(define (problem multirobot_54_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r112
  v1 r103
  v2 r85
  v3 r126
  v4 r113
  v5 r184
  v6 r190
  v7 r69
  v8 r45
  v9 r128
  v10 r59
  v11
  v12 r36
  v13 r106
  v14 r67
  v15 r117
  v16 r156
  v17 r131
  v18 r61
  v19 r139
  v20 r22
  v21 r33
  v22 r121
  v23 r191
  v24 r101
  v25 r100
  v26 r143
  v27 r137
  v28 r29
  v29 r34
  v30
  v31 r37
  v32 r159
  v33 r44
  v34 r140
  v35 r115
  v36 r87
  v37 r81
  v38 r124
  v39 r122
  v40 r55
  v41 r162
  v42 r70
  v43 r141
  v44 r182
  v45 r88
  v46 r56
  v47 r48
  v48 r145
  v49 r118
  v50 r189
  v51
  v52 r161
  v53 r173
  v54 r149
  v55 r42
  v56 r108
  v57 r50
  v58
  v59 r28
  v60 r144
  v61 r114
  v62 r192
  v63 r175
  v64 r49
  v65 r152
  v66 r109
  v67 r64
  v68 r72
  v69 r120
  v70 r93
  v71 r68
  v72 r181
  v73 r32
  v74 r82
  v75 r60
  v76
  v77 r176
  v78 r31
  v79
  v80
  v81 r133
  v82 r65
  v83 r98
  v84 r46
  v85
  v86 r79
  v87 r160
  v88 r102
  v89 r71
  v90 r63
  v91 r178
  v92 r62
  v93 r132
  v94 r185
  v95 r119
  v96 r51
  v97 r188
  v98 r57
  v99 r172
  v100
  v101
  v102 r39
  v103 r89
  v104 r168
  v105 r150
  v106 r127
  v107
  v108 r40
  v109 r123
  v110 r110
  v111 r24
  v112 r135
  v113 r187
  v114 r83
  v115 r35
  v116 r73
  v117 r157
  v118 r151
  v119 r26
  v120 r58
  v121 r74
  v122 r25
  v123 r47
  v124 r84
  v125 r78
  v126 r104
  v127 r95
  v128 r43
  v129 r76
  v130 r116
  v131 r169
  v132 r158
  v133 r94
  v134 r52
  v135 r165
  v136
  v137
  v138
  v139 r155
  v140 r164
  v141
  v142 r171
  v143 r30
  v144 r186
  v145 r136
  v146 r170
  v147 r77
  v148
  v149 r148
  v150 r38
  v151 r21
  v152 r142
  v153 r90
  v154 r147
  v155 r107
  v156 r75
  v157 r146
  v158 r91
  v159 r180
  v160
  v161 r130
  v162 r125
  v163 r111
  v164 r66
  v165 r134
  v166 r183
  v167
  v168 r53
  v169 r153
  v170
  v171 r138
  v172 r54
  v173 r27
  v174 r174
  v175 r97
  v176 r23
  v177 r179
  v178 r177
  v179 r166
  v180 r92
  v181
  v182 r41
  v183 r99
  v184 r167
  v185 r105
  v186 r86
  v187 r96
  v188
  v189 r163
  v190 r80
  v191 r129
  v192 r154
 )
 (:init
  (at r112 v0)
  (at r103 v1)
  (at r85 v2)
  (at r126 v3)
  (at r113 v4)
  (at r184 v5)
  (at r190 v6)
  (at r69 v7)
  (at r45 v8)
  (at r128 v9)
  (at r59 v10)
  (free v11)
  (at r36 v12)
  (at r106 v13)
  (at r67 v14)
  (at r117 v15)
  (at r156 v16)
  (at r131 v17)
  (at r61 v18)
  (at r139 v19)
  (at r22 v20)
  (at r33 v21)
  (at r121 v22)
  (at r191 v23)
  (at r101 v24)
  (at r100 v25)
  (at r143 v26)
  (at r137 v27)
  (at r29 v28)
  (at r34 v29)
  (free v30)
  (at r37 v31)
  (at r159 v32)
  (at r44 v33)
  (at r140 v34)
  (at r115 v35)
  (at r87 v36)
  (at r81 v37)
  (at r124 v38)
  (at r122 v39)
  (at r55 v40)
  (at r162 v41)
  (at r70 v42)
  (at r141 v43)
  (at r182 v44)
  (at r88 v45)
  (at r56 v46)
  (at r48 v47)
  (at r145 v48)
  (at r118 v49)
  (at r189 v50)
  (free v51)
  (at r161 v52)
  (at r173 v53)
  (at r149 v54)
  (at r42 v55)
  (at r108 v56)
  (at r50 v57)
  (free v58)
  (at r28 v59)
  (at r144 v60)
