(define (problem multirobot_47_10%_c7)
 (:domain multirobot)
 (:objects
  v0 r19
  v1 r79
  v2 r151
  v3 r135
  v4
  v5 r143
  v6 r100
  v7 r92
  v8
  v9 r112
  v10 r61
  v11 r65
  v12 r165
  v13
  v14 r167
  v15 r173
  v16 r138
  v17 r77
  v18 r56
  v19 r176
  v20 r158
  v21 r147
  v22 r162
  v23 r93
  v24 r75
  v25 r29
  v26 r187
  v27 r83
  v28 r64
  v29 r46
  v30 r104
  v31 r174
  v32 r142
  v33 r52
  v34 r49
  v35 r129
  v36 r85
  v37 r51
  v38 r39
  v39 r166
  v40 r140
  v41 r157
  v42 r43
  v43
  v44 r184
  v45 r110
  v46 r70
  v47 r182
  v48 r161
  v49 r106
  v50 r37
  v51 r154
  v52 r81
  v53 r34
  v54 r86
  v55 r128
  v56 r74
  v57 r148
  v58 r68
  v59 r136
  v60 r170
  v61 r137
  v62 r116
  v63
  v64 r179
  v65 r18
  v66 r67
  v67 r20
  v68 r152
  v69 r111
  v70 r181
  v71 r186
  v72
  v73 r153
  v74 r78
  v75 r73
  v76 r96
  v77 r145
  v78 r127
  v79 r27
  v80 r69
  v81
  v82 r185
  v83 r28
  v84 r87
  v85 r80
  v86 r141
  v87 r131
  v88 r22
  v89 r150
  v90 r130
  v91 r89
  v92 r33
  v93 r97
  v94 r163
  v95
  v96 r120
  v97 r123
  v98 r107
  v99
  v100
  v101 r88
  v102
  v103 r98
  v104 r94
  v105 r146
  v106 r63
  v107 r76
  v108
  v109 r101
  v110 r171
  v111 r159
  v112 r60
  v113 r42
  v114 r139
  v115 r40
  v116 r125
  v117 r90
  v118 r24
  v119 r172
  v120 r118
  v121 r124
  v122 r121
  v123
  v124 r25
  v125 r169
  v126 r109
  v127 r82
  v128 r102
  v129 r105
  v130 r133
  v131 r53
  v132 r32
  v133
  v134 r156
  v135 r103
  v136 r177
  v137 r50
  v138 r108
  v139 r99
  v140 r26
  v141 r114
  v142 r178
  v143 r45
  v144 r44
  v145 r48
  v146
  v147 r84
  v148 r95
  v149 r57
  v150 r164
  v151 r149
  v152
  v153 r21
  v154 r30
  v155 r122
  v156 r134
  v157 r160
  v158 r144
  v159 r126
  v160 r168
  v161 r119
  v162 r66
  v163 r175
  v164 r113
  v165 r71
  v166
  v167 r55
  v168 r38
  v169 r155
  v170 r58
  v171 r23
  v172 r180
  v173 r62
  v174 r54
  v175 r36
  v176
  v177 r183
  v178 r188
  v179 r117
  v180 r91
  v181 r35
  v182 r132
  v183 r41
  v184 r31
  v185 r189
  v186 r72
  v187 r47
  v188 r59
  v189 r115
 )
 (:init
  (at r19 v0)
  (at r79 v1)
  (at r151 v2)
  (at r135 v3)
  (free v4)
  (at r143 v5)
  (at r100 v6)
  (at r92 v7)
  (free v8)
  (at r112 v9)
  (at r61 v10)
  (at r65 v11)
  (at r165 v12)
  (free v13)
  (at r167 v14)
  (at r173 v15)
  (at r138 v16)
  (at r77 v17)
  (at r56 v18)
  (at r176 v19)
  (at r158 v20)
  (at r147 v21)
  (at r162 v22)
  (at r93 v23)
  (at r75 v24)
  (at r29 v25)
  (at r187 v26)
  (at r83 v27)
  (at r64 v28)
  (at r46 v29)
  (at r104 v30)
  (at r174 v31)
  (at r142 v32)
  (at r52 v33)
  (at r49 v34)
  (at r129 v35)
  (at r85 v36)
  (at r51 v37)
  (at r39 v38)
  (at r166 v39)
  (at r140 v40)
  (at r157 v41)
  (at r43 v42)
  (free v43)
  (at r184 v44)
  (at r110 v45)
  (at r70 v46)
  (at r182 v47)
  (at r161 v48)
  (at r106 v49)
  (at r37 v50)
  (at r154 v51)
