(define (problem multirobot_47_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r126
  v1
  v2 r63
  v3 r69
  v4 r71
  v5 r20
  v6 r72
  v7 r120
  v8 r19
  v9 r91
  v10 r136
  v11 r144
  v12 r84
  v13 r51
  v14
  v15 r109
  v16
  v17 r64
  v18 r23
  v19 r119
  v20
  v21 r70
  v22 r124
  v23 r133
  v24 r87
  v25 r111
  v26 r85
  v27 r89
  v28 r76
  v29 r98
  v30 r27
  v31 r140
  v32
  v33 r106
  v34 r54
  v35 r18
  v36 r121
  v37 r62
  v38 r36
  v39
  v40 r107
  v41 r86
  v42 r100
  v43 r125
  v44 r141
  v45 r45
  v46 r65
  v47 r32
  v48 r115
  v49 r101
  v50 r81
  v51
  v52 r132
  v53 r88
  v54 r134
  v55 r127
  v56 r117
  v57 r39
  v58 r114
  v59 r74
  v60 r94
  v61 r59
  v62 r79
  v63 r82
  v64 r122
  v65 r49
  v66 r44
  v67
  v68 r75
  v69 r137
  v70 r35
  v71 r58
  v72 r31
  v73 r53
  v74 r22
  v75 r110
  v76
  v77
  v78 r108
  v79 r52
  v80 r37
  v81 r30
  v82 r83
  v83 r66
  v84 r96
  v85 r73
  v86 r46
  v87 r43
  v88 r102
  v89 r56
  v90 r33
  v91 r50
  v92 r93
  v93 r104
  v94 r116
  v95 r142
  v96 r68
  v97
  v98 r143
  v99 r38
  v100 r103
  v101 r61
  v102 r25
  v103 r48
  v104 r34
  v105 r92
  v106 r97
  v107 r21
  v108 r28
  v109 r128
  v110
  v111 r135
  v112 r118
  v113 r95
  v114 r131
  v115
  v116 r77
  v117 r42
  v118 r24
  v119 r99
  v120 r78
  v121 r26
  v122 r40
  v123 r29
  v124 r130
  v125
  v126 r139
  v127 r41
  v128 r55
  v129 r67
  v130 r113
  v131
  v132 r112
  v133 r105
  v134 r60
  v135 r90
  v136
  v137 r129
  v138 r47
  v139
  v140 r57
  v141 r80
  v142 r123
  v143
  v144 r138
 )
 (:init
  (at r126 v0)
  (free v1)
  (at r63 v2)
  (at r69 v3)
  (at r71 v4)
  (at r20 v5)
  (at r72 v6)
  (at r120 v7)
  (at r19 v8)
  (at r91 v9)
  (at r136 v10)
  (at r144 v11)
  (at r84 v12)
  (at r51 v13)
  (free v14)
  (at r109 v15)
  (free v16)
  (at r64 v17)
  (at r23 v18)
  (at r119 v19)
  (free v20)
  (at r70 v21)
  (at r124 v22)
  (at r133 v23)
  (at r87 v24)
  (at r111 v25)
  (at r85 v26)
  (at r89 v27)
  (at r76 v28)
  (at r98 v29)
  (at r27 v30)
  (at r140 v31)
  (free v32)
  (at r106 v33)
  (at r54 v34)
  (at r18 v35)
  (at r121 v36)
  (at r62 v37)
  (at r36 v38)
  (free v39)
  (at r107 v40)
  (at r86 v41)
  (at r100 v42)
  (at r125 v43)
  (at r141 v44)
  (at r45 v45)
  (at r65 v46)
  (at r32 v47)
  (at r115 v48)
  (at r101 v49)
  (at r81 v50)
  (free v51)
  (at r132 v52)
  (at r88 v53)
  (at r134 v54)
  (at r127 v55)
  (at r117 v56)
  (at r39 v57)
  (at r114 v58)
  (at r74 v59)
  (at r94 v60)
  (at r59 v61)
  (at r79 v62)
  (at r82 v63)
  (at r122 v64)
  (at r49 v65)
  (at r44 v66)
  (free v67)
  (at r75 v68)
  (at r137 v69)
  (at r35 v70)
  (at r58 v71)
  (at r31 v72)
  (at r53 v73)
  (at r22 v74)
  (at r110 v75)
  (free v76)
  (free v77)
  (at r108 v78)
  (at r52 v79)
  (at r37 v80)
  (at r30 v81)
  (at r83 v82)
  (at r66 v83)
  (at r96 v84)
  (at r73 v85)
  (at r46 v86)
  (at r43 v87)
  (at r102 v88)
  (at r56 v89)
  (at r33 v90)
  (at r50 v91)
  (at r93 v92)
  (at r104 v93)
  (at r116 v94)
  (at r142 v95)
  (at r68 v96)
  (free v97)
  (at r143 v98)
