(define (problem multirobot_46_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r65
  v1 r142
  v2 r82
  v3 r61
  v4 r157
  v5 r151
  v6 r97
  v7 r90
  v8 r130
  v9 r113
  v10
  v11 r135
  v12 r58
  v13 r132
  v14 r33
  v15 r145
  v16 r74
  v17 r116
  v18 r44
  v19 r136
  v20 r45
  v21 r67
  v22 r55
  v23 r156
  v24 r144
  v25 r103
  v26 r121
  v27 r34
  v28 r119
  v29 r23
  v30 r106
  v31 r96
  v32 r42
  v33
  v34 r24
  v35 r134
  v36 r92
  v37 r158
  v38 r133
  v39 r123
  v40 r31
  v41 r48
  v42
  v43 r140
  v44 r122
  v45 r85
  v46 r118
  v47 r54
  v48 r47
  v49 r99
  v50 r39
  v51
  v52 r77
  v53 r94
  v54 r110
  v55 r38
  v56 r73
  v57 r107
  v58 r30
  v59 r155
  v60 r111
  v61 r115
  v62 r59
  v63 r100
  v64
  v65 r159
  v66 r43
  v67 r27
  v68 r80
  v69
  v70 r62
  v71 r163
  v72 r53
  v73 r98
  v74 r126
  v75 r56
  v76
  v77 r87
  v78 r52
  v79 r160
  v80 r28
  v81 r152
  v82 r137
  v83
  v84 r101
  v85
  v86 r153
  v87 r76
  v88 r26
  v89 r50
  v90 r161
  v91 r88
  v92
  v93 r147
  v94 r22
  v95 r75
  v96 r21
  v97 r148
  v98 r68
  v99 r20
  v100 r138
  v101 r124
  v102
  v103 r32
  v104 r128
  v105 r146
  v106 r57
  v107 r162
  v108 r141
  v109
  v110 r49
  v111 r37
  v112 r79
  v113 r154
  v114 r35
  v115 r17
  v116 r114
  v117 r117
  v118 r51
  v119
  v120 r83
  v121 r125
  v122
  v123 r71
  v124 r149
  v125 r64
  v126 r78
  v127 r25
  v128 r40
  v129 r95
  v130 r150
  v131
  v132 r84
  v133 r72
  v134 r93
  v135 r18
  v136 r127
  v137 r69
  v138 r129
  v139 r139
  v140 r109
  v141 r70
  v142 r66
  v143 r86
  v144
  v145 r41
  v146 r46
  v147 r29
  v148 r112
  v149 r91
  v150 r81
  v151 r19
  v152 r143
  v153 r89
  v154 r63
  v155 r36
  v156 r102
  v157 r120
  v158 r60
  v159 r108
  v160
  v161 r131
  v162 r105
  v163 r104
 )
 (:init
  (at r65 v0)
  (at r142 v1)
  (at r82 v2)
  (at r61 v3)
  (at r157 v4)
  (at r151 v5)
  (at r97 v6)
  (at r90 v7)
  (at r130 v8)
  (at r113 v9)
  (free v10)
  (at r135 v11)
  (at r58 v12)
  (at r132 v13)
  (at r33 v14)
  (at r145 v15)
  (at r74 v16)
  (at r116 v17)
  (at r44 v18)
  (at r136 v19)
  (at r45 v20)
  (at r67 v21)
  (at r55 v22)
  (at r156 v23)
  (at r144 v24)
  (at r103 v25)
  (at r121 v26)
  (at r34 v27)
  (at r119 v28)
  (at r23 v29)
  (at r106 v30)
  (at r96 v31)
  (at r42 v32)
  (free v33)
  (at r24 v34)
  (at r134 v35)
  (at r92 v36)
  (at r158 v37)
  (at r133 v38)
  (at r123 v39)
  (at r31 v40)
  (at r48 v41)
  (free v42)
  (at r140 v43)
  (at r122 v44)
  (at r85 v45)
  (at r118 v46)
  (at r54 v47)
  (at r47 v48)
  (at r99 v49)
  (at r39 v50)
  (free v51)
  (at r77 v52)
  (at r94 v53)
  (at r110 v54)
  (at r38 v55)
  (at r73 v56)
  (at r107 v57)
  (at r30 v58)
  (at r155 v59)
  (at r111 v60)
  (at r115 v61)
  (at r59 v62)
  (at r100 v63)
  (free v64)
  (at r159 v65)
  (at r43 v66)
  (at r27 v67)
  (at r80 v68)
  (free v69)
  (at r62 v70)
  (at r163 v71)
  (at r53 v72)
  (at r98 v73)
  (at r126 v74)
  (at r56 v75)
  (free v76)
  (at r87 v77)
  (at r52 v78)
  (at r160 v79)
  (at r28 v80)
  (at r152 v81)
  (at r137 v82)
  (free v83)
  (at r101 v84)
  (free v85)
  (at r153 v86)
  (at r76 v87)
  (at r26 v88)
  (at r50 v89)
  (at r161 v90)
  (at r88 v91)
  (free v92)
  (at r147 v93)
  (at r22 v94)
  (at r75 v95)
  (at r21 v96)
  (at r148 v97)
  (at r68 v98)
  (at r20 v99)
  (at r138 v100)
  (at r124 v101)
  (free v102)
  (at r32 v103)
  (at r128 v104)
  (at r146 v105)