  (at r81 v52)
  (at r34 v53)
  (at r86 v54)
  (at r128 v55)
  (at r74 v56)
  (at r148 v57)
  (at r68 v58)
  (at r136 v59)
  (at r170 v60)
  (at r137 v61)
  (at r116 v62)
  (free v63)
  (at r179 v64)
  (at r18 v65)
  (at r67 v66)
  (at r20 v67)
  (at r152 v68)
  (at r111 v69)
  (at r181 v70)
  (at r186 v71)
  (free v72)
  (at r153 v73)
  (at r78 v74)
  (at r73 v75)
  (at r96 v76)
  (at r145 v77)
  (at r127 v78)
  (at r27 v79)
  (at r69 v80)
  (free v81)
  (at r185 v82)
  (at r28 v83)
  (at r87 v84)
  (at r80 v85)
  (at r141 v86)
  (at r131 v87)
  (at r22 v88)
  (at r150 v89)
  (at r130 v90)
  (at r89 v91)
  (at r33 v92)
  (at r97 v93)
  (at r163 v94)
  (free v95)
  (at r120 v96)
  (at r123 v97)
  (at r107 v98)
  (free v99)
  (free v100)
  (at r88 v101)
  (free v102)
  (at r98 v103)
  (at r94 v104)
  (at r146 v105)
  (at r63 v106)
  (at r76 v107)
  (free v108)
  (at r101 v109)
  (at r171 v110)
  (at r159 v111)
  (at r60 v112)
  (at r42 v113)
  (at r139 v114)
  (at r40 v115)
  (at r125 v116)
  (at r90 v117)
  (at r24 v118)
  (at r172 v119)
  (at r118 v120)
  (at r124 v121)
  (at r121 v122)
  (free v123)
  (at r25 v124)
  (at r169 v125)
  (at r109 v126)
  (at r82 v127)
  (at r102 v128)
  (at r105 v129)
  (at r133 v130)
  (at r53 v131)
  (at r32 v132)
  (free v133)
  (at r156 v134)
  (at r103 v135)
  (at r177 v136)
  (at r50 v137)
  (at r108 v138)
  (at r99 v139)
  (at r26 v140)
  (at r114 v141)
  (at r178 v142)
  (at r45 v143)
  (at r44 v144)
  (at r48 v145)
  (free v146)
  (at r84 v147)
  (at r95 v148)
  (at r57 v149)
  (at r164 v150)
  (at r149 v151)
  (free v152)
  (at r21 v153)
  (at r30 v154)
  (at r122 v155)
  (at r134 v156)
  (at r160 v157)
  (at r144 v158)
  (at r126 v159)
  (at r168 v160)
  (at r119 v161)
  (at r66 v162)
  (at r175 v163)
  (at r113 v164)
  (at r71 v165)
  (free v166)
  (at r55 v167)
  (at r38 v168)
  (at r155 v169)
  (at r58 v170)
  (at r23 v171)
  (at r180 v172)
  (at r62 v173)
  (at r54 v174)
  (at r36 v175)
  (free v176)
  (at r183 v177)
  (at r188 v178)
  (at r117 v179)
  (at r91 v180)
  (at r35 v181)
  (at r132 v182)
  (at r41 v183)
  (at r31 v184)
  (at r189 v185)
  (at r72 v186)
  (at r47 v187)
  (at r59 v188)
  (at r115 v189)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v20)
  (adjacent v1 v170)
  (adjacent v2 v3)
  (adjacent v2 v18)
  (adjacent v2 v19)
  (adjacent v2 v96)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v21)
  (adjacent v3 v41)
  (adjacent v3 v80)
  (adjacent v4 v14)
  (adjacent v4 v22)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v5 v86)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v85)
  (adjacent v9 v79)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v10 v141)
  (adjacent v10 v174)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v12 v92)
  (adjacent v12 v180)
  (adjacent v13 v14)
  (adjacent v13 v57)
  (adjacent v13 v92)
  (adjacent v14 v87)
