(define (problem multirobot_40_2_c0)
 (:domain multirobot)
 (:objects
  v0 r107
  v1 r58
  v2 r118
  v3 r112
  v4 r19
  v5 r115
  v6 r13
  v7 r135
  v8 r11
  v9 r84
  v10 r104
  v11 r65
  v12 r150
  v13 r151
  v14 r21
  v15 r41
  v16 r16
  v17 r86
  v18 r25
  v19 r138
  v20 r116
  v21 r133
  v22 r90
  v23 r44
  v24 r18
  v25 r76
  v26 r93
  v27 r17
  v28 r27
  v29 r63
  v30 r47
  v31 r105
  v32 r91
  v33 r165
  v34 r140
  v35 r161
  v36 r6
  v37 r24
  v38 r129
  v39 r153
  v40 r82
  v41 r7
  v42 r52
  v43 r15
  v44 r57
  v45 r40
  v46 r117
  v47 r141
  v48 r108
  v49 r34
  v50 r75
  v51 r89
  v52 r148
  v53 r45
  v54 r81
  v55 r62
  v56 r162
  v57 r72
  v58 r28
  v59 r59
  v60 r102
  v61 r43
  v62 r123
  v63 r146
  v64 r97
  v65 r113
  v66 r54
  v67 r127
  v68 r167
  v69 r144
  v70 r139
  v71 r95
  v72 r156
  v73 r111
  v74 r155
  v75 r9
  v76 r37
  v77 r30
  v78 r66
  v79 r36
  v80 r64
  v81 r8
  v82 r33
  v83 r26
  v84 r122
  v85 r85
  v86 r23
  v87 r160
  v88 r50
  v89 r22
  v90 r126
  v91 r119
  v92 r128
  v93 r69
  v94 r51
  v95 r157
  v96 r48
  v97 r2
  v98 r29
  v99 r134
  v100 r164
  v101 r131
  v102 r3
  v103 r46
  v104 r87
  v105 r88
  v106 r79
  v107 r32
  v108 r4
  v109 r154
  v110 r39
  v111 r121
  v112 r20
  v113 r80
  v114 r120
  v115 r68
  v116 r77
  v117 r53
  v118 r61
  v119 r147
  v120 r5
  v121 r125
  v122 r94
  v123 r103
  v124 r145
  v125 r132
  v126 r92
  v127 r96
  v128 r136
  v129 r83
  v130 r56
  v131 r14
  v132 r35
  v133 r142
  v134 r49
  v135 r124
  v136 r168
  v137 r109
  v138 r110
  v139 r70
  v140 r60
  v141 r73
  v142
  v143 r67
  v144 r159
  v145 r166
  v146 r55
  v147 r71
  v148 r12
  v149 r101
  v150 r74
  v151 r98
  v152 r149
  v153 r10
  v154 r106
  v155 r143
  v156 r100
  v157 r31
  v158 r38
  v159 r130
  v160 r152
  v161 r78
  v162 r137
  v163
  v164 r163
  v165 r42
  v166 r99
  v167 r114
  v168 r158
 )
 (:init
  (at r107 v0)
  (at r58 v1)
  (at r118 v2)
  (at r112 v3)
  (at r19 v4)
  (at r115 v5)
  (at r13 v6)
  (at r135 v7)
  (at r11 v8)
  (at r84 v9)
  (at r104 v10)
  (at r65 v11)
  (at r150 v12)
  (at r151 v13)
  (at r21 v14)
  (at r41 v15)
  (at r16 v16)
  (at r86 v17)
  (at r25 v18)
  (at r138 v19)
  (at r116 v20)
  (at r133 v21)
  (at r90 v22)
  (at r44 v23)
  (at r18 v24)
  (at r76 v25)
  (at r93 v26)
  (at r17 v27)
  (at r27 v28)
  (at r63 v29)
  (at r47 v30)
  (at r105 v31)
  (at r91 v32)
  (at r165 v33)
  (at r140 v34)
  (at r161 v35)
  (at r6 v36)
  (at r24 v37)
  (at r129 v38)
  (at r153 v39)
  (at r82 v40)
  (at r7 v41)
  (at r52 v42)
  (at r15 v43)
  (at r57 v44)
  (at r40 v45)
  (at r117 v46)
  (at r141 v47)
  (at r108 v48)
  (at r34 v49)
  (at r75 v50)
  (at r89 v51)
  (at r148 v52)
  (at r45 v53)
  (at r81 v54)
  (at r62 v55)
  (at r162 v56)
  (at r72 v57)
  (at r28 v58)
  (at r59 v59)
  (at r102 v60)
  (at r43 v61)
  (at r123 v62)
  (at r146 v63)
  (at r97 v64)
  (at r113 v65)
  (at r54 v66)
  (at r127 v67)
  (at r167 v68)
  (at r144 v69)
  (at r139 v70)
  (at r95 v71)
  (at r156 v72)
  (at r111 v73)
  (at r155 v74)
  (at r9 v75)
  (at r37 v76)
  (at r30 v77)
  (at r66 v78)
  (at r36 v79)
