(define (problem multirobot_45_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r157
  v1 r55
  v2
  v3 r126
  v4 r96
  v5 r123
  v6 r134
  v7 r107
  v8 r82
  v9 r34
  v10 r110
  v11 r124
  v12 r154
  v13 r74
  v14 r53
  v15 r112
  v16 r41
  v17 r145
  v18 r130
  v19 r152
  v20 r56
  v21 r129
  v22 r91
  v23 r42
  v24 r52
  v25 r68
  v26 r136
  v27 r147
  v28 r18
  v29 r143
  v30 r80
  v31 r105
  v32 r127
  v33 r25
  v34 r108
  v35 r98
  v36 r17
  v37 r120
  v38 r92
  v39 r142
  v40 r153
  v41 r159
  v42 r26
  v43 r135
  v44 r35
  v45 r69
  v46
  v47 r27
  v48 r79
  v49 r156
  v50
  v51 r149
  v52 r23
  v53 r148
  v54 r49
  v55 r61
  v56
  v57
  v58 r114
  v59 r116
  v60 r57
  v61 r81
  v62
  v63 r32
  v64 r54
  v65 r67
  v66 r45
  v67 r47
  v68 r100
  v69 r133
  v70 r104
  v71
  v72 r138
  v73
  v74
  v75 r39
  v76 r59
  v77 r77
  v78 r146
  v79 r62
  v80 r122
  v81 r121
  v82 r87
  v83 r31
  v84 r38
  v85 r119
  v86 r73
  v87 r65
  v88 r64
  v89 r75
  v90 r139
  v91 r150
  v92 r60
  v93
  v94 r95
  v95 r111
  v96 r20
  v97
  v98 r29
  v99 r50
  v100 r85
  v101 r97
  v102 r86
  v103 r118
  v104 r115
  v105 r101
  v106
  v107 r109
  v108
  v109 r78
  v110 r76
  v111 r44
  v112 r141
  v113
  v114 r63
  v115 r103
  v116 r46
  v117 r21
  v118 r88
  v119 r66
  v120 r51
  v121
  v122 r19
  v123 r151
  v124 r99
  v125 r48
  v126 r131
  v127
  v128
  v129 r89
  v130 r102
  v131 r22
  v132 r70
  v133 r24
  v134 r113
  v135 r83
  v136 r84
  v137 r106
  v138 r94
  v139 r43
  v140 r160
  v141 r37
  v142 r40
  v143 r71
  v144 r140
  v145 r117
  v146 r30
  v147 r28
  v148 r132
  v149 r155
  v150 r36
  v151 r137
  v152 r93
  v153 r158
  v154 r72
  v155 r128
  v156 r144
  v157 r125
  v158 r33
  v159 r90
  v160 r58
 )
 (:init
  (at r157 v0)
  (at r55 v1)
  (free v2)
  (at r126 v3)
  (at r96 v4)
  (at r123 v5)
  (at r134 v6)
  (at r107 v7)
  (at r82 v8)
  (at r34 v9)
  (at r110 v10)
  (at r124 v11)
  (at r154 v12)
  (at r74 v13)
  (at r53 v14)
  (at r112 v15)
  (at r41 v16)
  (at r145 v17)
  (at r130 v18)
  (at r152 v19)
  (at r56 v20)
  (at r129 v21)
  (at r91 v22)
  (at r42 v23)
  (at r52 v24)
  (at r68 v25)
  (at r136 v26)
  (at r147 v27)
  (at r18 v28)
  (at r143 v29)
  (at r80 v30)
  (at r105 v31)
  (at r127 v32)
  (at r25 v33)
  (at r108 v34)
  (at r98 v35)
  (at r17 v36)
  (at r120 v37)
  (at r92 v38)
  (at r142 v39)
  (at r153 v40)
  (at r159 v41)
  (at r26 v42)
  (at r135 v43)
  (at r35 v44)
  (at r69 v45)
  (free v46)
  (at r27 v47)
  (at r79 v48)
  (at r156 v49)
  (free v50)
  (at r149 v51)
  (at r23 v52)
  (at r148 v53)
  (at r49 v54)
  (at r61 v55)
  (free v56)
  (free v57)
  (at r114 v58)
  (at r116 v59)
  (at r57 v60)
  (at r81 v61)
  (free v62)
  (at r32 v63)
  (at r54 v64)
  (at r67 v65)
  (at r45 v66)
  (at r47 v67)
  (at r100 v68)
  (at r133 v69)
  (at r104 v70)
  (free v71)
  (at r138 v72)
  (free v73)
  (free v74)
  (at r39 v75)
  (at r59 v76)
  (at r77 v77)
  (at r146 v78)
  (at r62 v79)
  (at r122 v80)
  (at r121 v81)
  (at r87 v82)
  (at r31 v83)
  (at r38 v84)
  (at r119 v85)
  (at r73 v86)
  (at r65 v87)
  (at r64 v88)
  (at r75 v89)
  (at r139 v90)
  (at r150 v91)
  (at r60 v92)
  (free v93)
  (at r95 v94)
  (at r111 v95)
  (at r20 v96)
  (free v97)
  (at r29 v98)
  (at r50 v99)
  (at r85 v100)
  (at r97 v101)
  (at r86 v102)
  (at r118 v103)
  (at r115 v104)
  (at r101 v105)
  (free v106)
  (at r109 v107)
  (free v108)