  (adjacent v14 v123)
  (adjacent v15 v16)
  (adjacent v15 v129)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v17 v18)
  (adjacent v18 v34)
  (adjacent v18 v69)
  (adjacent v18 v74)
  (adjacent v19 v20)
  (adjacent v20 v28)
  (adjacent v20 v82)
  (adjacent v20 v100)
  (adjacent v21 v91)
  (adjacent v21 v168)
  (adjacent v22 v23)
  (adjacent v22 v42)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v169)
  (adjacent v25 v26)
  (adjacent v25 v93)
  (adjacent v26 v27)
  (adjacent v26 v46)
  (adjacent v27 v88)
  (adjacent v27 v158)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v72)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v156)
  (adjacent v34 v114)
  (adjacent v35 v36)
  (adjacent v35 v50)
  (adjacent v35 v51)
  (adjacent v36 v37)
  (adjacent v36 v54)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v45)
  (adjacent v39 v58)
  (adjacent v40 v41)
  (adjacent v41 v142)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v84)
  (adjacent v44 v45)
  (adjacent v45 v63)
  (adjacent v45 v170)
  (adjacent v46 v47)
  (adjacent v46 v55)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v122)
  (adjacent v49 v50)
  (adjacent v49 v167)
  (adjacent v50 v101)
  (adjacent v50 v108)
  (adjacent v51 v52)
  (adjacent v51 v130)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v75)
  (adjacent v53 v139)
  (adjacent v55 v56)
  (adjacent v55 v113)
  (adjacent v55 v179)
  (adjacent v56 v57)
  (adjacent v56 v62)
  (adjacent v56 v71)
  (adjacent v56 v87)
  (adjacent v56 v124)
  (adjacent v57 v165)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v70)
  (adjacent v60 v61)
  (adjacent v60 v86)
  (adjacent v60 v119)
  (adjacent v61 v62)
  (adjacent v62 v189)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v95)
  (adjacent v66 v67)
  (adjacent v66 v133)
  (adjacent v66 v164)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v81)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v75 v179)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v123)
  (adjacent v79 v118)
  (adjacent v80 v81)
  (adjacent v81 v107)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v134)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v149)
  (adjacent v111 v112)
  (adjacent v111 v178)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v114 v148)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v171)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v138)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v173)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v184)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v147 v155)
  (adjacent v147 v183)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v151 v157)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v188 v189)
 )
 (:goal
  (and
  (at r166 v0)
  (at r152 v1)
  (at r184 v2)
  (free v3)
  (at r49 v4)
  (free v5)
  (at r164 v6)
  (at r79 v7)
  (free v8)
