(define (problem multirobot_31_2_c1)
 (:domain multirobot)
 (:objects
  v0 r135
  v1 r118
  v2 r136
  v3 r2
  v4 r23
  v5 r100
  v6 r65
  v7 r67
  v8 r41
  v9 r32
  v10 r97
  v11 r138
  v12 r142
  v13 r72
  v14 r37
  v15 r82
  v16 r44
  v17 r85
  v18 r42
  v19 r131
  v20 r61
  v21 r57
  v22 r104
  v23 r20
  v24 r68
  v25 r58
  v26 r53
  v27 r107
  v28 r4
  v29 r116
  v30 r55
  v31 r88
  v32 r106
  v33 r76
  v34 r50
  v35 r11
  v36 r87
  v37 r15
  v38 r83
  v39 r105
  v40 r8
  v41 r130
  v42 r30
  v43 r36
  v44 r38
  v45 r79
  v46 r25
  v47 r119
  v48 r73
  v49 r59
  v50 r16
  v51 r12
  v52 r9
  v53 r34
  v54 r132
  v55 r40
  v56 r64
  v57 r126
  v58 r133
  v59 r91
  v60 r129
  v61 r124
  v62 r77
  v63 r99
  v64 r75
  v65 r71
  v66 r62
  v67 r47
  v68 r121
  v69 r122
  v70 r98
  v71 r109
  v72 r46
  v73 r86
  v74 r6
  v75 r84
  v76 r89
  v77 r69
  v78 r63
  v79 r110
  v80 r103
  v81 r125
  v82
  v83 r7
  v84 r112
  v85 r28
  v86 r102
  v87 r26
  v88 r56
  v89 r33
  v90 r115
  v91 r29
  v92 r3
  v93 r92
  v94 r22
  v95 r120
  v96 r93
  v97 r52
  v98 r80
  v99 r101
  v100 r17
  v101 r5
  v102 r14
  v103 r81
  v104 r140
  v105 r35
  v106 r60
  v107 r74
  v108 r48
  v109 r141
  v110 r24
  v111 r96
  v112 r127
  v113 r51
  v114 r128
  v115 r139
  v116 r31
  v117 r114
  v118 r18
  v119 r70
  v120 r123
  v121 r39
  v122 r143
  v123 r19
  v124 r45
  v125 r43
  v126 r10
  v127 r95
  v128 r49
  v129 r108
  v130 r134
  v131 r90
  v132 r27
  v133 r78
  v134
  v135 r66
  v136 r94
  v137 r117
  v138 r111
  v139 r113
  v140 r21
  v141 r13
  v142 r137
  v143 r54
 )
 (:init
  (at r135 v0)
  (at r118 v1)
  (at r136 v2)
  (at r2 v3)
  (at r23 v4)
  (at r100 v5)
  (at r65 v6)
  (at r67 v7)
  (at r41 v8)
  (at r32 v9)
  (at r97 v10)
  (at r138 v11)
  (at r142 v12)
  (at r72 v13)
  (at r37 v14)
  (at r82 v15)
  (at r44 v16)
  (at r85 v17)
  (at r42 v18)
  (at r131 v19)
  (at r61 v20)
  (at r57 v21)
  (at r104 v22)
  (at r20 v23)
  (at r68 v24)
  (at r58 v25)
  (at r53 v26)
  (at r107 v27)
  (at r4 v28)
  (at r116 v29)
  (at r55 v30)
  (at r88 v31)
  (at r106 v32)
  (at r76 v33)
  (at r50 v34)
  (at r11 v35)
  (at r87 v36)
  (at r15 v37)
  (at r83 v38)
  (at r105 v39)
  (at r8 v40)
  (at r130 v41)
  (at r30 v42)
  (at r36 v43)
  (at r38 v44)
  (at r79 v45)
  (at r25 v46)
  (at r119 v47)
  (at r73 v48)
  (at r59 v49)
  (at r16 v50)
  (at r12 v51)
  (at r9 v52)
  (at r34 v53)
  (at r132 v54)
  (at r40 v55)
  (at r64 v56)
  (at r126 v57)
  (at r133 v58)
  (at r91 v59)
  (at r129 v60)
  (at r124 v61)
  (at r77 v62)
  (at r99 v63)
  (at r75 v64)
  (at r71 v65)
  (at r62 v66)
  (at r47 v67)
  (at r121 v68)
  (at r122 v69)
  (at r98 v70)
  (at r109 v71)
  (at r46 v72)
  (at r86 v73)
  (at r6 v74)
  (at r84 v75)
  (at r89 v76)
  (at r69 v77)
  (at r63 v78)
  (at r110 v79)
  (at r103 v80)
  (at r125 v81)
  (free v82)
  (at r7 v83)
  (at r112 v84)
  (at r28 v85)
  (at r102 v86)
