(define (problem multirobot_47_10%_c9)
 (:domain multirobot)
 (:objects
  v0
  v1 r19
  v2 r59
  v3 r24
  v4 r91
  v5 r112
  v6
  v7 r29
  v8 r131
  v9 r114
  v10 r89
  v11 r23
  v12 r66
  v13 r87
  v14 r96
  v15
  v16 r97
  v17
  v18 r56
  v19 r103
  v20
  v21 r53
  v22 r126
  v23 r44
  v24 r109
  v25 r127
  v26 r90
  v27 r84
  v28 r67
  v29 r101
  v30
  v31 r141
  v32 r64
  v33 r57
  v34 r60
  v35 r119
  v36 r123
  v37 r93
  v38 r78
  v39
  v40 r61
  v41 r86
  v42 r25
  v43 r54
  v44 r98
  v45 r80
  v46 r68
  v47 r135
  v48 r130
  v49 r47
  v50 r117
  v51 r37
  v52 r124
  v53 r40
  v54 r39
  v55 r33
  v56 r55
  v57 r75
  v58 r42
  v59 r108
  v60 r30
  v61 r77
  v62 r125
  v63 r82
  v64 r43
  v65 r36
  v66 r95
  v67 r58
  v68 r129
  v69 r122
  v70 r31
  v71 r92
  v72 r107
  v73 r35
  v74 r41
  v75 r132
  v76
  v77 r115
  v78 r63
  v79 r105
  v80
  v81 r62
  v82 r142
  v83 r118
  v84 r38
  v85 r69
  v86 r45
  v87 r138
  v88 r76
  v89 r73
  v90 r110
  v91 r139
  v92 r26
  v93 r120
  v94 r27
  v95 r22
  v96
  v97 r49
  v98 r20
  v99 r113
  v100 r94
  v101 r50
  v102 r48
  v103 r85
  v104 r46
  v105 r102
  v106 r100
  v107 r52
  v108 r128
  v109 r71
  v110
  v111
  v112 r70
  v113 r99
  v114 r137
  v115 r143
  v116 r74
  v117 r136
  v118 r133
  v119 r134
  v120 r140
  v121 r116
  v122
  v123
  v124 r104
  v125 r83
  v126 r34
  v127 r21
  v128
  v129 r28
  v130
  v131 r65
  v132 r32
  v133
  v134 r88
  v135 r51
  v136 r121
  v137 r81
  v138
  v139 r79
  v140 r111
  v141 r106
  v142
  v143 r72
 )
 (:init
  (free v0)
  (at r19 v1)
  (at r59 v2)
  (at r24 v3)
  (at r91 v4)
  (at r112 v5)
  (free v6)
  (at r29 v7)
  (at r131 v8)
  (at r114 v9)
  (at r89 v10)
  (at r23 v11)
  (at r66 v12)
  (at r87 v13)
  (at r96 v14)
  (free v15)
  (at r97 v16)
  (free v17)
  (at r56 v18)
  (at r103 v19)
  (free v20)
  (at r53 v21)
  (at r126 v22)
  (at r44 v23)
  (at r109 v24)
  (at r127 v25)
  (at r90 v26)
  (at r84 v27)
  (at r67 v28)
  (at r101 v29)
  (free v30)
  (at r141 v31)
  (at r64 v32)
  (at r57 v33)
  (at r60 v34)
  (at r119 v35)
  (at r123 v36)
  (at r93 v37)
  (at r78 v38)
  (free v39)
  (at r61 v40)
  (at r86 v41)
  (at r25 v42)
  (at r54 v43)
  (at r98 v44)
  (at r80 v45)
  (at r68 v46)
  (at r135 v47)
  (at r130 v48)
  (at r47 v49)
  (at r117 v50)
  (at r37 v51)
  (at r124 v52)
  (at r40 v53)
  (at r39 v54)
  (at r33 v55)
  (at r55 v56)
  (at r75 v57)
  (at r42 v58)
  (at r108 v59)
  (at r30 v60)
  (at r77 v61)
  (at r125 v62)
  (at r82 v63)
  (at r43 v64)
  (at r36 v65)
  (at r95 v66)
  (at r58 v67)
  (at r129 v68)
  (at r122 v69)
  (at r31 v70)
  (at r92 v71)
  (at r107 v72)
  (at r35 v73)
  (at r41 v74)
  (at r132 v75)
  (free v76)
  (at r115 v77)
  (at r63 v78)
  (at r105 v79)
  (free v80)
  (at r62 v81)
  (at r142 v82)
  (at r118 v83)
  (at r38 v84)
  (at r69 v85)
  (at r45 v86)
  (at r138 v87)
  (at r76 v88)
  (at r73 v89)
  (at r110 v90)
  (at r139 v91)
  (at r26 v92)
  (at r120 v93)
  (at r27 v94)
  (at r22 v95)
  (free v96)
  (at r49 v97)
  (at r20 v98)
  (at r113 v99)
  (at r94 v100)
  (at r50 v101)
  (at r48 v102)
  (at r85 v103)
