(define (problem multirobot_53_10%_c1)
 (:domain multirobot)
 (:objects
  v0 r25
  v1 r97
  v2
  v3 r91
  v4 r86
  v5 r37
  v6 r58
  v7 r69
  v8 r110
  v9 r135
  v10 r56
  v11 r130
  v12 r43
  v13 r65
  v14 r119
  v15 r152
  v16 r147
  v17 r21
  v18 r131
  v19 r80
  v20 r78
  v21 r166
  v22 r23
  v23 r41
  v24 r38
  v25 r72
  v26 r68
  v27 r98
  v28 r71
  v29 r144
  v30 r100
  v31 r59
  v32 r122
  v33 r161
  v34 r118
  v35 r154
  v36 r103
  v37 r157
  v38
  v39 r82
  v40 r134
  v41 r111
  v42 r102
  v43 r90
  v44
  v45 r164
  v46 r29
  v47 r146
  v48
  v49 r34
  v50 r26
  v51 r19
  v52 r51
  v53 r163
  v54 r133
  v55 r79
  v56 r74
  v57 r24
  v58
  v59 r32
  v60 r54
  v61 r52
  v62 r113
  v63 r143
  v64 r140
  v65 r142
  v66 r27
  v67 r30
  v68 r35
  v69 r167
  v70 r55
  v71 r50
  v72
  v73 r77
  v74 r101
  v75 r128
  v76 r73
  v77 r39
  v78 r104
  v79 r76
  v80 r150
  v81 r42
  v82 r20
  v83 r127
  v84 r87
  v85
  v86 r99
  v87 r108
  v88 r60
  v89 r75
  v90
  v91 r106
  v92 r155
  v93 r95
  v94 r47
  v95
  v96 r48
  v97 r92
  v98 r84
  v99 r148
  v100 r117
  v101 r66
  v102 r159
  v103 r93
  v104 r63
  v105 r105
  v106
  v107
  v108 r53
  v109 r64
  v110 r49
  v111 r121
  v112
  v113 r33
  v114 r96
  v115
  v116 r141
  v117 r132
  v118 r67
  v119 r136
  v120 r62
  v121 r46
  v122 r126
  v123 r81
  v124 r115
  v125
  v126 r44
  v127 r70
  v128 r137
  v129 r145
  v130 r138
  v131 r112
  v132 r94
  v133
  v134 r120
  v135 r114
  v136 r139
  v137 r109
  v138 r61
  v139 r168
  v140
  v141 r107
  v142 r116
  v143
  v144 r156
  v145 r40
  v146
  v147 r162
  v148 r22
  v149 r45
  v150 r153
  v151 r129
  v152 r36
  v153 r31
  v154 r151
  v155 r89
  v156 r125
  v157 r158
  v158 r123
  v159 r165
  v160 r85
  v161 r57
  v162 r149
  v163
  v164 r124
  v165 r28
  v166 r160
  v167 r88
  v168 r83
 )
 (:init
  (at r25 v0)
  (at r97 v1)
  (free v2)
  (at r91 v3)
  (at r86 v4)
  (at r37 v5)
  (at r58 v6)
  (at r69 v7)
  (at r110 v8)
  (at r135 v9)
  (at r56 v10)
  (at r130 v11)
  (at r43 v12)
  (at r65 v13)
  (at r119 v14)
  (at r152 v15)
  (at r147 v16)
  (at r21 v17)
  (at r131 v18)
  (at r80 v19)
  (at r78 v20)
  (at r166 v21)
  (at r23 v22)
  (at r41 v23)
  (at r38 v24)
  (at r72 v25)
  (at r68 v26)
  (at r98 v27)
  (at r71 v28)
  (at r144 v29)
  (at r100 v30)
  (at r59 v31)
  (at r122 v32)
  (at r161 v33)
  (at r118 v34)
  (at r154 v35)
  (at r103 v36)
  (at r157 v37)
  (free v38)
  (at r82 v39)
  (at r134 v40)
  (at r111 v41)
  (at r102 v42)
  (at r90 v43)
  (free v44)
  (at r164 v45)
  (at r29 v46)
  (at r146 v47)
  (free v48)
  (at r34 v49)
  (at r26 v50)
  (at r19 v51)
  (at r51 v52)
  (at r163 v53)
  (at r133 v54)
  (at r79 v55)
  (at r74 v56)
  (at r24 v57)
  (free v58)
  (at r32 v59)
  (at r54 v60)
  (at r52 v61)
  (at r113 v62)
  (at r143 v63)
  (at r140 v64)
  (at r142 v65)
  (at r27 v66)
  (at r30 v67)
  (at r35 v68)
  (at r167 v69)
  (at r55 v70)
  (at r50 v71)
  (free v72)
  (at r77 v73)
  (at r101 v74)
  (at r128 v75)
  (at r73 v76)
  (at r39 v77)
  (at r104 v78)
  (at r76 v79)
  (at r150 v80)
  (at r42 v81)
  (at r20 v82)
  (at r127 v83)
  (at r87 v84)
  (free v85)
  (at r99 v86)
  (at r108 v87)
  (at r60 v88)
  (at r75 v89)
  (free v90)
  (at r106 v91)
  (at r155 v92)
  (at r95 v93)
  (at r47 v94)
  (free v95)
  (at r48 v96)
  (at r92 v97)
  (at r84 v98)
  (at r148 v99)
  (at r117 v100)
  (at r66 v101)
  (at r159 v102)
  (at r93 v103)
  (at r63 v104)
  (at r105 v105)
  (free v106)
  (free v107)
  (at r53 v108)
  (at r64 v109)
  (at r49 v110)
  (at r121 v111)
  (free v112)
  (at r33 v113)