  (at r64 v80)
  (at r8 v81)
  (at r33 v82)
  (at r26 v83)
  (at r122 v84)
  (at r85 v85)
  (at r23 v86)
  (at r160 v87)
  (at r50 v88)
  (at r22 v89)
  (at r126 v90)
  (at r119 v91)
  (at r128 v92)
  (at r69 v93)
  (at r51 v94)
  (at r157 v95)
  (at r48 v96)
  (at r2 v97)
  (at r29 v98)
  (at r134 v99)
  (at r164 v100)
  (at r131 v101)
  (at r3 v102)
  (at r46 v103)
  (at r87 v104)
  (at r88 v105)
  (at r79 v106)
  (at r32 v107)
  (at r4 v108)
  (at r154 v109)
  (at r39 v110)
  (at r121 v111)
  (at r20 v112)
  (at r80 v113)
  (at r120 v114)
  (at r68 v115)
  (at r77 v116)
  (at r53 v117)
  (at r61 v118)
  (at r147 v119)
  (at r5 v120)
  (at r125 v121)
  (at r94 v122)
  (at r103 v123)
  (at r145 v124)
  (at r132 v125)
  (at r92 v126)
  (at r96 v127)
  (at r136 v128)
  (at r83 v129)
  (at r56 v130)
  (at r14 v131)
  (at r35 v132)
  (at r142 v133)
  (at r49 v134)
  (at r124 v135)
  (at r168 v136)
  (at r109 v137)
  (at r110 v138)
  (at r70 v139)
  (at r60 v140)
  (at r73 v141)
  (free v142)
  (at r67 v143)
  (at r159 v144)
  (at r166 v145)
  (at r55 v146)
  (at r71 v147)
  (at r12 v148)
  (at r101 v149)
  (at r74 v150)
  (at r98 v151)
  (at r149 v152)
  (at r10 v153)
  (at r106 v154)
  (at r143 v155)
  (at r100 v156)
  (at r31 v157)
  (at r38 v158)
  (at r130 v159)
  (at r152 v160)
  (at r78 v161)
  (at r137 v162)
  (free v163)
  (at r163 v164)
  (at r42 v165)
  (at r99 v166)
  (at r114 v167)
  (at r158 v168)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v24)
  (adjacent v0 v36)
  (adjacent v0 v116)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v10)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v57)
  (adjacent v2 v61)
  (adjacent v3 v4)
  (adjacent v3 v111)
  (adjacent v4 v29)
  (adjacent v5 v16)
  (adjacent v5 v168)
  (adjacent v6 v7)
  (adjacent v6 v59)
  (adjacent v6 v81)
  (adjacent v7 v8)
  (adjacent v7 v159)
  (adjacent v8 v9)
  (adjacent v8 v46)
  (adjacent v8 v91)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v9 v17)
  (adjacent v9 v60)
  (adjacent v9 v112)
  (adjacent v9 v150)
  (adjacent v10 v23)
  (adjacent v10 v25)
  (adjacent v10 v154)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v65)
  (adjacent v14 v15)
  (adjacent v14 v26)
  (adjacent v15 v16)
  (adjacent v15 v53)
  (adjacent v16 v17)
  (adjacent v16 v103)
  (adjacent v16 v108)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v99)
  (adjacent v20 v21)
  (adjacent v20 v58)
  (adjacent v21 v22)
  (adjacent v21 v62)
  (adjacent v22 v23)
  (adjacent v23 v30)
  (adjacent v23 v65)
  (adjacent v23 v66)
  (adjacent v24 v25)
  (adjacent v25 v136)
  (adjacent v25 v158)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v67)
  (adjacent v30 v31)
  (adjacent v30 v37)
  (adjacent v30 v76)
  (adjacent v31 v32)
  (adjacent v31 v47)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v167)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v40)
  (adjacent v36 v41)
  (adjacent v36 v54)
  (adjacent v37 v38)
  (adjacent v37 v104)
  (adjacent v38 v39)
  (adjacent v38 v74)
  (adjacent v39 v40)
  (adjacent v39 v58)
  (adjacent v39 v121)
