(define (problem multirobot_52_10%_c7)
 (:domain multirobot)
 (:objects
  v0 r130
  v1
  v2 r33
  v3
  v4 r41
  v5 r50
  v6 r79
  v7 r82
  v8 r75
  v9 r52
  v10 r39
  v11 r56
  v12 r99
  v13 r145
  v14 r142
  v15 r48
  v16 r131
  v17 r47
  v18 r116
  v19
  v20 r115
  v21 r108
  v22 r34
  v23 r113
  v24 r25
  v25
  v26 r44
  v27 r101
  v28 r26
  v29 r117
  v30 r125
  v31 r146
  v32 r150
  v33 r38
  v34 r85
  v35 r148
  v36 r28
  v37 r143
  v38 r80
  v39 r83
  v40 r114
  v41 r43
  v42 r109
  v43
  v44 r129
  v45 r59
  v46 r153
  v47 r98
  v48
  v49
  v50 r84
  v51 r27
  v52 r54
  v53 r63
  v54 r21
  v55 r66
  v56 r53
  v57 r127
  v58 r140
  v59 r40
  v60 r71
  v61 r68
  v62
  v63 r111
  v64 r30
  v65 r126
  v66 r89
  v67
  v68 r67
  v69 r123
  v70 r57
  v71 r69
  v72 r135
  v73
  v74 r70
  v75
  v76 r128
  v77 r73
  v78 r139
  v79 r55
  v80 r49
  v81
  v82 r36
  v83 r147
  v84 r20
  v85 r133
  v86 r65
  v87 r81
  v88 r35
  v89 r136
  v90 r149
  v91
  v92 r132
  v93 r46
  v94 r102
  v95 r37
  v96 r88
  v97 r105
  v98 r86
  v99 r138
  v100 r22
  v101 r104
  v102 r24
  v103 r94
  v104 r72
  v105 r95
  v106 r64
  v107
  v108 r45
  v109 r112
  v110 r141
  v111
  v112
  v113 r119
  v114 r152
  v115 r110
  v116 r137
  v117 r107
  v118 r23
  v119 r77
  v120 r144
  v121 r61
  v122 r91
  v123
  v124 r32
  v125 r62
  v126 r60
  v127 r106
  v128
  v129 r51
  v130
  v131 r29
  v132 r121
  v133 r78
  v134 r154
  v135 r134
  v136 r96
  v137 r92
  v138
  v139 r122
  v140 r76
  v141 r87
  v142 r97
  v143 r58
  v144 r118
  v145 r74
  v146 r124
  v147 r31
  v148 r100
  v149 r151
  v150 r42
  v151 r93
  v152 r120
  v153 r103
  v154 r90
 )
 (:init
  (at r130 v0)
  (free v1)
  (at r33 v2)
  (free v3)
  (at r41 v4)
  (at r50 v5)
  (at r79 v6)
  (at r82 v7)
  (at r75 v8)
  (at r52 v9)
  (at r39 v10)
  (at r56 v11)
  (at r99 v12)
  (at r145 v13)
  (at r142 v14)
  (at r48 v15)
  (at r131 v16)
  (at r47 v17)
  (at r116 v18)
  (free v19)
  (at r115 v20)
  (at r108 v21)
  (at r34 v22)
  (at r113 v23)
  (at r25 v24)
  (free v25)
  (at r44 v26)
  (at r101 v27)
  (at r26 v28)
  (at r117 v29)
  (at r125 v30)
  (at r146 v31)
  (at r150 v32)
  (at r38 v33)
  (at r85 v34)
  (at r148 v35)
  (at r28 v36)
  (at r143 v37)
  (at r80 v38)
  (at r83 v39)
  (at r114 v40)
  (at r43 v41)
  (at r109 v42)
  (free v43)
  (at r129 v44)
  (at r59 v45)
  (at r153 v46)
  (at r98 v47)
  (free v48)
  (free v49)
  (at r84 v50)
  (at r27 v51)
  (at r54 v52)
  (at r63 v53)
  (at r21 v54)
  (at r66 v55)
  (at r53 v56)
  (at r127 v57)
  (at r140 v58)
  (at r40 v59)
  (at r71 v60)
  (at r68 v61)
  (free v62)
  (at r111 v63)
  (at r30 v64)
  (at r126 v65)
  (at r89 v66)
  (free v67)
  (at r67 v68)
  (at r123 v69)
  (at r57 v70)
  (at r69 v71)
  (at r135 v72)
  (free v73)
  (at r70 v74)
  (free v75)
  (at r128 v76)
  (at r73 v77)
  (at r139 v78)
  (at r55 v79)
  (at r49 v80)
  (free v81)
  (at r36 v82)
  (at r147 v83)
  (at r20 v84)
  (at r133 v85)
  (at r65 v86)
  (at r81 v87)
  (at r35 v88)
  (at r136 v89)
  (at r149 v90)
  (free v91)
  (at r132 v92)
  (at r46 v93)
  (at r102 v94)
  (at r37 v95)
  (at r88 v96)
  (at r105 v97)
  (at r86 v98)
  (at r138 v99)
  (at r22 v100)
  (at r104 v101)
  (at r24 v102)
  (at r94 v103)
  (at r72 v104)
  (at r95 v105)
  (at r64 v106)
  (free v107)