  (at r114 v61)
  (at r192 v62)
  (at r175 v63)
  (at r49 v64)
  (at r152 v65)
  (at r109 v66)
  (at r64 v67)
  (at r72 v68)
  (at r120 v69)
  (at r93 v70)
  (at r68 v71)
  (at r181 v72)
  (at r32 v73)
  (at r82 v74)
  (at r60 v75)
  (free v76)
  (at r176 v77)
  (at r31 v78)
  (free v79)
  (free v80)
  (at r133 v81)
  (at r65 v82)
  (at r98 v83)
  (at r46 v84)
  (free v85)
  (at r79 v86)
  (at r160 v87)
  (at r102 v88)
  (at r71 v89)
  (at r63 v90)
  (at r178 v91)
  (at r62 v92)
  (at r132 v93)
  (at r185 v94)
  (at r119 v95)
  (at r51 v96)
  (at r188 v97)
  (at r57 v98)
  (at r172 v99)
  (free v100)
  (free v101)
  (at r39 v102)
  (at r89 v103)
  (at r168 v104)
  (at r150 v105)
  (at r127 v106)
  (free v107)
  (at r40 v108)
  (at r123 v109)
  (at r110 v110)
  (at r24 v111)
  (at r135 v112)
  (at r187 v113)
  (at r83 v114)
  (at r35 v115)
  (at r73 v116)
  (at r157 v117)
  (at r151 v118)
  (at r26 v119)
  (at r58 v120)
  (at r74 v121)
  (at r25 v122)
  (at r47 v123)
  (at r84 v124)
  (at r78 v125)
  (at r104 v126)
  (at r95 v127)
  (at r43 v128)
  (at r76 v129)
  (at r116 v130)
  (at r169 v131)
  (at r158 v132)
  (at r94 v133)
  (at r52 v134)
  (at r165 v135)
  (free v136)
  (free v137)
  (free v138)
  (at r155 v139)
  (at r164 v140)
  (free v141)
  (at r171 v142)
  (at r30 v143)
  (at r186 v144)
  (at r136 v145)
  (at r170 v146)
  (at r77 v147)
  (free v148)
  (at r148 v149)
  (at r38 v150)
  (at r21 v151)
  (at r142 v152)
  (at r90 v153)
  (at r147 v154)
  (at r107 v155)
  (at r75 v156)
  (at r146 v157)
  (at r91 v158)
  (at r180 v159)
  (free v160)
  (at r130 v161)
  (at r125 v162)
  (at r111 v163)
  (at r66 v164)
  (at r134 v165)
  (at r183 v166)
  (free v167)
  (at r53 v168)
  (at r153 v169)
  (free v170)
  (at r138 v171)
  (at r54 v172)
  (at r27 v173)
  (at r174 v174)
  (at r97 v175)
  (at r23 v176)
  (at r179 v177)
  (at r177 v178)
  (at r166 v179)
  (at r92 v180)
  (free v181)
  (at r41 v182)
  (at r99 v183)
  (at r167 v184)
  (at r105 v185)
  (at r86 v186)
  (at r96 v187)
  (free v188)
  (at r163 v189)
  (at r80 v190)
  (at r129 v191)
  (at r154 v192)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v14)
  (adjacent v0 v25)
  (adjacent v0 v162)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v67)
  (adjacent v1 v124)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v9)
  (adjacent v2 v12)
  (adjacent v2 v15)
  (adjacent v2 v32)
  (adjacent v2 v40)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v4 v8)
  (adjacent v4 v11)
  (adjacent v4 v23)
  (adjacent v4 v30)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v38)
  (adjacent v5 v91)
  (adjacent v5 v105)
  (adjacent v5 v125)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v97)
  (adjacent v6 v130)
  (adjacent v7 v14)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v10 v39)
  (adjacent v12 v13)
  (adjacent v12 v43)
  (adjacent v12 v104)
  (adjacent v13 v60)
  (adjacent v14 v17)
  (adjacent v14 v24)
  (adjacent v14 v31)
  (adjacent v14 v154)
  (adjacent v14 v192)
  (adjacent v15 v16)
  (adjacent v15 v109)
