(define (problem multirobot_49_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r90
  v1 r145
  v2 r49
  v3
  v4 r83
  v5 r144
  v6 r158
  v7 r163
  v8
  v9
  v10 r46
  v11 r120
  v12 r72
  v13 r21
  v14 r36
  v15 r52
  v16 r133
  v17 r93
  v18 r45
  v19
  v20
  v21 r124
  v22 r22
  v23 r136
  v24 r77
  v25 r56
  v26
  v27 r23
  v28 r137
  v29 r106
  v30 r97
  v31 r159
  v32 r88
  v33 r81
  v34 r29
  v35
  v36
  v37 r140
  v38 r129
  v39 r117
  v40
  v41 r86
  v42 r51
  v43 r151
  v44 r111
  v45 r73
  v46 r58
  v47 r87
  v48 r162
  v49 r35
  v50 r130
  v51 r75
  v52
  v53 r43
  v54 r71
  v55 r78
  v56 r148
  v57 r112
  v58
  v59 r53
  v60 r156
  v61 r147
  v62 r20
  v63 r118
  v64 r98
  v65 r84
  v66 r160
  v67 r38
  v68 r33
  v69 r63
  v70 r123
  v71 r122
  v72 r157
  v73 r114
  v74
  v75
  v76 r24
  v77 r85
  v78
  v79 r103
  v80 r142
  v81 r138
  v82 r76
  v83 r94
  v84 r161
  v85 r28
  v86 r149
  v87 r104
  v88 r139
  v89 r153
  v90 r155
  v91 r65
  v92 r47
  v93 r125
  v94 r95
  v95 r48
  v96 r68
  v97 r30
  v98 r131
  v99 r96
  v100 r134
  v101 r25
  v102 r128
  v103
  v104
  v105 r37
  v106
  v107 r109
  v108 r74
  v109 r135
  v110 r154
  v111 r146
  v112 r102
  v113 r39
  v114
  v115 r60
  v116 r82
  v117 r107
  v118 r126
  v119 r26
  v120 r62
  v121 r91
  v122 r67
  v123 r34
  v124 r141
  v125 r69
  v126 r66
  v127 r110
  v128 r101
  v129 r92
  v130 r50
  v131 r32
  v132 r55
  v133 r27
  v134 r70
  v135 r100
  v136 r99
  v137 r132
  v138
  v139 r143
  v140 r61
  v141 r113
  v142 r115
  v143 r165
  v144 r116
  v145 r42
  v146 r40
  v147 r57
  v148 r41
  v149 r44
  v150 r127
  v151
  v152 r64
  v153 r79
  v154 r80
  v155 r108
  v156 r164
  v157 r54
  v158 r121
  v159 r119
  v160 r59
  v161 r105
  v162 r152
  v163 r89
  v164 r31
  v165 r150
 )
 (:init
  (at r90 v0)
  (at r145 v1)
  (at r49 v2)
  (free v3)
  (at r83 v4)
  (at r144 v5)
  (at r158 v6)
  (at r163 v7)
  (free v8)
  (free v9)
  (at r46 v10)
  (at r120 v11)
  (at r72 v12)
  (at r21 v13)
  (at r36 v14)
  (at r52 v15)
  (at r133 v16)
  (at r93 v17)
  (at r45 v18)
  (free v19)
  (free v20)
  (at r124 v21)
  (at r22 v22)
  (at r136 v23)
  (at r77 v24)
  (at r56 v25)
  (free v26)
  (at r23 v27)
  (at r137 v28)
  (at r106 v29)
  (at r97 v30)
  (at r159 v31)
  (at r88 v32)
  (at r81 v33)
  (at r29 v34)
  (free v35)
  (free v36)
  (at r140 v37)
  (at r129 v38)
  (at r117 v39)
  (free v40)
  (at r86 v41)
  (at r51 v42)
  (at r151 v43)
  (at r111 v44)
  (at r73 v45)
  (at r58 v46)
  (at r87 v47)
  (at r162 v48)
  (at r35 v49)
  (at r130 v50)
  (at r75 v51)
  (free v52)
  (at r43 v53)
  (at r71 v54)
  (at r78 v55)
  (at r148 v56)
  (at r112 v57)
  (free v58)
  (at r53 v59)
  (at r156 v60)
  (at r147 v61)
  (at r20 v62)
  (at r118 v63)
  (at r98 v64)
  (at r84 v65)
  (at r160 v66)
  (at r38 v67)
  (at r33 v68)
  (at r63 v69)
  (at r123 v70)
  (at r122 v71)
  (at r157 v72)
  (at r114 v73)
  (free v74)
  (free v75)
  (at r24 v76)
  (at r85 v77)
  (free v78)
  (at r103 v79)
  (at r142 v80)
  (at r138 v81)
  (at r76 v82)
  (at r94 v83)
  (at r161 v84)
  (at r28 v85)
  (at r149 v86)
  (at r104 v87)
  (at r139 v88)
  (at r153 v89)
  (at r155 v90)
  (at r65 v91)
  (at r47 v92)
  (at r125 v93)
  (at r95 v94)
  (at r48 v95)
  (at r68 v96)
  (at r30 v97)
  (at r131 v98)
  (at r96 v99)
  (at r134 v100)
  (at r25 v101)
  (at r128 v102)
  (free v103)
  (free v104)
  (at r37 v105)
  (free v106)
  (at r109 v107)
  (at r74 v108)
  (at r135 v109)
