(define (problem multirobot_47_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r114
  v1 r105
  v2 r135
  v3 r131
  v4
  v5
  v6 r146
  v7 r103
  v8 r77
  v9 r91
  v10 r100
  v11 r28
  v12
  v13 r40
  v14 r81
  v15 r106
  v16 r128
  v17 r33
  v18 r110
  v19 r160
  v20 r104
  v21 r73
  v22 r109
  v23 r63
  v24 r39
  v25 r159
  v26 r72
  v27 r148
  v28 r113
  v29 r44
  v30 r20
  v31 r108
  v32 r156
  v33 r97
  v34 r149
  v35 r144
  v36 r23
  v37
  v38 r107
  v39 r154
  v40 r92
  v41 r82
  v42 r35
  v43 r133
  v44 r127
  v45 r143
  v46 r65
  v47 r46
  v48 r57
  v49 r76
  v50 r86
  v51 r119
  v52 r140
  v53 r50
  v54 r38
  v55 r25
  v56 r95
  v57 r31
  v58 r36
  v59 r51
  v60 r126
  v61 r56
  v62 r52
  v63 r48
  v64 r83
  v65 r19
  v66 r71
  v67
  v68 r161
  v69
  v70 r139
  v71 r117
  v72 r122
  v73 r22
  v74 r164
  v75 r125
  v76 r58
  v77 r26
  v78 r67
  v79 r115
  v80 r155
  v81 r61
  v82 r101
  v83 r123
  v84 r59
  v85
  v86 r147
  v87
  v88 r74
  v89
  v90 r47
  v91 r96
  v92 r162
  v93 r157
  v94 r150
  v95 r120
  v96 r18
  v97 r80
  v98 r88
  v99 r99
  v100 r78
  v101 r124
  v102 r68
  v103 r30
  v104 r138
  v105 r141
  v106
  v107 r45
  v108 r130
  v109 r66
  v110 r62
  v111
  v112 r142
  v113 r102
  v114 r134
  v115 r21
  v116
  v117 r121
  v118 r153
  v119 r60
  v120 r70
  v121 r111
  v122 r116
  v123 r132
  v124 r41
  v125
  v126 r158
  v127 r42
  v128 r54
  v129 r163
  v130 r87
  v131 r49
  v132 r75
  v133 r53
  v134
  v135 r90
  v136 r89
  v137
  v138 r145
  v139 r79
  v140 r27
  v141 r55
  v142 r98
  v143 r32
  v144 r84
  v145
  v146 r93
  v147 r37
  v148 r152
  v149 r69
  v150 r43
  v151 r24
  v152 r94
  v153 r136
  v154 r118
  v155
  v156 r137
  v157 r151
  v158 r34
  v159 r85
  v160
  v161 r64
  v162 r29
  v163 r129
  v164 r112
 )
 (:init
  (at r114 v0)
  (at r105 v1)
  (at r135 v2)
  (at r131 v3)
  (free v4)
  (free v5)
  (at r146 v6)
  (at r103 v7)
  (at r77 v8)
  (at r91 v9)
  (at r100 v10)
  (at r28 v11)
  (free v12)
  (at r40 v13)
  (at r81 v14)
  (at r106 v15)
  (at r128 v16)
  (at r33 v17)
  (at r110 v18)
  (at r160 v19)
  (at r104 v20)
  (at r73 v21)
  (at r109 v22)
  (at r63 v23)
  (at r39 v24)
  (at r159 v25)
  (at r72 v26)
  (at r148 v27)
  (at r113 v28)
  (at r44 v29)
  (at r20 v30)
  (at r108 v31)
  (at r156 v32)
  (at r97 v33)
  (at r149 v34)
  (at r144 v35)
  (at r23 v36)
  (free v37)
  (at r107 v38)
  (at r154 v39)
  (at r92 v40)
  (at r82 v41)
  (at r35 v42)
  (at r133 v43)
  (at r127 v44)
  (at r143 v45)
  (at r65 v46)
  (at r46 v47)
  (at r57 v48)
  (at r76 v49)
  (at r86 v50)
  (at r119 v51)
  (at r140 v52)
  (at r50 v53)
  (at r38 v54)
  (at r25 v55)
  (at r95 v56)
  (at r31 v57)
  (at r36 v58)
  (at r51 v59)
  (at r126 v60)
  (at r56 v61)
  (at r52 v62)
  (at r48 v63)
  (at r83 v64)
  (at r19 v65)
  (at r71 v66)
  (free v67)
  (at r161 v68)
  (free v69)
  (at r139 v70)
  (at r117 v71)
  (at r122 v72)
  (at r22 v73)
  (at r164 v74)
  (at r125 v75)
  (at r58 v76)
  (at r26 v77)
  (at r67 v78)
  (at r115 v79)
  (at r155 v80)
  (at r61 v81)
  (at r101 v82)
  (at r123 v83)
  (at r59 v84)
  (free v85)
  (at r147 v86)
  (free v87)
  (at r74 v88)
  (free v89)
  (at r47 v90)
  (at r96 v91)
  (at r162 v92)
  (at r157 v93)
  (at r150 v94)
  (at r120 v95)
  (at r18 v96)
  (at r80 v97)
  (at r88 v98)
  (at r99 v99)
  (at r78 v100)
  (at r124 v101)
  (at r68 v102)
  (at r30 v103)
  (at r138 v104)
  (at r141 v105)
  (free v106)
  (at r45 v107)
  (at r130 v108)