  (at r46 v104)
  (at r102 v105)
  (at r100 v106)
  (at r52 v107)
  (at r128 v108)
  (at r71 v109)
  (free v110)
  (free v111)
  (at r70 v112)
  (at r99 v113)
  (at r137 v114)
  (at r143 v115)
  (at r74 v116)
  (at r136 v117)
  (at r133 v118)
  (at r134 v119)
  (at r140 v120)
  (at r116 v121)
  (free v122)
  (free v123)
  (at r104 v124)
  (at r83 v125)
  (at r34 v126)
  (at r21 v127)
  (free v128)
  (at r28 v129)
  (free v130)
  (at r65 v131)
  (at r32 v132)
  (free v133)
  (at r88 v134)
  (at r51 v135)
  (at r121 v136)
  (at r81 v137)
  (free v138)
  (at r79 v139)
  (at r111 v140)
  (at r106 v141)
  (free v142)
  (at r72 v143)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v143)
  (adjacent v1 v2)
  (adjacent v1 v62)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v13)
  (adjacent v2 v65)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v6)
  (adjacent v4 v16)
  (adjacent v4 v33)
  (adjacent v4 v54)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v6 v17)
  (adjacent v6 v31)
  (adjacent v6 v38)
  (adjacent v6 v99)
  (adjacent v7 v8)
  (adjacent v7 v37)
  (adjacent v8 v9)
  (adjacent v8 v79)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v11 v23)
  (adjacent v12 v13)
  (adjacent v12 v26)
  (adjacent v12 v119)
  (adjacent v13 v31)
  (adjacent v14 v15)
  (adjacent v14 v36)
  (adjacent v14 v47)
  (adjacent v15 v16)
  (adjacent v15 v51)
  (adjacent v16 v27)
  (adjacent v16 v32)
  (adjacent v16 v51)
  (adjacent v16 v68)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v24)
  (adjacent v19 v20)
  (adjacent v19 v106)
  (adjacent v20 v21)
  (adjacent v20 v46)
  (adjacent v21 v22)
  (adjacent v21 v55)
  (adjacent v21 v61)
  (adjacent v22 v23)
  (adjacent v23 v56)
  (adjacent v23 v135)
  (adjacent v24 v25)
  (adjacent v24 v71)
  (adjacent v24 v88)
  (adjacent v24 v96)
  (adjacent v25 v26)
  (adjacent v25 v30)
  (adjacent v25 v72)
  (adjacent v25 v101)
  (adjacent v26 v84)
  (adjacent v27 v28)
  (adjacent v27 v62)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v28 v44)
  (adjacent v28 v91)
  (adjacent v29 v30)
  (adjacent v31 v140)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v46)
  (adjacent v35 v36)
  (adjacent v35 v63)
  (adjacent v36 v39)
  (adjacent v36 v139)
  (adjacent v36 v142)
  (adjacent v37 v38)
  (adjacent v37 v50)
  (adjacent v37 v53)
  (adjacent v39 v40)
  (adjacent v39 v90)
  (adjacent v40 v41)
  (adjacent v40 v45)
  (adjacent v40 v52)
  (adjacent v40 v57)
  (adjacent v41 v42)
  (adjacent v41 v45)
  (adjacent v42 v43)
  (adjacent v42 v100)
  (adjacent v43 v44)
  (adjacent v45 v67)
  (adjacent v46 v133)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v97)
  (adjacent v49 v50)
  (adjacent v50 v52)
  (adjacent v52 v126)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v55 v109)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v64)
  (adjacent v58 v83)
  (adjacent v58 v89)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v69)
  (adjacent v63 v64)
  (adjacent v63 v78)
  (adjacent v64 v68)
  (adjacent v65 v66)
  (adjacent v65 v127)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v69 v105)