  (at r105 v9)
  (at r107 v10)
  (at r128 v11)
  (at r39 v12)
  (at r68 v13)
  (free v14)
  (at r111 v15)
  (at r178 v16)
  (at r88 v17)
  (at r127 v18)
  (at r64 v19)
  (at r154 v20)
  (at r126 v21)
  (at r168 v22)
  (free v23)
  (at r173 v24)
  (at r144 v25)
  (at r174 v26)
  (at r89 v27)
  (at r185 v28)
  (at r130 v29)
  (at r28 v30)
  (at r33 v31)
  (free v32)
  (free v33)
  (at r117 v34)
  (at r156 v35)
  (at r19 v36)
  (at r136 v37)
  (at r82 v38)
  (at r92 v39)
  (at r132 v40)
  (at r155 v41)
  (at r65 v42)
  (free v43)
  (at r137 v44)
  (at r54 v45)
  (at r24 v46)
  (at r123 v47)
  (at r116 v48)
  (at r30 v49)
  (at r171 v50)
  (at r57 v51)
  (at r60 v52)
  (at r104 v53)
  (at r151 v54)
  (at r29 v55)
  (at r181 v56)
  (at r32 v57)
  (at r18 v58)
  (at r180 v59)
  (at r56 v60)
  (at r148 v61)
  (at r101 v62)
  (free v63)
  (at r113 v64)
  (at r110 v65)
  (at r125 v66)
  (at r91 v67)
  (at r186 v68)
  (at r139 v69)
  (at r98 v70)
  (free v71)
  (at r78 v72)
  (at r90 v73)
  (at r58 v74)
  (at r70 v75)
  (at r51 v76)
  (at r95 v77)
  (at r99 v78)
  (at r46 v79)
  (at r44 v80)
  (at r100 v81)
  (at r73 v82)
  (at r133 v83)
  (at r121 v84)
  (at r41 v85)
  (at r47 v86)
  (at r142 v87)
  (at r59 v88)
  (at r102 v89)
  (at r61 v90)
  (at r26 v91)
  (at r35 v92)
  (at r119 v93)
  (at r115 v94)
  (at r112 v95)
  (at r187 v96)
  (at r94 v97)
  (at r122 v98)
  (at r124 v99)
  (free v100)
  (at r103 v101)
  (at r169 v102)
  (at r134 v103)
  (at r85 v104)
  (at r138 v105)
  (at r131 v106)
  (at r45 v107)
  (at r167 v108)
  (at r106 v109)
  (at r50 v110)
  (free v111)
  (at r140 v112)
  (at r76 v113)
  (at r38 v114)
  (at r34 v115)
  (at r37 v116)
  (at r141 v117)
  (at r84 v118)
  (at r129 v119)
  (at r109 v120)
  (at r75 v121)
  (at r80 v122)
  (at r69 v123)
  (at r175 v124)
  (at r93 v125)
  (at r36 v126)
  (at r42 v127)
  (free v128)
  (at r172 v129)
  (at r20 v130)
  (free v131)
  (free v132)
  (at r159 v133)
  (at r48 v134)
  (free v135)
  (at r157 v136)
  (free v137)
  (at r97 v138)
  (at r114 v139)
  (at r163 v140)
  (at r25 v141)
  (at r87 v142)
  (at r74 v143)
  (at r189 v144)
  (at r176 v145)
  (at r72 v146)
  (at r170 v147)
  (at r83 v148)
  (at r179 v149)
  (at r31 v150)
  (at r150 v151)
  (at r55 v152)
  (at r108 v153)
  (at r177 v154)
  (at r188 v155)
  (at r96 v156)
  (at r40 v157)
  (at r86 v158)
  (at r77 v159)
  (at r153 v160)
  (at r149 v161)
  (at r67 v162)
  (at r162 v163)
  (at r118 v164)
  (at r71 v165)
  (at r183 v166)
  (at r81 v167)
  (at r21 v168)
  (at r63 v169)
  (at r146 v170)
  (at r22 v171)
  (at r182 v172)
  (at r158 v173)
  (at r161 v174)
  (at r53 v175)
  (free v176)
  (at r27 v177)
  (at r52 v178)
  (at r165 v179)
  (at r120 v180)
  (at r145 v181)
  (at r43 v182)
  (at r143 v183)
  (at r66 v184)
  (at r147 v185)
  (at r62 v186)
  (at r23 v187)
  (at r160 v188)
  (at r135 v189)
  )
 )
)