  (at r96 v114)
  (free v115)
  (at r141 v116)
  (at r132 v117)
  (at r67 v118)
  (at r136 v119)
  (at r62 v120)
  (at r46 v121)
  (at r126 v122)
  (at r81 v123)
  (at r115 v124)
  (free v125)
  (at r44 v126)
  (at r70 v127)
  (at r137 v128)
  (at r145 v129)
  (at r138 v130)
  (at r112 v131)
  (at r94 v132)
  (free v133)
  (at r120 v134)
  (at r114 v135)
  (at r139 v136)
  (at r109 v137)
  (at r61 v138)
  (at r168 v139)
  (free v140)
  (at r107 v141)
  (at r116 v142)
  (free v143)
  (at r156 v144)
  (at r40 v145)
  (free v146)
  (at r162 v147)
  (at r22 v148)
  (at r45 v149)
  (at r153 v150)
  (at r129 v151)
  (at r36 v152)
  (at r31 v153)
  (at r151 v154)
  (at r89 v155)
  (at r125 v156)
  (at r158 v157)
  (at r123 v158)
  (at r165 v159)
  (at r85 v160)
  (at r57 v161)
  (at r149 v162)
  (free v163)
  (at r124 v164)
  (at r28 v165)
  (at r160 v166)
  (at r88 v167)
  (at r83 v168)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v30)
  (adjacent v0 v93)
  (adjacent v0 v132)
  (adjacent v1 v2)
  (adjacent v1 v30)
  (adjacent v2 v3)
  (adjacent v2 v16)
  (adjacent v2 v24)
  (adjacent v2 v31)
  (adjacent v2 v38)
  (adjacent v2 v52)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v20)
  (adjacent v3 v94)
  (adjacent v4 v9)
  (adjacent v4 v10)
  (adjacent v4 v14)
  (adjacent v4 v29)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v17)
  (adjacent v5 v29)
  (adjacent v5 v49)
  (adjacent v5 v85)
  (adjacent v5 v88)
  (adjacent v5 v117)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v6 v21)
  (adjacent v6 v48)
  (adjacent v7 v8)
  (adjacent v7 v23)
  (adjacent v7 v32)
  (adjacent v7 v81)
  (adjacent v8 v9)
  (adjacent v10 v25)
  (adjacent v11 v12)
  (adjacent v11 v46)
  (adjacent v12 v13)
  (adjacent v12 v39)
  (adjacent v12 v58)
  (adjacent v12 v70)
  (adjacent v12 v110)
  (adjacent v13 v14)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v17 v22)
  (adjacent v17 v153)
  (adjacent v18 v19)
  (adjacent v18 v136)
  (adjacent v19 v20)
  (adjacent v19 v160)
  (adjacent v21 v22)
  (adjacent v21 v63)
  (adjacent v21 v71)
  (adjacent v22 v53)
  (adjacent v22 v136)
  (adjacent v23 v24)
  (adjacent v23 v28)
  (adjacent v23 v103)
  (adjacent v24 v31)
  (adjacent v24 v82)
  (adjacent v24 v104)
  (adjacent v25 v26)
  (adjacent v25 v32)
  (adjacent v25 v48)
  (adjacent v25 v163)
  (adjacent v26 v27)
  (adjacent v26 v102)
  (adjacent v27 v28)
  (adjacent v29 v92)
  (adjacent v30 v51)
  (adjacent v30 v146)
  (adjacent v31 v33)
  (adjacent v32 v62)
  (adjacent v32 v64)
  (adjacent v32 v76)
  (adjacent v33 v34)
  (adjacent v33 v55)
  (adjacent v34 v35)
  (adjacent v34 v93)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v143)
  (adjacent v37 v38)
  (adjacent v37 v39)
  (adjacent v37 v112)
  (adjacent v38 v70)
  (adjacent v38 v145)
  (adjacent v39 v40)
  (adjacent v39 v47)
  (adjacent v39 v157)
  (adjacent v40 v41)
  (adjacent v40 v59)
  (adjacent v41 v42)
  (adjacent v41 v122)
  (adjacent v42 v43)
  (adjacent v42 v87)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v125)
  (adjacent v45 v46)
  (adjacent v45 v63)
  (adjacent v45 v101)
  (adjacent v46 v47)
  (adjacent v46 v56)
  (adjacent v48 v52)
  (adjacent v48 v98)
  (adjacent v49 v50)
  (adjacent v49 v69)
  (adjacent v49 v123)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v86)
  (adjacent v58 v151)
  (adjacent v59 v60)
  (adjacent v59 v147)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v64 v100)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v75)
  (adjacent v71 v72)
