
  )
 )
)