  (at r154 v110)
  (at r146 v111)
  (at r102 v112)
  (at r39 v113)
  (free v114)
  (at r60 v115)
  (at r82 v116)
  (at r107 v117)
  (at r126 v118)
  (at r26 v119)
  (at r62 v120)
  (at r91 v121)
  (at r67 v122)
  (at r34 v123)
  (at r141 v124)
  (at r69 v125)
  (at r66 v126)
  (at r110 v127)
  (at r101 v128)
  (at r92 v129)
  (at r50 v130)
  (at r32 v131)
  (at r55 v132)
  (at r27 v133)
  (at r70 v134)
  (at r100 v135)
  (at r99 v136)
  (at r132 v137)
  (free v138)
  (at r143 v139)
  (at r61 v140)
  (at r113 v141)
  (at r115 v142)
  (at r165 v143)
  (at r116 v144)
  (at r42 v145)
  (at r40 v146)
  (at r57 v147)
  (at r41 v148)
  (at r44 v149)
  (at r127 v150)
  (free v151)
  (at r64 v152)
  (at r79 v153)
  (at r80 v154)
  (at r108 v155)
  (at r164 v156)
  (at r54 v157)
  (at r121 v158)
  (at r119 v159)
  (at r59 v160)
  (at r105 v161)
  (at r152 v162)
  (at r89 v163)
  (at r31 v164)
  (at r150 v165)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v40)
  (adjacent v2 v44)
  (adjacent v2 v55)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v134)
  (adjacent v4 v5)
  (adjacent v4 v10)
  (adjacent v4 v63)
  (adjacent v4 v103)
  (adjacent v5 v6)
  (adjacent v5 v9)
  (adjacent v5 v10)
  (adjacent v5 v16)
  (adjacent v5 v31)
  (adjacent v5 v38)
  (adjacent v6 v7)
  (adjacent v6 v9)
  (adjacent v6 v38)
  (adjacent v6 v94)
  (adjacent v6 v150)
  (adjacent v7 v8)
  (adjacent v7 v25)
  (adjacent v7 v33)
  (adjacent v7 v68)
  (adjacent v8 v57)
  (adjacent v8 v62)
  (adjacent v9 v40)
  (adjacent v9 v71)
  (adjacent v9 v85)
  (adjacent v9 v113)
  (adjacent v10 v22)
  (adjacent v11 v12)
  (adjacent v11 v39)
  (adjacent v12 v13)
  (adjacent v12 v43)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v13 v30)
  (adjacent v13 v91)
  (adjacent v14 v15)
  (adjacent v14 v54)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v43)
  (adjacent v17 v18)
  (adjacent v17 v32)
  (adjacent v17 v77)
  (adjacent v18 v19)
  (adjacent v18 v24)
  (adjacent v18 v41)
  (adjacent v19 v20)
  (adjacent v19 v37)
  (adjacent v20 v21)
  (adjacent v20 v55)
  (adjacent v21 v72)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v78)
  (adjacent v24 v122)
  (adjacent v25 v26)
  (adjacent v25 v42)
  (adjacent v26 v27)
  (adjacent v26 v51)
  (adjacent v27 v28)
  (adjacent v27 v56)
  (adjacent v27 v88)
  (adjacent v28 v29)
  (adjacent v28 v50)
  (adjacent v28 v79)
  (adjacent v28 v102)
  (adjacent v29 v30)
  (adjacent v30 v79)
  (adjacent v31 v32)
  (adjacent v31 v80)
  (adjacent v31 v102)
  (adjacent v31 v128)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v94)
  (adjacent v35 v36)
  (adjacent v35 v53)
  (adjacent v36 v37)
  (adjacent v36 v39)
  (adjacent v37 v108)
  (adjacent v39 v93)
  (adjacent v41 v42)
  (adjacent v44 v45)
  (adjacent v44 v159)
  (adjacent v45 v46)
  (adjacent v45 v52)
  (adjacent v45 v141)
  (adjacent v46 v47)
  (adjacent v46 v67)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v101)
  (adjacent v50 v143)
  (adjacent v51 v52)
  (adjacent v51 v64)
  (adjacent v52 v58)
  (adjacent v52 v112)
  (adjacent v53 v54)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v63)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v86)
  (adjacent v67 v134)
  (adjacent v67 v136)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v76)
  (adjacent v69 v90)
  (adjacent v70 v71)
  (adjacent v70 v87)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v116)
  (adjacent v77 v78)