  (at r78 v109)
  (at r76 v110)
  (at r44 v111)
  (at r141 v112)
  (free v113)
  (at r63 v114)
  (at r103 v115)
  (at r46 v116)
  (at r21 v117)
  (at r88 v118)
  (at r66 v119)
  (at r51 v120)
  (free v121)
  (at r19 v122)
  (at r151 v123)
  (at r99 v124)
  (at r48 v125)
  (at r131 v126)
  (free v127)
  (free v128)
  (at r89 v129)
  (at r102 v130)
  (at r22 v131)
  (at r70 v132)
  (at r24 v133)
  (at r113 v134)
  (at r83 v135)
  (at r84 v136)
  (at r106 v137)
  (at r94 v138)
  (at r43 v139)
  (at r160 v140)
  (at r37 v141)
  (at r40 v142)
  (at r71 v143)
  (at r140 v144)
  (at r117 v145)
  (at r30 v146)
  (at r28 v147)
  (at r132 v148)
  (at r155 v149)
  (at r36 v150)
  (at r137 v151)
  (at r93 v152)
  (at r158 v153)
  (at r72 v154)
  (at r128 v155)
  (at r144 v156)
  (at r125 v157)
  (at r33 v158)
  (at r90 v159)
  (at r58 v160)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v40)
  (adjacent v0 v96)
  (adjacent v0 v99)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v24)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v33)
  (adjacent v3 v4)
  (adjacent v3 v32)
  (adjacent v4 v23)
  (adjacent v4 v25)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v16)
  (adjacent v5 v66)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v131)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v9 v15)
  (adjacent v9 v46)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v94)
  (adjacent v12 v13)
  (adjacent v12 v28)
  (adjacent v12 v97)
  (adjacent v12 v121)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v13 v102)
  (adjacent v14 v126)
  (adjacent v15 v16)
  (adjacent v15 v103)
  (adjacent v16 v32)
  (adjacent v16 v36)
  (adjacent v16 v39)
  (adjacent v17 v18)
  (adjacent v17 v44)
  (adjacent v18 v19)
  (adjacent v18 v69)
  (adjacent v19 v20)
  (adjacent v19 v45)
  (adjacent v19 v56)
  (adjacent v20 v21)
  (adjacent v20 v31)
  (adjacent v21 v22)
  (adjacent v21 v29)
  (adjacent v21 v37)
  (adjacent v23 v24)
  (adjacent v24 v43)
  (adjacent v25 v26)
  (adjacent v25 v60)
  (adjacent v25 v125)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v120)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v52)
  (adjacent v31 v35)
  (adjacent v31 v51)
  (adjacent v33 v34)
  (adjacent v33 v36)
  (adjacent v34 v35)
  (adjacent v35 v108)
  (adjacent v35 v123)
  (adjacent v36 v104)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v158)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v67)
  (adjacent v42 v43)
  (adjacent v43 v50)
  (adjacent v44 v45)
  (adjacent v45 v61)
  (adjacent v46 v47)
  (adjacent v46 v129)
  (adjacent v47 v48)
  (adjacent v47 v68)
  (adjacent v47 v160)
  (adjacent v48 v49)
  (adjacent v48 v98)
  (adjacent v49 v50)
  (adjacent v49 v154)
  (adjacent v50 v55)
  (adjacent v50 v155)
  (adjacent v51 v52)
  (adjacent v51 v53)
  (adjacent v51 v80)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v149)
  (adjacent v55 v86)
  (adjacent v55 v127)
  (adjacent v55 v141)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v78)
  (adjacent v57 v159)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v93)
  (adjacent v61 v62)
  (adjacent v61 v75)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v81)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v74)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v77)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v87)
  (adjacent v81 v82)
  (adjacent v81 v124)