  (at r38 v99)
  (at r103 v100)
  (at r61 v101)
  (at r25 v102)
  (at r48 v103)
  (at r34 v104)
  (at r92 v105)
  (at r97 v106)
  (at r21 v107)
  (at r28 v108)
  (at r128 v109)
  (free v110)
  (at r135 v111)
  (at r118 v112)
  (at r95 v113)
  (at r131 v114)
  (free v115)
  (at r77 v116)
  (at r42 v117)
  (at r24 v118)
  (at r99 v119)
  (at r78 v120)
  (at r26 v121)
  (at r40 v122)
  (at r29 v123)
  (at r130 v124)
  (free v125)
  (at r139 v126)
  (at r41 v127)
  (at r55 v128)
  (at r67 v129)
  (at r113 v130)
  (free v131)
  (at r112 v132)
  (at r105 v133)
  (at r60 v134)
  (at r90 v135)
  (free v136)
  (at r129 v137)
  (at r47 v138)
  (free v139)
  (at r57 v140)
  (at r80 v141)
  (at r123 v142)
  (free v143)
  (at r138 v144)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v21)
  (adjacent v0 v25)
  (adjacent v0 v124)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v17)
  (adjacent v1 v39)
  (adjacent v1 v55)
  (adjacent v1 v102)
  (adjacent v1 v137)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v9)
  (adjacent v3 v16)
  (adjacent v3 v66)
  (adjacent v4 v31)
  (adjacent v4 v47)
  (adjacent v4 v136)
  (adjacent v5 v10)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v32)
  (adjacent v6 v56)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v37)
  (adjacent v7 v80)
  (adjacent v8 v9)
  (adjacent v9 v15)
  (adjacent v9 v22)
  (adjacent v9 v35)
  (adjacent v9 v40)
  (adjacent v10 v11)
  (adjacent v11 v75)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v33)
  (adjacent v13 v64)
  (adjacent v13 v73)
  (adjacent v14 v15)
  (adjacent v15 v39)
  (adjacent v16 v113)
  (adjacent v16 v129)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v101)
  (adjacent v18 v125)
  (adjacent v19 v20)
  (adjacent v19 v36)
  (adjacent v19 v45)
  (adjacent v20 v21)
  (adjacent v20 v30)
  (adjacent v21 v46)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v26)
  (adjacent v25 v138)
  (adjacent v26 v27)
  (adjacent v26 v64)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v47)
  (adjacent v28 v48)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v30 v87)
  (adjacent v30 v109)
  (adjacent v31 v32)
  (adjacent v31 v76)
  (adjacent v31 v88)
  (adjacent v32 v34)
  (adjacent v33 v34)
  (adjacent v33 v69)
  (adjacent v34 v77)
  (adjacent v35 v36)
  (adjacent v36 v67)
  (adjacent v37 v38)
  (adjacent v38 v49)
  (adjacent v38 v65)
  (adjacent v39 v46)
  (adjacent v40 v41)
  (adjacent v40 v100)
  (adjacent v41 v42)
  (adjacent v41 v70)
  (adjacent v41 v90)
  (adjacent v42 v43)
  (adjacent v42 v93)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v48)
  (adjacent v45 v92)
  (adjacent v46 v74)
  (adjacent v46 v91)
  (adjacent v47 v76)
  (adjacent v48 v101)
  (adjacent v48 v102)
  (adjacent v49 v50)
  (adjacent v49 v63)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v65)
  (adjacent v51 v95)
  (adjacent v52 v53)
  (adjacent v52 v58)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v66)
  (adjacent v55 v57)
  (adjacent v55 v123)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v79)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v99)
