(define (problem multirobot_47_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r66
  v1 r114
  v2 r158
  v3 r68
  v4 r149
  v5 r65
  v6 r153
  v7 r174
  v8
  v9 r91
  v10 r37
  v11
  v12 r177
  v13 r70
  v14 r165
  v15 r109
  v16 r170
  v17 r63
  v18 r33
  v19 r45
  v20 r29
  v21 r84
  v22 r162
  v23 r168
  v24 r55
  v25 r79
  v26
  v27 r71
  v28 r164
  v29
  v30
  v31 r41
  v32
  v33 r128
  v34 r60
  v35 r169
  v36 r147
  v37 r120
  v38 r161
  v39 r30
  v40 r34
  v41 r138
  v42 r151
  v43 r130
  v44 r152
  v45 r54
  v46 r171
  v47 r26
  v48 r104
  v49 r175
  v50 r142
  v51 r90
  v52 r78
  v53 r98
  v54 r93
  v55 r42
  v56 r131
  v57 r40
  v58 r53
  v59 r146
  v60 r124
  v61 r135
  v62 r73
  v63 r25
  v64 r87
  v65 r22
  v66 r74
  v67 r19
  v68 r58
  v69 r140
  v70 r23
  v71 r173
  v72 r150
  v73 r49
  v74 r121
  v75 r18
  v76 r163
  v77 r148
  v78 r99
  v79 r92
  v80 r20
  v81 r167
  v82 r144
  v83 r105
  v84 r136
  v85 r134
  v86 r166
  v87 r88
  v88 r67
  v89 r77
  v90 r61
  v91 r69
  v92 r75
  v93 r86
  v94 r46
  v95 r44
  v96 r125
  v97 r80
  v98 r81
  v99 r143
  v100 r141
  v101 r31
  v102 r115
  v103 r27
  v104 r59
  v105 r113
  v106 r43
  v107 r107
  v108 r36
  v109 r35
  v110 r110
  v111 r122
  v112 r32
  v113 r72
  v114
  v115 r145
  v116 r133
  v117 r38
  v118 r50
  v119
  v120
  v121
  v122 r47
  v123 r89
  v124 r62
  v125 r106
  v126 r52
  v127 r103
  v128
  v129
  v130 r126
  v131 r95
  v132 r127
  v133 r172
  v134 r129
  v135 r56
  v136 r100
  v137
  v138 r154
  v139 r101
  v140 r139
  v141 r117
  v142 r57
  v143 r119
  v144 r76
  v145 r48
  v146 r83
  v147 r85
  v148
  v149
  v150 r82
  v151 r157
  v152 r137
  v153 r64
  v154 r108
  v155 r159
  v156 r111
  v157 r24
  v158 r51
  v159 r155
  v160 r28
  v161 r112
  v162
  v163 r176
  v164 r39
  v165
  v166 r178
  v167 r21
  v168 r102
  v169
  v170 r160
  v171 r123
  v172 r96
  v173 r132
  v174 r118
  v175 r97
  v176 r156
  v177 r94
  v178 r116
 )
 (:init
  (at r66 v0)
  (at r114 v1)
  (at r158 v2)
  (at r68 v3)
  (at r149 v4)
  (at r65 v5)
  (at r153 v6)
  (at r174 v7)
  (free v8)
  (at r91 v9)
  (at r37 v10)
  (free v11)
  (at r177 v12)
  (at r70 v13)
  (at r165 v14)
  (at r109 v15)
  (at r170 v16)
  (at r63 v17)
  (at r33 v18)
  (at r45 v19)
  (at r29 v20)
  (at r84 v21)
  (at r162 v22)
  (at r168 v23)
  (at r55 v24)
  (at r79 v25)
  (free v26)
  (at r71 v27)
  (at r164 v28)
  (free v29)
  (free v30)
  (at r41 v31)
  (free v32)
  (at r128 v33)
  (at r60 v34)
  (at r169 v35)
  (at r147 v36)
  (at r120 v37)
  (at r161 v38)
  (at r30 v39)
  (at r34 v40)
  (at r138 v41)
  (at r151 v42)
  (at r130 v43)
  (at r152 v44)
  (at r54 v45)
  (at r171 v46)
  (at r26 v47)
  (at r104 v48)
  (at r175 v49)
  (at r142 v50)
  (at r90 v51)
  (at r78 v52)
  (at r98 v53)
  (at r93 v54)
  (at r42 v55)
  (at r131 v56)
  (at r40 v57)
  (at r53 v58)
  (at r146 v59)
  (at r124 v60)
  (at r135 v61)
  (at r73 v62)
  (at r25 v63)
  (at r87 v64)
  (at r22 v65)
  (at r74 v66)
  (at r19 v67)
  (at r58 v68)
  (at r140 v69)
  (at r23 v70)
  (at r173 v71)
  (at r150 v72)
  (at r49 v73)
  (at r121 v74)
  (at r18 v75)
  (at r163 v76)
  (at r148 v77)
  (at r99 v78)
  (at r92 v79)
  (at r20 v80)
  (at r167 v81)
  (at r144 v82)
  (at r105 v83)
  (at r136 v84)
  (at r134 v85)
  (at r166 v86)
  (at r88 v87)
  (at r67 v88)
  (at r77 v89)
  (at r61 v90)
  (at r69 v91)
  (at r75 v92)
  (at r86 v93)
  (at r46 v94)
  (at r44 v95)
  (at r125 v96)
  (at r80 v97)
  (at r81 v98)
  (at r143 v99)
  (at r141 v100)
  (at r31 v101)
  (at r115 v102)
  (at r27 v103)
  (at r59 v104)
  (at r113 v105)
  (at r43 v106)
  (at r107 v107)
  (at r36 v108)