  (adjacent v78 v117)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v121)
  (adjacent v81 v165)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v151)
  (adjacent v84 v85)
  (adjacent v84 v95)
  (adjacent v85 v133)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v135)
  (adjacent v91 v92)
  (adjacent v91 v107)
  (adjacent v92 v93)
  (adjacent v94 v133)
  (adjacent v94 v144)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v132)
  (adjacent v100 v101)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v135)
  (adjacent v109 v142)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v143)
  (adjacent v112 v155)
  (adjacent v112 v156)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v129)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v142)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v151 v160)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
 )
 (:goal
  (and
  (at r132 v0)
  (at r125 v1)
  (at r160 v2)
  (at r126 v3)
  (free v4)
  (at r66 v5)
  (at r128 v6)
  (at r110 v7)
  (at r39 v8)
  (at r102 v9)
  (at r111 v10)
  (at r89 v11)
  (at r83 v12)
  (at r106 v13)
  (free v14)
  (at r20 v15)
  (at r36 v16)
  (at r85 v17)
  (free v18)
  (at r65 v19)
  (at r28 v20)
  (at r100 v21)
  (at r57 v22)
  (at r161 v23)
  (at r60 v24)
  (at r138 v25)
  (at r73 v26)
  (at r112 v27)
  (at r33 v28)
  (at r93 v29)
  (at r155 v30)
  (at r88 v31)
  (at r61 v32)
  (at r94 v33)
  (at r58 v34)
  (free v35)
  (at r26 v36)
  (at r108 v37)
  (at r29 v38)
  (at r71 v39)
  (at r34 v40)
  (free v41)
  (at r47 v42)
  (at r146 v43)
  (at r31 v44)
  (free v45)
  (at r120 v46)
  (at r104 v47)
  (at r43 v48)
  (at r42 v49)
  (at r113 v50)
  (at r135 v51)
  (at r140 v52)
  (at r148 v53)
  (at r22 v54)
  (at r62 v55)
  (at r75 v56)
  (at r49 v57)
  (at r78 v58)
  (at r127 v59)
  (at r44 v60)
  (at r67 v61)
  (free v62)
  (at r54 v63)
  (at r129 v64)
  (at r96 v65)
  (at r41 v66)
  (free v67)
  (at r55 v68)
  (at r64 v69)
  (at r109 v70)
  (at r143 v71)
  (at r159 v72)
  (at r103 v73)
  (at r32 v74)
  (at r118 v75)
  (at r35 v76)
  (free v77)
  (at r153 v78)
  (at r79 v79)
  (free v80)
  (at r90 v81)
  (at r76 v82)
  (at r86 v83)
  (at r72 v84)
  (at r164 v85)
  (at r101 v86)
  (at r30 v87)
  (at r68 v88)
  (at r23 v89)
  (at r139 v90)
  (at r119 v91)
  (at r130 v92)
  (at r165 v93)
  (at r53 v94)
  (at r131 v95)
  (at r25 v96)
  (at r163 v97)
  (free v98)
  (at r59 v99)
  (at r38 v100)
  (at r150 v101)
  (at r114 v102)
  (free v103)
  (free v104)
  (at r80 v105)
  (at r105 v106)
  (at r24 v107)
  (free v108)
  (free v109)
  (at r142 v110)
  (at r51 v111)
  (at r69 v112)
  (at r147 v113)
  (at r157 v114)
  (at r152 v115)
  (free v116)
  (at r99 v117)
  (at r158 v118)
  (at r156 v119)
  (at r107 v120)
  (at r27 v121)
  (at r116 v122)
  (at r37 v123)
  (at r70 v124)
  (at r74 v125)
  (at r92 v126)
  (at r40 v127)
  (at r63 v128)
  (at r91 v129)
  (at r123 v130)
  (at r151 v131)
  (at r50 v132)
  (at r134 v133)
  (at r115 v134)
  (at r136 v135)
  (free v136)
  (at r45 v137)
  (at r97 v138)
  (at r77 v139)
  (at r154 v140)
  (at r82 v141)
  (at r121 v142)
  (free v143)
  (at r46 v144)
  (at r98 v145)
  (at r144 v146)
  (at r122 v147)
  (at r95 v148)
  (at r124 v149)
  (at r52 v150)
  (at r141 v151)
  (at r133 v152)
  (at r56 v153)
  (at r81 v154)
  (at r87 v155)
  (at r149 v156)
  (free v157)
  (at r162 v158)
  (at r21 v159)
  (free v160)
  (at r145 v161)
  (at r137 v162)
  (at r48 v163)
  (at r84 v164)
  (at r117 v165)
  )
 )
)