  (adjacent v70 v71)
  (adjacent v70 v108)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v100)
  (adjacent v74 v75)
  (adjacent v75 v120)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v81)
  (adjacent v79 v82)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v94)
  (adjacent v85 v86)
  (adjacent v85 v94)
  (adjacent v86 v87)
  (adjacent v86 v103)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v93)
  (adjacent v89 v124)
  (adjacent v90 v144)
  (adjacent v91 v92)
  (adjacent v94 v114)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v119)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v130)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v130 v137)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
 )
 (:goal
  (and
  (at r105 v0)
  (at r139 v1)
  (at r84 v2)
  (at r71 v3)
  (at r37 v4)
  (at r54 v5)
  (at r68 v6)
  (at r127 v7)
  (free v8)
  (at r61 v9)
  (at r107 v10)
  (at r94 v11)
  (at r110 v12)
  (at r113 v13)
  (at r98 v14)
  (at r77 v15)
  (at r49 v16)
  (at r41 v17)
  (at r38 v18)
  (free v19)
  (at r106 v20)
  (free v21)
  (at r20 v22)
  (at r118 v23)
  (at r18 v24)
  (at r36 v25)
  (at r64 v26)
  (at r102 v27)
  (at r67 v28)
  (at r83 v29)
  (at r82 v30)
  (at r55 v31)
  (at r51 v32)
  (at r69 v33)
  (at r99 v34)
  (at r143 v35)
  (at r27 v36)
  (at r63 v37)
  (at r144 v38)
  (at r97 v39)
  (at r34 v40)
  (at r128 v41)
  (at r31 v42)
  (at r116 v43)
  (at r57 v44)
  (free v45)
  (at r126 v46)
  (free v47)
  (at r103 v48)
  (free v49)
  (at r136 v50)
  (at r112 v51)
  (free v52)
  (at r100 v53)
  (at r81 v54)
  (at r46 v55)
  (at r53 v56)
  (at r122 v57)
  (at r137 v58)
  (at r70 v59)
  (at r80 v60)
  (at r115 v61)
  (at r109 v62)
  (at r86 v63)
  (at r91 v64)
  (at r95 v65)
  (free v66)
  (at r141 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r29 v71)
  (at r129 v72)
  (at r22 v73)
  (at r74 v74)
  (at r132 v75)
  (at r92 v76)
  (free v77)
  (at r33 v78)
  (free v79)
  (at r73 v80)
  (at r125 v81)
  (at r140 v82)
  (at r101 v83)
  (at r78 v84)
  (at r88 v85)
  (at r43 v86)
  (at r104 v87)
  (at r130 v88)
  (at r133 v89)
  (at r79 v90)
  (at r65 v91)
  (free v92)
  (at r47 v93)
  (at r89 v94)
  (at r39 v95)
  (at r124 v96)
  (at r30 v97)
  (at r131 v98)
  (at r52 v99)
  (at r59 v100)
  (at r93 v101)
  (at r135 v102)
  (at r66 v103)
  (at r120 v104)
  (at r58 v105)
  (at r23 v106)
  (at r85 v107)
  (at r40 v108)
  (free v109)
  (at r142 v110)
  (at r19 v111)
  (at r45 v112)
  (at r138 v113)
  (at r72 v114)
  (at r24 v115)
  (at r108 v116)
  (at r56 v117)
  (at r76 v118)
  (at r42 v119)
  (free v120)
  (at r25 v121)
  (at r123 v122)
  (at r32 v123)
  (at r90 v124)
  (free v125)
  (at r44 v126)
  (at r134 v127)
  (at r28 v128)
  (at r117 v129)
  (at r87 v130)
  (at r121 v131)
  (at r26 v132)
  (at r111 v133)
  (at r62 v134)
  (at r96 v135)
  (at r48 v136)
  (at r35 v137)
  (free v138)
  (at r50 v139)
  (at r119 v140)
  (at r75 v141)
  (at r60 v142)
  (at r114 v143)
  (at r21 v144)
  )
 )
)