  (at r35 v109)
  (at r110 v110)
  (at r122 v111)
  (at r32 v112)
  (at r72 v113)
  (free v114)
  (at r145 v115)
  (at r133 v116)
  (at r38 v117)
  (at r50 v118)
  (free v119)
  (free v120)
  (free v121)
  (at r47 v122)
  (at r89 v123)
  (at r62 v124)
  (at r106 v125)
  (at r52 v126)
  (at r103 v127)
  (free v128)
  (free v129)
  (at r126 v130)
  (at r95 v131)
  (at r127 v132)
  (at r172 v133)
  (at r129 v134)
  (at r56 v135)
  (at r100 v136)
  (free v137)
  (at r154 v138)
  (at r101 v139)
  (at r139 v140)
  (at r117 v141)
  (at r57 v142)
  (at r119 v143)
  (at r76 v144)
  (at r48 v145)
  (at r83 v146)
  (at r85 v147)
  (free v148)
  (free v149)
  (at r82 v150)
  (at r157 v151)
  (at r137 v152)
  (at r64 v153)
  (at r108 v154)
  (at r159 v155)
  (at r111 v156)
  (at r24 v157)
  (at r51 v158)
  (at r155 v159)
  (at r28 v160)
  (at r112 v161)
  (free v162)
  (at r176 v163)
  (at r39 v164)
  (free v165)
  (at r178 v166)
  (at r21 v167)
  (at r102 v168)
  (free v169)
  (at r160 v170)
  (at r123 v171)
  (at r96 v172)
  (at r132 v173)
  (at r118 v174)
  (at r97 v175)
  (at r156 v176)
  (at r94 v177)
  (at r116 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v11)
  (adjacent v0 v119)
  (adjacent v0 v136)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v54)
  (adjacent v2 v3)
  (adjacent v2 v26)
  (adjacent v2 v37)
  (adjacent v2 v45)
  (adjacent v2 v54)
  (adjacent v3 v4)
  (adjacent v3 v21)
  (adjacent v4 v17)
  (adjacent v4 v55)
  (adjacent v4 v63)
  (adjacent v5 v12)
  (adjacent v5 v113)
  (adjacent v6 v7)
  (adjacent v6 v86)
  (adjacent v7 v8)
  (adjacent v7 v86)
  (adjacent v7 v142)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v9 v22)
  (adjacent v9 v31)
  (adjacent v9 v38)
  (adjacent v9 v163)
  (adjacent v10 v11)
  (adjacent v10 v66)
  (adjacent v12 v13)
  (adjacent v12 v25)
  (adjacent v12 v116)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v158)
  (adjacent v15 v16)
  (adjacent v15 v91)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v16 v30)
  (adjacent v16 v39)
  (adjacent v16 v103)
  (adjacent v17 v18)
  (adjacent v17 v30)
  (adjacent v18 v29)
  (adjacent v19 v20)
  (adjacent v19 v65)
  (adjacent v20 v21)
  (adjacent v21 v38)
  (adjacent v21 v118)
  (adjacent v21 v131)
  (adjacent v22 v23)
  (adjacent v22 v46)
  (adjacent v22 v99)
  (adjacent v22 v135)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v76)
  (adjacent v28 v29)
  (adjacent v28 v84)
  (adjacent v30 v97)
  (adjacent v30 v164)
  (adjacent v31 v32)
  (adjacent v31 v53)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v69)
  (adjacent v37 v70)
  (adjacent v39 v40)
  (adjacent v39 v52)
  (adjacent v40 v41)
  (adjacent v40 v59)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v53)
  (adjacent v42 v85)
  (adjacent v43 v44)
  (adjacent v43 v60)
  (adjacent v44 v45)
  (adjacent v44 v171)
  (adjacent v45 v67)
  (adjacent v45 v75)
  (adjacent v46 v47)
  (adjacent v46 v66)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v150)
  (adjacent v50 v51)
  (adjacent v50 v77)
  (adjacent v50 v110)
  (adjacent v51 v52)
  (adjacent v51 v74)
  (adjacent v53 v84)
  (adjacent v54 v111)
  (adjacent v55 v56)
  (adjacent v55 v111)
  (adjacent v55 v130)
  (adjacent v56 v57)
  (adjacent v56 v83)
  (adjacent v57 v58)
  (adjacent v57 v62)
  (adjacent v57 v87)
  (adjacent v58 v59)
  (adjacent v59 v139)
  (adjacent v60 v61)
  (adjacent v60 v92)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v138)
  (adjacent v64 v65)
  (adjacent v64 v117)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v104)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v98)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v85)