  (at r45 v108)
  (at r112 v109)
  (at r141 v110)
  (free v111)
  (free v112)
  (at r119 v113)
  (at r152 v114)
  (at r110 v115)
  (at r137 v116)
  (at r107 v117)
  (at r23 v118)
  (at r77 v119)
  (at r144 v120)
  (at r61 v121)
  (at r91 v122)
  (free v123)
  (at r32 v124)
  (at r62 v125)
  (at r60 v126)
  (at r106 v127)
  (free v128)
  (at r51 v129)
  (free v130)
  (at r29 v131)
  (at r121 v132)
  (at r78 v133)
  (at r154 v134)
  (at r134 v135)
  (at r96 v136)
  (at r92 v137)
  (free v138)
  (at r122 v139)
  (at r76 v140)
  (at r87 v141)
  (at r97 v142)
  (at r58 v143)
  (at r118 v144)
  (at r74 v145)
  (at r124 v146)
  (at r31 v147)
  (at r100 v148)
  (at r151 v149)
  (at r42 v150)
  (at r93 v151)
  (at r120 v152)
  (at r103 v153)
  (at r90 v154)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v37)
  (adjacent v0 v69)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v49)
  (adjacent v1 v51)
  (adjacent v2 v3)
  (adjacent v2 v15)
  (adjacent v2 v16)
  (adjacent v2 v71)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v15)
  (adjacent v3 v85)
  (adjacent v4 v48)
  (adjacent v4 v136)
  (adjacent v5 v6)
  (adjacent v5 v50)
  (adjacent v5 v91)
  (adjacent v6 v7)
  (adjacent v6 v22)
  (adjacent v7 v8)
  (adjacent v7 v127)
  (adjacent v7 v149)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v8 v123)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v28)
  (adjacent v10 v41)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v13 v152)
  (adjacent v14 v50)
  (adjacent v14 v151)
  (adjacent v15 v29)
  (adjacent v15 v38)
  (adjacent v16 v17)
  (adjacent v16 v56)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v30)
  (adjacent v18 v38)
  (adjacent v18 v42)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v80)
  (adjacent v21 v82)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v122)
  (adjacent v25 v26)
  (adjacent v25 v57)
  (adjacent v25 v72)
  (adjacent v25 v88)
  (adjacent v26 v27)
  (adjacent v26 v47)
  (adjacent v27 v28)
  (adjacent v27 v39)
  (adjacent v27 v44)
  (adjacent v27 v73)
  (adjacent v28 v43)
  (adjacent v28 v112)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v61)
  (adjacent v31 v115)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v60)
  (adjacent v33 v98)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v40)
  (adjacent v36 v37)
  (adjacent v37 v41)
  (adjacent v37 v70)
  (adjacent v37 v117)
  (adjacent v38 v43)
  (adjacent v38 v62)
  (adjacent v38 v150)
  (adjacent v39 v40)
  (adjacent v39 v42)
  (adjacent v39 v75)
  (adjacent v41 v134)
  (adjacent v42 v106)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v72)
  (adjacent v46 v47)
  (adjacent v46 v150)
  (adjacent v47 v86)
  (adjacent v48 v49)
  (adjacent v48 v66)
  (adjacent v48 v126)
  (adjacent v49 v143)
  (adjacent v49 v144)
  (adjacent v50 v63)
  (adjacent v50 v84)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v133)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v59)
  (adjacent v56 v60)
  (adjacent v57 v58)
  (adjacent v57 v111)
  (adjacent v58 v59)
  (adjacent v58 v125)
  (adjacent v59 v65)
  (adjacent v59 v74)
  (adjacent v59 v106)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v101)
  (adjacent v66 v67)
  (adjacent v66 v97)
  (adjacent v67 v68)
  (adjacent v67 v81)
  (adjacent v67 v116)
  (adjacent v67 v151)