  (adjacent v82 v83)
  (adjacent v82 v111)
  (adjacent v83 v84)
  (adjacent v83 v147)
  (adjacent v84 v85)
  (adjacent v84 v116)
  (adjacent v85 v86)
  (adjacent v85 v103)
  (adjacent v86 v150)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v148)
  (adjacent v89 v90)
  (adjacent v89 v130)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v115)
  (adjacent v92 v93)
  (adjacent v93 v112)
  (adjacent v93 v134)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v109)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v130)
  (adjacent v101 v102)
  (adjacent v102 v124)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v135)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v159)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v135 v142)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v160)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
 )
 (:goal
  (and
  (at r142 v0)
  (at r51 v1)
  (at r93 v2)
  (at r25 v3)
  (at r70 v4)
  (at r138 v5)
  (at r104 v6)
  (free v7)
  (at r123 v8)
  (at r84 v9)
  (at r94 v10)
  (at r148 v11)
  (at r128 v12)
  (at r157 v13)
  (at r124 v14)
  (at r153 v15)
  (at r48 v16)
  (at r111 v17)
  (at r95 v18)
  (at r31 v19)
  (at r20 v20)
  (at r50 v21)
  (at r77 v22)
  (at r151 v23)
  (at r118 v24)
  (at r98 v25)
  (at r130 v26)
  (at r117 v27)
  (at r141 v28)
  (at r60 v29)
  (at r85 v30)
  (at r21 v31)
  (free v32)
  (at r80 v33)
  (at r125 v34)
  (free v35)
  (at r87 v36)
  (at r136 v37)
  (at r83 v38)
  (at r52 v39)
  (at r143 v40)
  (at r101 v41)
  (at r62 v42)
  (at r89 v43)
  (at r152 v44)
  (at r96 v45)
  (at r75 v46)
  (at r112 v47)
  (free v48)
  (at r38 v49)
  (at r68 v50)
  (at r140 v51)
  (free v52)
  (at r103 v53)
  (at r35 v54)
  (at r72 v55)
  (at r40 v56)
  (at r97 v57)
  (at r146 v58)
  (at r134 v59)
  (at r49 v60)
  (at r46 v61)
  (at r79 v62)
  (at r132 v63)
  (at r78 v64)
  (at r73 v65)
  (at r43 v66)
  (at r106 v67)
  (at r121 v68)
  (at r18 v69)
  (at r105 v70)
  (free v71)
  (at r42 v72)
  (at r76 v73)
  (at r102 v74)
  (at r119 v75)
  (at r150 v76)
  (at r149 v77)
  (at r39 v78)
  (at r120 v79)
  (at r64 v80)
  (at r37 v81)
  (at r139 v82)
  (at r91 v83)
  (free v84)
  (at r53 v85)
  (at r147 v86)
  (at r23 v87)
  (at r145 v88)
  (at r66 v89)
  (at r54 v90)
  (at r47 v91)
  (free v92)
  (at r107 v93)
  (at r144 v94)
  (at r129 v95)
  (at r110 v96)
  (at r41 v97)
  (at r71 v98)
  (at r56 v99)
  (at r133 v100)
  (at r65 v101)
  (free v102)
  (at r33 v103)
  (at r45 v104)
  (at r122 v105)
  (free v106)
  (at r115 v107)
  (at r81 v108)
  (at r58 v109)
  (at r135 v110)
  (at r155 v111)
  (at r108 v112)
  (free v113)
  (at r92 v114)
  (at r59 v115)
  (at r86 v116)
  (at r32 v117)
  (free v118)
  (free v119)
  (at r55 v120)
  (at r19 v121)
  (at r113 v122)
  (free v123)
  (at r22 v124)
  (at r74 v125)
  (at r159 v126)
  (at r63 v127)
  (at r69 v128)
  (at r82 v129)
  (at r29 v130)
  (at r158 v131)
  (at r90 v132)
  (at r137 v133)
  (at r30 v134)
  (at r114 v135)
  (at r27 v136)
  (at r57 v137)
  (at r127 v138)
  (at r109 v139)
  (free v140)
  (at r28 v141)
  (at r44 v142)
  (at r34 v143)
  (at r99 v144)
  (at r156 v145)
  (free v146)
  (at r67 v147)
  (at r131 v148)
  (at r116 v149)
  (at r100 v150)
  (at r154 v151)
  (at r160 v152)
  (at r126 v153)
  (at r88 v154)
  (at r61 v155)
  (free v156)
  (at r17 v157)
  (at r26 v158)
  (at r36 v159)
  (at r24 v160)
  )
 )
)