  (adjacent v15 v151)
  (adjacent v16 v37)
  (adjacent v16 v150)
  (adjacent v17 v18)
  (adjacent v17 v29)
  (adjacent v18 v19)
  (adjacent v18 v42)
  (adjacent v18 v52)
  (adjacent v19 v20)
  (adjacent v19 v104)
  (adjacent v20 v21)
  (adjacent v20 v40)
  (adjacent v20 v149)
  (adjacent v21 v22)
  (adjacent v21 v116)
  (adjacent v21 v152)
  (adjacent v22 v23)
  (adjacent v22 v26)
  (adjacent v24 v25)
  (adjacent v24 v163)
  (adjacent v25 v98)
  (adjacent v26 v27)
  (adjacent v26 v77)
  (adjacent v27 v28)
  (adjacent v27 v47)
  (adjacent v27 v122)
  (adjacent v28 v29)
  (adjacent v28 v110)
  (adjacent v30 v31)
  (adjacent v30 v179)
  (adjacent v31 v41)
  (adjacent v32 v33)
  (adjacent v32 v187)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v84)
  (adjacent v39 v137)
  (adjacent v40 v85)
  (adjacent v41 v42)
  (adjacent v41 v59)
  (adjacent v41 v133)
  (adjacent v43 v44)
  (adjacent v43 v48)
  (adjacent v43 v53)
  (adjacent v43 v66)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v72)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v48 v141)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v78)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v53 v92)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v98)
  (adjacent v55 v148)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v174)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v67)
  (adjacent v62 v186)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v68)
  (adjacent v65 v66)
  (adjacent v65 v107)
  (adjacent v67 v173)
  (adjacent v68 v69)
  (adjacent v68 v171)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v167)
  (adjacent v72 v73)
  (adjacent v72 v99)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v85)
  (adjacent v75 v76)
  (adjacent v75 v170)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v78 v145)
  (adjacent v79 v80)
  (adjacent v79 v146)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v86)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v149)
  (adjacent v85 v168)
  (adjacent v86 v87)
  (adjacent v86 v169)
  (adjacent v87 v88)
  (adjacent v87 v155)
  (adjacent v88 v89)
  (adjacent v88 v103)
  (adjacent v88 v117)
  (adjacent v89 v90)
  (adjacent v89 v123)
  (adjacent v90 v91)
  (adjacent v90 v157)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v106)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v174)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v138)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v129)
  (adjacent v115 v116)
  (adjacent v115 v142)
  (adjacent v115 v175)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v132)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v143)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v170)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v133 v142)
  (adjacent v134 v135)
  (adjacent v134 v158)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v164 v180)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v187 v188)
  (adjacent v188 v189)
  (adjacent v189 v190)
  (adjacent v190 v191)
  (adjacent v191 v192)
 )
 (:goal