  (adjacent v71 v146)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v161)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v111)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v135)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v118)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v99)
  (adjacent v92 v99)
  (adjacent v92 v152)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v159)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v168)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v142)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v133)
  (adjacent v109 v110)
  (adjacent v110 v113)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v160)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v125 v137)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v164)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v158)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v154)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
 )
 (:goal
  (and
  (at r161 v0)
  (at r19 v1)
  (at r43 v2)
  (at r150 v3)
  (at r48 v4)
  (at r91 v5)
  (at r83 v6)
  (at r65 v7)
  (at r104 v8)
  (at r136 v9)
  (at r34 v10)
  (at r60 v11)
  (at r57 v12)
  (at r118 v13)
  (at r105 v14)
  (at r106 v15)
  (at r166 v16)
  (at r151 v17)
  (at r20 v18)
  (at r28 v19)
  (at r24 v20)
  (at r129 v21)
  (at r58 v22)
  (free v23)
  (at r75 v24)
  (at r115 v25)
  (at r44 v26)
  (at r33 v27)
  (at r27 v28)
  (at r74 v29)
  (at r146 v30)
  (at r116 v31)
  (at r101 v32)
  (at r141 v33)
  (at r147 v34)
  (at r90 v35)
  (free v36)
  (at r86 v37)
  (at r110 v38)
  (at r35 v39)
  (at r95 v40)
  (free v41)
  (at r98 v42)
  (free v43)
  (at r139 v44)
  (at r78 v45)
  (at r59 v46)
  (free v47)
  (at r85 v48)
  (at r53 v49)
  (at r123 v50)
  (at r127 v51)
  (at r45 v52)
  (at r128 v53)
  (at r77 v54)
  (at r93 v55)
  (at r158 v56)
  (at r108 v57)
  (at r125 v58)
  (at r66 v59)
  (at r100 v60)
  (at r47 v61)
  (at r79 v62)
  (at r46 v63)
  (at r55 v64)
  (at r22 v65)
  (free v66)
  (at r26 v67)
  (at r37 v68)
  (at r40 v69)
  (at r143 v70)
  (at r167 v71)
  (free v72)
  (at r61 v73)
  (at r114 v74)
  (at r132 v75)
  (at r162 v76)
  (at r121 v77)
  (at r94 v78)
  (at r99 v79)
  (at r102 v80)
  (free v81)
  (at r149 v82)
  (at r50 v83)
  (at r160 v84)
  (free v85)
  (at r49 v86)
  (at r42 v87)
  (at r122 v88)
  (at r157 v89)
  (at r70 v90)
  (at r72 v91)
  (at r38 v92)
  (at r56 v93)
  (at r168 v94)
  (free v95)
  (at r51 v96)
  (free v97)
  (at r29 v98)
  (at r96 v99)
  (at r103 v100)
  (at r130 v101)
  (at r164 v102)
  (at r97 v103)
  (at r30 v104)
  (at r156 v105)
  (at r163 v106)
  (at r152 v107)
  (at r84 v108)
  (at r126 v109)
  (at r69 v110)
  (at r113 v111)
  (free v112)
  (at r52 v113)
  (at r87 v114)
  (at r64 v115)
  (at r131 v116)
  (at r112 v117)
  (at r31 v118)
  (at r111 v119)
  (free v120)
  (at r73 v121)
  (at r23 v122)
  (at r81 v123)
  (free v124)
  (free v125)
  (at r76 v126)
  (at r140 v127)
  (at r88 v128)
  (at r32 v129)
  (at r62 v130)
  (at r124 v131)
  (at r80 v132)
  (at r82 v133)
  (at r145 v134)
  (at r36 v135)
  (at r25 v136)
  (at r153 v137)
  (free v138)
  (at r109 v139)
  (at r63 v140)
  (at r137 v141)
  (free v142)
  (at r119 v143)
  (at r71 v144)
  (at r39 v145)
  (at r21 v146)
  (at r92 v147)
  (at r165 v148)
  (at r133 v149)
  (at r142 v150)
  (at r144 v151)
  (at r138 v152)
  (at r148 v153)
  (free v154)
  (at r154 v155)
  (at r41 v156)
  (at r159 v157)
  (at r117 v158)
  (at r67 v159)
  (at r155 v160)
  (free v161)
  (at r107 v162)
  (at r134 v163)
  (at r89 v164)
  (at r68 v165)
  (at r135 v166)
  (at r54 v167)
  (at r120 v168)
  )
 )
)