  (at r26 v87)
  (at r56 v88)
  (at r33 v89)
  (at r115 v90)
  (at r29 v91)
  (at r3 v92)
  (at r92 v93)
  (at r22 v94)
  (at r120 v95)
  (at r93 v96)
  (at r52 v97)
  (at r80 v98)
  (at r101 v99)
  (at r17 v100)
  (at r5 v101)
  (at r14 v102)
  (at r81 v103)
  (at r140 v104)
  (at r35 v105)
  (at r60 v106)
  (at r74 v107)
  (at r48 v108)
  (at r141 v109)
  (at r24 v110)
  (at r96 v111)
  (at r127 v112)
  (at r51 v113)
  (at r128 v114)
  (at r139 v115)
  (at r31 v116)
  (at r114 v117)
  (at r18 v118)
  (at r70 v119)
  (at r123 v120)
  (at r39 v121)
  (at r143 v122)
  (at r19 v123)
  (at r45 v124)
  (at r43 v125)
  (at r10 v126)
  (at r95 v127)
  (at r49 v128)
  (at r108 v129)
  (at r134 v130)
  (at r90 v131)
  (at r27 v132)
  (at r78 v133)
  (free v134)
  (at r66 v135)
  (at r94 v136)
  (at r117 v137)
  (at r111 v138)
  (at r113 v139)
  (at r21 v140)
  (at r13 v141)
  (at r137 v142)
  (at r54 v143)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v14)
  (adjacent v0 v15)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v99)
  (adjacent v2 v120)
  (adjacent v3 v4)
  (adjacent v4 v7)
  (adjacent v4 v45)
  (adjacent v5 v6)
  (adjacent v5 v23)
  (adjacent v6 v7)
  (adjacent v6 v133)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v10 v11)
  (adjacent v10 v26)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v55)
  (adjacent v13 v14)
  (adjacent v13 v88)
  (adjacent v14 v17)
  (adjacent v14 v24)
  (adjacent v14 v33)
  (adjacent v15 v16)
  (adjacent v15 v54)
  (adjacent v15 v95)
  (adjacent v16 v17)
  (adjacent v16 v27)
  (adjacent v16 v60)
  (adjacent v18 v19)
  (adjacent v18 v34)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v128)
  (adjacent v21 v22)
  (adjacent v21 v73)
  (adjacent v22 v23)
  (adjacent v22 v111)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v39)
  (adjacent v26 v113)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v43)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v72)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v34 v35)
  (adjacent v34 v81)
  (adjacent v34 v98)
  (adjacent v35 v36)
  (adjacent v35 v40)
  (adjacent v36 v37)
  (adjacent v36 v48)
  (adjacent v36 v49)
  (adjacent v37 v38)
  (adjacent v37 v134)
  (adjacent v38 v39)
  (adjacent v38 v90)
  (adjacent v39 v42)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v46)
  (adjacent v43 v44)
  (adjacent v43 v65)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v66)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v49 v61)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v94)
  (adjacent v53 v54)
  (adjacent v53 v72)
  (adjacent v53 v140)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v71)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v110)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v78)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v74)
  (adjacent v65 v121)
  (adjacent v66 v67)
  (adjacent v66 v89)