  (and
  (at r141 v0)
  (at r101 v1)
  (at r180 v2)
  (at r94 v3)
  (at r131 v4)
  (at r178 v5)
  (free v6)
  (at r39 v7)
  (at r21 v8)
  (at r80 v9)
  (at r144 v10)
  (at r62 v11)
  (at r60 v12)
  (at r172 v13)
  (at r78 v14)
  (at r61 v15)
  (at r108 v16)
  (at r96 v17)
  (free v18)
  (free v19)
  (at r77 v20)
  (at r146 v21)
  (at r58 v22)
  (at r117 v23)
  (at r176 v24)
  (at r24 v25)
  (at r106 v26)
  (at r125 v27)
  (free v28)
  (at r177 v29)
  (at r188 v30)
  (free v31)
  (at r137 v32)
  (at r179 v33)
  (at r174 v34)
  (at r69 v35)
  (at r34 v36)
  (at r79 v37)
  (free v38)
  (at r139 v39)
  (at r152 v40)
  (at r154 v41)
  (at r102 v42)
  (at r145 v43)
  (at r138 v44)
  (free v45)
  (at r66 v46)
  (at r171 v47)
  (at r112 v48)
  (at r153 v49)
  (at r46 v50)
  (free v51)
  (at r57 v52)
  (at r30 v53)
  (at r161 v54)
  (at r192 v55)
  (at r187 v56)
  (at r189 v57)
  (at r118 v58)
  (at r175 v59)
  (at r32 v60)
  (at r87 v61)
  (free v62)
  (at r165 v63)
  (at r38 v64)
  (at r70 v65)
  (at r103 v66)
  (at r159 v67)
  (free v68)
  (at r169 v69)
  (at r90 v70)
  (at r35 v71)
  (free v72)
  (at r147 v73)
  (at r65 v74)
  (at r114 v75)
  (at r47 v76)
  (at r56 v77)
  (at r191 v78)
  (at r68 v79)
  (at r185 v80)
  (at r91 v81)
  (at r170 v82)
  (at r33 v83)
  (at r142 v84)
  (at r22 v85)
  (at r92 v86)
  (at r149 v87)
  (at r164 v88)
  (at r151 v89)
  (free v90)
  (at r186 v91)
  (at r128 v92)
  (at r43 v93)
  (at r100 v94)
  (at r55 v95)
  (at r71 v96)
  (free v97)
  (at r157 v98)
  (at r190 v99)
  (free v100)
  (at r36 v101)
  (at r28 v102)
  (at r85 v103)
  (at r183 v104)
  (at r84 v105)
  (free v106)
  (at r26 v107)
  (at r158 v108)
  (at r86 v109)
  (at r160 v110)
  (at r109 v111)
  (at r181 v112)
  (at r59 v113)
  (at r49 v114)
  (at r73 v115)
  (at r104 v116)
  (at r72 v117)
  (at r163 v118)
  (at r95 v119)
  (at r122 v120)
  (at r25 v121)
  (at r121 v122)
  (at r173 v123)
  (at r93 v124)
  (at r124 v125)
  (at r140 v126)
  (at r110 v127)
  (at r99 v128)
  (at r29 v129)
  (at r76 v130)
  (at r162 v131)
  (at r82 v132)
  (at r113 v133)
  (at r130 v134)
  (at r45 v135)
  (free v136)
  (at r75 v137)
  (at r37 v138)
  (at r135 v139)
  (free v140)
  (at r81 v141)
  (at r50 v142)
  (at r133 v143)
  (at r184 v144)
  (at r116 v145)
  (at r155 v146)
  (at r88 v147)
  (at r111 v148)
  (at r41 v149)
  (at r136 v150)
  (at r40 v151)
  (at r168 v152)
  (at r51 v153)
  (at r23 v154)
  (at r143 v155)
  (at r150 v156)
  (at r119 v157)
  (at r123 v158)
  (at r97 v159)
  (at r98 v160)
  (at r48 v161)
  (at r52 v162)
  (at r127 v163)
  (free v164)
  (at r148 v165)
  (at r44 v166)
  (free v167)
  (at r53 v168)
  (at r182 v169)
  (at r64 v170)
  (at r105 v171)
  (at r134 v172)
  (at r27 v173)
  (free v174)
  (at r126 v175)
  (at r42 v176)
  (at r120 v177)
  (at r166 v178)
  (at r54 v179)
  (at r107 v180)
  (at r167 v181)
  (at r83 v182)
  (at r74 v183)
  (at r31 v184)
  (at r156 v185)
  (free v186)
  (at r132 v187)
  (at r115 v188)
  (at r63 v189)
  (at r129 v190)
  (at r89 v191)
  (at r67 v192)
  )
 )
)