  (adjacent v68 v69)
  (adjacent v68 v84)
  (adjacent v69 v81)
  (adjacent v69 v92)
  (adjacent v69 v100)
  (adjacent v70 v71)
  (adjacent v70 v128)
  (adjacent v72 v83)
  (adjacent v73 v74)
  (adjacent v74 v87)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v108)
  (adjacent v79 v80)
  (adjacent v79 v107)
  (adjacent v81 v105)
  (adjacent v82 v83)
  (adjacent v83 v85)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v137)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v107)
  (adjacent v97 v154)
  (adjacent v98 v99)
  (adjacent v98 v126)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v116)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v123 v138)
  (adjacent v124 v125)
  (adjacent v125 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v137)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v152 v153)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (at r78 v0)
  (at r23 v1)
  (at r28 v2)
  (at r98 v3)
  (at r64 v4)
  (at r91 v5)
  (at r96 v6)
  (at r37 v7)
  (free v8)
  (at r106 v9)
  (at r41 v10)
  (at r104 v11)
  (at r68 v12)
  (at r59 v13)
  (at r142 v14)
  (at r57 v15)
  (free v16)
  (at r56 v17)
  (at r126 v18)
  (at r102 v19)
  (free v20)
  (at r79 v21)
  (at r124 v22)
  (at r130 v23)
  (at r93 v24)
  (at r116 v25)
  (at r25 v26)
  (at r110 v27)
  (at r20 v28)
  (free v29)
  (at r87 v30)
  (at r128 v31)
  (at r51 v32)
  (at r100 v33)
  (at r61 v34)
  (at r67 v35)
  (at r140 v36)
  (at r97 v37)
  (at r103 v38)
  (at r32 v39)
  (at r129 v40)
  (at r44 v41)
  (at r60 v42)
  (at r145 v43)
  (at r58 v44)
  (at r125 v45)
  (at r101 v46)
  (free v47)
  (at r123 v48)
  (at r43 v49)
  (at r31 v50)
  (at r69 v51)
  (at r36 v52)
  (at r90 v53)
  (at r22 v54)
  (at r141 v55)
  (free v56)
  (at r137 v57)
  (free v58)
  (at r54 v59)
  (at r127 v60)
  (at r39 v61)
  (at r112 v62)
  (at r94 v63)
  (at r53 v64)
  (at r120 v65)
  (at r63 v66)
  (free v67)
  (at r119 v68)
  (at r154 v69)
  (at r40 v70)
  (at r113 v71)
  (at r95 v72)
  (at r74 v73)
  (at r139 v74)
  (at r143 v75)
  (free v76)
  (at r30 v77)
  (at r122 v78)
  (at r108 v79)
  (free v80)
  (free v81)
  (at r131 v82)
  (at r89 v83)
  (at r42 v84)
  (at r138 v85)
  (at r147 v86)
  (at r29 v87)
  (at r134 v88)
  (free v89)
  (at r65 v90)
  (at r55 v91)
  (at r34 v92)
  (at r80 v93)
  (at r144 v94)
  (at r118 v95)
  (at r92 v96)
  (at r66 v97)
  (at r35 v98)
  (at r114 v99)
  (at r148 v100)
  (at r153 v101)
  (free v102)
  (at r46 v103)
  (at r47 v104)
  (at r132 v105)
  (at r111 v106)
  (at r151 v107)
  (free v108)
  (free v109)
  (at r72 v110)
  (at r146 v111)
  (at r149 v112)
  (at r33 v113)
  (at r73 v114)
  (at r21 v115)
  (at r77 v116)
  (at r85 v117)
  (at r133 v118)
  (at r109 v119)
  (at r105 v120)
  (at r99 v121)
  (at r76 v122)
  (at r62 v123)
  (at r38 v124)
  (at r45 v125)
  (at r50 v126)
  (at r81 v127)
  (at r49 v128)
  (at r117 v129)
  (at r115 v130)
  (at r48 v131)
  (at r136 v132)
  (at r150 v133)
  (at r26 v134)
  (at r107 v135)
  (at r52 v136)
  (at r83 v137)
  (at r27 v138)
  (at r71 v139)
  (at r135 v140)
  (at r121 v141)
  (at r86 v142)
  (free v143)
  (free v144)
  (at r84 v145)
  (at r82 v146)
  (at r152 v147)
  (free v148)
  (at r75 v149)
  (free v150)
  (at r70 v151)
  (free v152)
  (at r88 v153)
  (at r24 v154)
  )
 )
)