  (adjacent v67 v68)
  (adjacent v67 v104)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v79)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v73 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v120)
  (adjacent v77 v78)
  (adjacent v77 v105)
  (adjacent v79 v80)
  (adjacent v79 v82)
  (adjacent v80 v81)
  (adjacent v81 v89)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v119)
  (adjacent v89 v141)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v114)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v127)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v143)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
 )
 (:goal
  (and
  (at r60 v0)
  (at r49 v1)
  (at r17 v2)
  (at r94 v3)
  (at r86 v4)
  (at r87 v5)
  (at r71 v6)
  (at r136 v7)
  (at r142 v8)
  (at r130 v9)
  (at r45 v10)
  (at r42 v11)
  (at r56 v12)
  (at r7 v13)
  (at r123 v14)
  (at r81 v15)
  (at r41 v16)
  (at r39 v17)
  (at r74 v18)
  (at r124 v19)
  (free v20)
  (at r102 v21)
  (at r111 v22)
  (at r107 v23)
  (at r31 v24)
  (at r112 v25)
  (at r78 v26)
  (at r110 v27)
  (at r33 v28)
  (at r89 v29)
  (at r93 v30)
  (at r117 v31)
  (at r80 v32)
  (at r18 v33)
  (at r77 v34)
  (at r19 v35)
  (at r51 v36)
  (at r59 v37)
  (at r129 v38)
  (at r85 v39)
  (at r91 v40)
  (at r43 v41)
  (at r128 v42)
  (at r44 v43)
  (at r34 v44)
  (at r38 v45)
  (at r6 v46)
  (at r35 v47)
  (at r50 v48)
  (at r138 v49)
  (at r75 v50)
  (at r28 v51)
  (at r113 v52)
  (at r100 v53)
  (at r126 v54)
  (at r30 v55)
  (at r48 v56)
  (at r54 v57)
  (at r82 v58)
  (at r98 v59)
  (at r4 v60)
  (at r109 v61)
  (at r61 v62)
  (at r15 v63)
  (at r10 v64)
  (at r69 v65)
  (at r12 v66)
  (at r5 v67)
  (at r36 v68)
  (at r72 v69)
  (at r26 v70)
  (at r133 v71)
  (at r96 v72)
  (at r88 v73)
  (at r52 v74)
  (at r122 v75)
  (at r53 v76)
  (at r108 v77)
  (at r67 v78)
  (at r3 v79)
  (at r22 v80)
  (at r2 v81)
  (at r76 v82)
  (at r120 v83)
  (at r103 v84)
  (at r79 v85)
  (at r68 v86)
  (at r90 v87)
  (at r104 v88)
  (at r115 v89)
  (at r127 v90)
  (at r11 v91)
  (at r21 v92)
  (at r55 v93)
  (at r27 v94)
  (at r95 v95)
  (at r70 v96)
  (at r32 v97)
  (at r119 v98)
  (at r141 v99)
  (at r14 v100)
  (at r132 v101)
  (at r114 v102)
  (at r65 v103)
  (at r58 v104)
  (at r118 v105)
  (at r25 v106)
  (at r57 v107)
  (at r23 v108)
  (free v109)
  (at r121 v110)
  (at r8 v111)
  (at r84 v112)
  (at r106 v113)
  (at r63 v114)
  (at r40 v115)
  (at r16 v116)
  (at r131 v117)
  (at r24 v118)
  (at r13 v119)
  (at r143 v120)
  (at r29 v121)
  (at r97 v122)
  (at r140 v123)
  (at r37 v124)
  (at r73 v125)
  (at r47 v126)
  (at r135 v127)
  (at r101 v128)
  (at r125 v129)
  (at r105 v130)
  (at r9 v131)
  (at r20 v132)
  (at r83 v133)
  (at r46 v134)
  (at r92 v135)
  (at r139 v136)
  (at r134 v137)
  (at r116 v138)
  (at r62 v139)
  (at r137 v140)
  (at r99 v141)
  (at r66 v142)
  (at r64 v143)
  )
 )
)