  (at r66 v109)
  (at r62 v110)
  (free v111)
  (at r142 v112)
  (at r102 v113)
  (at r134 v114)
  (at r21 v115)
  (free v116)
  (at r121 v117)
  (at r153 v118)
  (at r60 v119)
  (at r70 v120)
  (at r111 v121)
  (at r116 v122)
  (at r132 v123)
  (at r41 v124)
  (free v125)
  (at r158 v126)
  (at r42 v127)
  (at r54 v128)
  (at r163 v129)
  (at r87 v130)
  (at r49 v131)
  (at r75 v132)
  (at r53 v133)
  (free v134)
  (at r90 v135)
  (at r89 v136)
  (free v137)
  (at r145 v138)
  (at r79 v139)
  (at r27 v140)
  (at r55 v141)
  (at r98 v142)
  (at r32 v143)
  (at r84 v144)
  (free v145)
  (at r93 v146)
  (at r37 v147)
  (at r152 v148)
  (at r69 v149)
  (at r43 v150)
  (at r24 v151)
  (at r94 v152)
  (at r136 v153)
  (at r118 v154)
  (free v155)
  (at r137 v156)
  (at r151 v157)
  (at r34 v158)
  (at r85 v159)
  (free v160)
  (at r64 v161)
  (at r29 v162)
  (at r129 v163)
  (at r112 v164)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v62)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v136)
  (adjacent v4 v24)
  (adjacent v5 v6)
  (adjacent v5 v22)
  (adjacent v5 v34)
  (adjacent v5 v113)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v15)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v53)
  (adjacent v10 v150)
  (adjacent v11 v14)
  (adjacent v11 v21)
  (adjacent v12 v13)
  (adjacent v12 v16)
  (adjacent v13 v14)
  (adjacent v13 v35)
  (adjacent v14 v32)
  (adjacent v15 v31)
  (adjacent v16 v17)
  (adjacent v16 v147)
  (adjacent v16 v157)
  (adjacent v17 v18)
  (adjacent v17 v45)
  (adjacent v17 v93)
  (adjacent v17 v113)
  (adjacent v18 v19)
  (adjacent v18 v25)
  (adjacent v18 v164)
  (adjacent v19 v20)
  (adjacent v19 v33)
  (adjacent v19 v41)
  (adjacent v19 v158)
  (adjacent v20 v21)
  (adjacent v21 v154)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v46)
  (adjacent v23 v69)
  (adjacent v23 v81)
  (adjacent v25 v26)
  (adjacent v25 v141)
  (adjacent v26 v27)
  (adjacent v26 v52)
  (adjacent v27 v28)
  (adjacent v27 v32)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v29 v30)
  (adjacent v29 v89)
  (adjacent v29 v122)
  (adjacent v29 v129)
  (adjacent v30 v31)
  (adjacent v31 v33)
  (adjacent v31 v42)
  (adjacent v33 v140)
  (adjacent v34 v35)
  (adjacent v34 v59)
  (adjacent v34 v97)
  (adjacent v35 v130)
  (adjacent v36 v37)
  (adjacent v36 v75)
  (adjacent v36 v92)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v68)
  (adjacent v39 v40)
  (adjacent v39 v131)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v63)
  (adjacent v44 v45)
  (adjacent v45 v148)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v82)
  (adjacent v47 v88)
  (adjacent v47 v98)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v142)
  (adjacent v51 v151)
  (adjacent v52 v76)
  (adjacent v53 v54)
  (adjacent v53 v104)
  (adjacent v54 v55)
  (adjacent v54 v99)
  (adjacent v55 v56)
  (adjacent v55 v74)
  (adjacent v55 v89)
  (adjacent v55 v137)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v83)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v130)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v75)
  (adjacent v62 v121)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v114)
  (adjacent v66 v67)
  (adjacent v66 v96)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v123)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v126)
  (adjacent v74 v155)
  (adjacent v76 v77)
  (adjacent v76 v107)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v84)