  (adjacent v85 v157)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v112)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v100)
  (adjacent v97 v124)
  (adjacent v98 v99)
  (adjacent v99 v123)
  (adjacent v99 v149)
  (adjacent v100 v101)
  (adjacent v100 v112)
  (adjacent v101 v102)
  (adjacent v101 v175)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v151)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v143)
  (adjacent v134 v169)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v148)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v170)
  (adjacent v149 v150)
  (adjacent v150 v178)
  (adjacent v151 v152)
  (adjacent v151 v174)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v165 v170)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (at r40 v0)
  (at r24 v1)
  (at r108 v2)
  (at r159 v3)
  (at r170 v4)
  (at r63 v5)
  (at r85 v6)
  (at r150 v7)
  (at r139 v8)
  (at r77 v9)
  (free v10)
  (free v11)
  (at r176 v12)
  (at r60 v13)
  (at r30 v14)
  (at r57 v15)
  (at r152 v16)
  (free v17)
  (at r123 v18)
  (at r100 v19)
  (at r71 v20)
  (at r76 v21)
  (at r97 v22)
  (free v23)
  (at r87 v24)
  (free v25)
  (at r169 v26)
  (at r160 v27)
  (at r36 v28)
  (at r106 v29)
  (at r140 v30)
  (at r121 v31)
  (at r146 v32)
  (at r144 v33)
  (at r157 v34)
  (at r32 v35)
  (free v36)
  (at r162 v37)
  (at r133 v38)
  (at r73 v39)
  (at r147 v40)
  (at r167 v41)
  (at r20 v42)
  (at r161 v43)
  (at r72 v44)
  (at r102 v45)
  (at r58 v46)
  (at r45 v47)
  (at r82 v48)
  (at r51 v49)
  (at r105 v50)
  (at r27 v51)
  (at r78 v52)
  (at r98 v53)
  (at r166 v54)
  (at r19 v55)
  (at r80 v56)
  (at r35 v57)
  (at r26 v58)
  (at r65 v59)
  (at r88 v60)
  (at r41 v61)
  (free v62)
  (at r135 v63)
  (at r18 v64)
  (at r54 v65)
  (at r136 v66)
  (at r172 v67)
  (at r141 v68)
  (at r64 v69)
  (at r173 v70)
  (at r52 v71)
  (at r115 v72)
  (at r155 v73)
  (at r91 v74)
  (at r94 v75)
  (at r153 v76)
  (at r110 v77)
  (at r43 v78)
  (at r129 v79)
  (at r125 v80)
  (at r120 v81)
  (at r46 v82)
  (free v83)
  (free v84)
  (at r56 v85)
  (at r95 v86)
  (at r132 v87)
  (at r101 v88)
  (at r31 v89)
  (at r89 v90)
  (at r28 v91)
  (at r118 v92)
  (at r92 v93)
  (at r96 v94)
  (at r107 v95)
  (at r67 v96)
  (at r154 v97)
  (at r122 v98)
  (at r103 v99)
  (at r117 v100)
  (at r23 v101)
  (free v102)
  (at r25 v103)
  (at r49 v104)
  (at r143 v105)
  (at r175 v106)
  (at r163 v107)
  (at r111 v108)
  (at r62 v109)
  (at r126 v110)
  (free v111)
  (at r149 v112)
  (free v113)
  (at r83 v114)
  (at r47 v115)
  (at r53 v116)
  (at r171 v117)
  (at r79 v118)
  (at r113 v119)
  (at r109 v120)
  (free v121)
  (at r148 v122)
  (free v123)
  (at r134 v124)
  (free v125)
  (at r137 v126)
  (at r33 v127)
  (at r104 v128)
  (at r127 v129)
  (at r138 v130)
  (at r29 v131)
  (at r131 v132)
  (at r48 v133)
  (at r145 v134)
  (at r168 v135)
  (at r174 v136)
  (at r39 v137)
  (at r86 v138)
  (free v139)
  (at r21 v140)
  (free v141)
  (at r59 v142)
  (at r116 v143)
  (at r75 v144)
  (at r22 v145)
  (at r151 v146)
  (at r44 v147)
  (at r156 v148)
  (at r84 v149)
  (at r70 v150)
  (at r128 v151)
  (at r164 v152)
  (at r124 v153)
  (at r69 v154)
  (at r61 v155)
  (at r158 v156)
  (at r119 v157)
  (at r34 v158)
  (free v159)
  (at r178 v160)
  (at r50 v161)
  (at r55 v162)
  (at r177 v163)
  (at r114 v164)
  (at r42 v165)
  (at r37 v166)
  (at r165 v167)
  (at r142 v168)
  (at r66 v169)
  (at r130 v170)
  (at r74 v171)
  (at r38 v172)
  (at r99 v173)
  (at r81 v174)
  (at r93 v175)
  (at r112 v176)
  (at r68 v177)
  (at r90 v178)
  )
 )
)