  (at r57 v106)
  (at r162 v107)
  (at r141 v108)
  (free v109)
  (at r49 v110)
  (at r37 v111)
  (at r79 v112)
  (at r154 v113)
  (at r35 v114)
  (at r17 v115)
  (at r114 v116)
  (at r117 v117)
  (at r51 v118)
  (free v119)
  (at r83 v120)
  (at r125 v121)
  (free v122)
  (at r71 v123)
  (at r149 v124)
  (at r64 v125)
  (at r78 v126)
  (at r25 v127)
  (at r40 v128)
  (at r95 v129)
  (at r150 v130)
  (free v131)
  (at r84 v132)
  (at r72 v133)
  (at r93 v134)
  (at r18 v135)
  (at r127 v136)
  (at r69 v137)
  (at r129 v138)
  (at r139 v139)
  (at r109 v140)
  (at r70 v141)
  (at r66 v142)
  (at r86 v143)
  (free v144)
  (at r41 v145)
  (at r46 v146)
  (at r29 v147)
  (at r112 v148)
  (at r91 v149)
  (at r81 v150)
  (at r19 v151)
  (at r143 v152)
  (at r89 v153)
  (at r63 v154)
  (at r36 v155)
  (at r102 v156)
  (at r120 v157)
  (at r60 v158)
  (at r108 v159)
  (free v160)
  (at r131 v161)
  (at r105 v162)
  (at r104 v163)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v111)
  (adjacent v1 v121)
  (adjacent v1 v134)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v28)
  (adjacent v3 v38)
  (adjacent v4 v5)
  (adjacent v4 v38)
  (adjacent v5 v22)
  (adjacent v5 v25)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v23)
  (adjacent v6 v82)
  (adjacent v6 v95)
  (adjacent v7 v8)
  (adjacent v7 v37)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v75)
  (adjacent v9 v10)
  (adjacent v9 v68)
  (adjacent v10 v12)
  (adjacent v10 v33)
  (adjacent v10 v34)
  (adjacent v10 v141)
  (adjacent v11 v109)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v13 v116)
  (adjacent v14 v15)
  (adjacent v14 v74)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v17 v52)
  (adjacent v17 v129)
  (adjacent v18 v19)
  (adjacent v18 v110)
  (adjacent v19 v20)
  (adjacent v19 v86)
  (adjacent v20 v21)
  (adjacent v20 v39)
  (adjacent v20 v48)
  (adjacent v20 v117)
  (adjacent v21 v22)
  (adjacent v21 v36)
  (adjacent v21 v154)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v23 v99)
  (adjacent v24 v25)
  (adjacent v24 v26)
  (adjacent v24 v110)
  (adjacent v24 v128)
  (adjacent v26 v27)
  (adjacent v26 v63)
  (adjacent v26 v67)
  (adjacent v27 v98)
  (adjacent v28 v29)
  (adjacent v28 v42)
  (adjacent v29 v30)
  (adjacent v29 v51)
  (adjacent v29 v59)
  (adjacent v29 v89)
  (adjacent v29 v117)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v41)
  (adjacent v32 v47)
  (adjacent v32 v144)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v37)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v85)
  (adjacent v41 v58)
  (adjacent v42 v43)
  (adjacent v42 v75)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v88)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v163)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v103)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v90)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v59 v64)
  (adjacent v59 v76)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v96)
  (adjacent v63 v89)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v104)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v120)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v100)
  (adjacent v78 v118)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v158)
  (adjacent v82 v83)
  (adjacent v82 v135)
  (adjacent v83 v84)
  (adjacent v83 v152)
  (adjacent v84 v85)