  (adjacent v70 v71)
  (adjacent v70 v102)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v106)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v122)
  (adjacent v77 v78)
  (adjacent v77 v121)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v107)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v114)
  (adjacent v93 v94)
  (adjacent v93 v121)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v120)
  (adjacent v97 v98)
  (adjacent v97 v110)
  (adjacent v98 v99)
  (adjacent v98 v120)
  (adjacent v99 v136)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v111)
  (adjacent v104 v113)
  (adjacent v107 v108)
  (adjacent v107 v132)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v142)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v143)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v141)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
 )
 (:goal
  (and
  (at r23 v0)
  (at r37 v1)
  (at r69 v2)
  (at r142 v3)
  (free v4)
  (at r125 v5)
  (at r119 v6)
  (free v7)
  (free v8)
  (at r52 v9)
  (free v10)
  (at r130 v11)
  (at r91 v12)
  (free v13)
  (free v14)
  (at r113 v15)
  (at r25 v16)
  (at r74 v17)
  (at r54 v18)
  (at r46 v19)
  (at r75 v20)
  (free v21)
  (at r87 v22)
  (at r99 v23)
  (at r57 v24)
  (at r102 v25)
  (at r47 v26)
  (at r64 v27)
  (at r19 v28)
  (at r83 v29)
  (at r72 v30)
  (free v31)
  (at r88 v32)
  (at r39 v33)
  (at r58 v34)
  (at r55 v35)
  (at r104 v36)
  (free v37)
  (at r31 v38)
  (free v39)
  (at r61 v40)
  (at r30 v41)
  (at r50 v42)
  (at r110 v43)
  (at r79 v44)
  (at r59 v45)
  (at r109 v46)
  (at r97 v47)
  (at r86 v48)
  (at r132 v49)
  (at r90 v50)
  (at r122 v51)
  (at r123 v52)
  (at r53 v53)
  (at r26 v54)
  (at r112 v55)
  (at r135 v56)
  (at r116 v57)
  (at r115 v58)
  (at r34 v59)
  (at r140 v60)
  (free v61)
  (at r67 v62)
  (free v63)
  (at r89 v64)
  (at r85 v65)
  (at r82 v66)
  (at r28 v67)
  (at r111 v68)
  (at r66 v69)
  (at r65 v70)
  (at r137 v71)
  (at r92 v72)
  (free v73)
  (at r120 v74)
  (at r35 v75)
  (free v76)
  (at r96 v77)
  (at r56 v78)
  (at r105 v79)
  (at r68 v80)
  (at r131 v81)
  (at r127 v82)
  (at r106 v83)
  (at r44 v84)
  (at r117 v85)
  (free v86)
  (at r78 v87)
  (at r63 v88)
  (at r136 v89)
  (at r21 v90)
  (at r60 v91)
  (at r95 v92)
  (at r22 v93)
  (at r128 v94)
  (at r129 v95)
  (at r124 v96)
  (at r98 v97)
  (at r24 v98)
  (at r42 v99)
  (at r41 v100)
  (at r73 v101)
  (at r20 v102)
  (at r121 v103)
  (at r93 v104)
  (at r80 v105)
  (free v106)
  (at r71 v107)
  (at r101 v108)
  (free v109)
  (free v110)
  (at r133 v111)
  (at r62 v112)
  (at r32 v113)
  (at r70 v114)
  (at r141 v115)
  (at r81 v116)
  (at r48 v117)
  (at r84 v118)
  (at r100 v119)
  (at r43 v120)
  (at r103 v121)
  (at r38 v122)
  (at r126 v123)
  (at r118 v124)
  (at r94 v125)
  (at r40 v126)
  (at r114 v127)
  (free v128)
  (at r49 v129)
  (at r77 v130)
  (at r76 v131)
  (at r51 v132)
  (at r107 v133)
  (at r33 v134)
  (at r134 v135)
  (at r27 v136)
  (at r45 v137)
  (at r138 v138)
  (at r143 v139)
  (at r108 v140)
  (at r139 v141)
  (at r29 v142)
  (at r36 v143)
  )
 )
)