  (adjacent v80 v81)
  (adjacent v80 v90)
  (adjacent v82 v83)
  (adjacent v82 v114)
  (adjacent v82 v147)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v105)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v97)
  (adjacent v92 v98)
  (adjacent v93 v94)
  (adjacent v93 v143)
  (adjacent v93 v146)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v98 v106)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v127)
  (adjacent v105 v106)
  (adjacent v106 v112)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v157)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v115)
  (adjacent v111 v112)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v124)
  (adjacent v121 v143)
  (adjacent v122 v123)
  (adjacent v122 v156)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v144)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
 )
 (:goal
  (and
  (at r110 v0)
  (at r158 v1)
  (at r86 v2)
  (at r75 v3)
  (at r90 v4)
  (at r133 v5)
  (free v6)
  (at r68 v7)
  (at r116 v8)
  (free v9)
  (at r79 v10)
  (at r130 v11)
  (at r151 v12)
  (at r77 v13)
  (at r67 v14)
  (at r36 v15)
  (at r21 v16)
  (at r97 v17)
  (at r98 v18)
  (at r52 v19)
  (at r122 v20)
  (at r80 v21)
  (at r40 v22)
  (at r108 v23)
  (at r41 v24)
  (free v25)
  (at r63 v26)
  (at r161 v27)
  (at r24 v28)
  (at r32 v29)
  (at r73 v30)
  (at r148 v31)
  (at r147 v32)
  (at r43 v33)
  (at r42 v34)
  (free v35)
  (at r156 v36)
  (free v37)
  (at r60 v38)
  (at r55 v39)
  (free v40)
  (at r143 v41)
  (at r37 v42)
  (at r19 v43)
  (at r131 v44)
  (at r140 v45)
  (at r87 v46)
  (at r59 v47)
  (at r101 v48)
  (at r146 v49)
  (free v50)
  (at r149 v51)
  (at r107 v52)
  (free v53)
  (at r83 v54)
  (at r85 v55)
  (at r113 v56)
  (at r45 v57)
  (at r111 v58)
  (at r20 v59)
  (at r144 v60)
  (at r84 v61)
  (at r47 v62)
  (at r127 v63)
  (at r129 v64)
  (at r31 v65)
  (at r66 v66)
  (at r64 v67)
  (at r112 v68)
  (at r134 v69)
  (at r54 v70)
  (at r141 v71)
  (at r93 v72)
  (at r120 v73)
  (at r23 v74)
  (at r74 v75)
  (free v76)
  (at r157 v77)
  (free v78)
  (at r30 v79)
  (at r102 v80)
  (at r22 v81)
  (at r153 v82)
  (at r25 v83)
  (at r162 v84)
  (at r118 v85)
  (at r56 v86)
  (free v87)
  (at r100 v88)
  (at r91 v89)
  (at r94 v90)
  (at r38 v91)
  (at r34 v92)
  (at r96 v93)
  (at r92 v94)
  (at r51 v95)
  (at r78 v96)
  (free v97)
  (at r81 v98)
  (at r114 v99)
  (at r105 v100)
  (at r95 v101)
  (at r35 v102)
  (at r69 v103)
  (at r48 v104)
  (at r119 v105)
  (at r61 v106)
  (at r71 v107)
  (at r163 v108)
  (at r82 v109)
  (at r160 v110)
  (at r155 v111)
  (at r138 v112)
  (at r27 v113)
  (at r125 v114)
  (at r89 v115)
  (free v116)
  (at r103 v117)
  (at r53 v118)
  (at r104 v119)
  (at r76 v120)
  (at r115 v121)
  (at r128 v122)
  (at r57 v123)
  (at r18 v124)
  (at r121 v125)
  (at r29 v126)
  (at r72 v127)
  (at r109 v128)
  (at r99 v129)
  (at r26 v130)
  (at r154 v131)
  (at r58 v132)
  (at r135 v133)
  (at r39 v134)
  (at r50 v135)
  (at r136 v136)
  (at r33 v137)
  (at r106 v138)
  (at r142 v139)
  (at r132 v140)
  (at r62 v141)
  (free v142)
  (at r88 v143)
  (at r150 v144)
  (at r44 v145)
  (free v146)
  (at r28 v147)
  (free v148)
  (at r137 v149)
  (at r49 v150)
  (at r70 v151)
  (at r117 v152)
  (free v153)
  (at r124 v154)
  (at r123 v155)
  (at r159 v156)
  (at r139 v157)
  (at r145 v158)
  (free v159)
  (at r126 v160)
  (at r164 v161)
  (at r65 v162)
  (at r46 v163)
  (at r152 v164)
  )
 )
)