  (adjacent v85 v119)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v122)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v120)
  (adjacent v91 v135)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v99)
  (adjacent v94 v142)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v153)
  (adjacent v100 v101)
  (adjacent v100 v151)
  (adjacent v101 v102)
  (adjacent v101 v127)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v159)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v137)
  (adjacent v110 v128)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v145)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v118 v119)
  (adjacent v118 v146)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v136)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v136)
  (adjacent v127 v147)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
 )
 (:goal
  (and
  (at r154 v0)
  (at r26 v1)
  (at r51 v2)
  (free v3)
  (at r84 v4)
  (at r80 v5)
  (at r66 v6)
  (at r135 v7)
  (at r75 v8)
  (at r47 v9)
  (at r29 v10)
  (at r147 v11)
  (at r128 v12)
  (at r143 v13)
  (at r95 v14)
  (at r117 v15)
  (at r18 v16)
  (free v17)
  (at r87 v18)
  (at r109 v19)
  (at r102 v20)
  (at r139 v21)
  (at r60 v22)
  (free v23)
  (at r112 v24)
  (at r35 v25)
  (at r140 v26)
  (at r133 v27)
  (at r146 v28)
  (at r116 v29)
  (at r55 v30)
  (at r163 v31)
  (at r54 v32)
  (at r141 v33)
  (free v34)
  (at r153 v35)
  (at r49 v36)
  (at r41 v37)
  (free v38)
  (at r91 v39)
  (free v40)
  (at r130 v41)
  (free v42)
  (at r151 v43)
  (at r68 v44)
  (at r156 v45)
  (at r62 v46)
  (at r63 v47)
  (at r53 v48)
  (free v49)
  (at r104 v50)
  (at r159 v51)
  (free v52)
  (at r86 v53)
  (at r58 v54)
  (at r118 v55)
  (at r61 v56)
  (free v57)
  (at r101 v58)
  (at r111 v59)
  (at r98 v60)
  (at r46 v61)
  (at r22 v62)
  (at r138 v63)
  (free v64)
  (at r121 v65)
  (at r34 v66)
  (at r136 v67)
  (at r123 v68)
  (at r155 v69)
  (at r108 v70)
  (at r43 v71)
  (at r161 v72)
  (at r20 v73)
  (at r131 v74)
  (at r88 v75)
  (at r83 v76)
  (at r124 v77)
  (at r162 v78)
  (at r76 v79)
  (at r92 v80)
  (at r39 v81)
  (free v82)
  (at r122 v83)
  (at r132 v84)
  (at r67 v85)
  (at r89 v86)
  (at r50 v87)
  (at r48 v88)
  (at r142 v89)
  (at r137 v90)
  (at r42 v91)
  (at r103 v92)
  (at r52 v93)
  (at r77 v94)
  (free v95)
  (at r114 v96)
  (at r37 v97)
  (at r144 v98)
  (at r126 v99)
  (at r17 v100)
  (at r78 v101)
  (at r21 v102)
  (at r74 v103)
  (at r149 v104)
  (free v105)
  (at r129 v106)
  (at r71 v107)
  (at r59 v108)
  (at r81 v109)
  (at r150 v110)
  (at r45 v111)
  (at r33 v112)
  (at r23 v113)
  (at r69 v114)
  (at r100 v115)
  (at r152 v116)
  (at r148 v117)
  (at r96 v118)
  (free v119)
  (at r94 v120)
  (at r157 v121)
  (at r160 v122)
  (at r134 v123)
  (at r40 v124)
  (at r25 v125)
  (at r32 v126)
  (free v127)
  (at r127 v128)
  (at r70 v129)
  (at r97 v130)
  (at r28 v131)
  (at r106 v132)
  (at r72 v133)
  (at r85 v134)
  (at r64 v135)
  (at r120 v136)
  (at r82 v137)
  (at r19 v138)
  (at r65 v139)
  (at r24 v140)
  (at r38 v141)
  (at r73 v142)
  (at r125 v143)
  (at r119 v144)
  (at r105 v145)
  (at r110 v146)
  (at r113 v147)
  (at r56 v148)
  (at r30 v149)
  (at r93 v150)
  (at r107 v151)
  (at r27 v152)
  (at r115 v153)
  (at r57 v154)
  (at r145 v155)
  (at r90 v156)
  (at r31 v157)
  (free v158)
  (at r99 v159)
  (at r158 v160)
  (at r79 v161)
  (at r44 v162)
  (at r36 v163)
  )
 )
)