  (adjacent v39 v128)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v61)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v129)
  (adjacent v49 v50)
  (adjacent v49 v73)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v64)
  (adjacent v53 v87)
  (adjacent v53 v98)
  (adjacent v54 v55)
  (adjacent v54 v77)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v151)
  (adjacent v59 v60)
  (adjacent v62 v63)
  (adjacent v62 v92)
  (adjacent v63 v64)
  (adjacent v63 v117)
  (adjacent v63 v140)
  (adjacent v64 v82)
  (adjacent v65 v66)
  (adjacent v66 v88)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v152)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v135)
  (adjacent v80 v81)
  (adjacent v80 v151)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v107)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v139)
  (adjacent v108 v109)
  (adjacent v108 v122)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v153)
  (adjacent v122 v123)
  (adjacent v122 v168)
  (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 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v144)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v140 v164)
  (adjacent v141 v142)
  (adjacent v141 v145)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v149 v165)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
 )
 (:goal
  (and
  (at r39 v0)
  (at r131 v1)
  (at r88 v2)
  (at r132 v3)
  (at r154 v4)
  (at r17 v5)
  (at r109 v6)
  (at r90 v7)
  (at r29 v8)
  (at r43 v9)
  (at r41 v10)
  (at r9 v11)
  (at r115 v12)
  (at r149 v13)
  (at r51 v14)
  (at r70 v15)
  (at r122 v16)
  (at r68 v17)
  (at r89 v18)
  (at r120 v19)
  (free v20)
  (at r53 v21)
  (at r123 v22)
  (at r36 v23)
  (at r66 v24)
  (at r77 v25)
  (at r168 v26)
  (at r60 v27)
  (at r20 v28)
  (at r150 v29)
  (at r65 v30)
  (at r102 v31)
  (at r142 v32)
  (at r129 v33)
  (at r63 v34)
  (at r160 v35)
  (at r82 v36)
  (at r14 v37)
  (at r94 v38)
  (at r6 v39)
  (at r116 v40)
  (at r38 v41)
  (at r21 v42)
  (at r166 v43)
  (at r32 v44)
  (at r37 v45)
  (at r121 v46)
  (at r167 v47)
  (at r50 v48)
  (at r13 v49)
  (at r83 v50)
  (at r145 v51)
  (at r75 v52)
  (at r134 v53)
  (at r2 v54)
  (at r74 v55)
  (at r114 v56)
  (at r138 v57)
  (at r47 v58)
  (at r158 v59)
  (at r161 v60)
  (at r97 v61)
  (at r163 v62)
  (at r117 v63)
  (at r85 v64)
  (at r56 v65)
  (at r164 v66)
  (at r31 v67)
  (at r61 v68)
  (at r24 v69)
  (at r52 v70)
  (at r113 v71)
  (at r100 v72)
  (at r72 v73)
  (at r8 v74)
  (at r156 v75)
  (at r12 v76)
  (at r71 v77)
  (at r5 v78)
  (at r4 v79)
  (at r112 v80)
  (at r11 v81)
  (at r81 v82)
  (at r62 v83)
  (at r108 v84)
  (at r106 v85)
  (at r99 v86)
  (at r16 v87)
  (at r76 v88)
  (at r3 v89)
  (at r86 v90)
  (at r22 v91)
  (at r27 v92)
  (at r141 v93)
  (at r111 v94)
  (at r130 v95)
  (at r78 v96)
  (at r54 v97)
  (free v98)
  (at r73 v99)
  (at r45 v100)
  (at r87 v101)
  (at r105 v102)
  (at r153 v103)
  (at r107 v104)
  (at r96 v105)
  (at r80 v106)
  (at r19 v107)
  (at r93 v108)
  (at r69 v109)
  (at r98 v110)
  (at r151 v111)
  (at r126 v112)
  (at r103 v113)
  (at r162 v114)
  (at r28 v115)
  (at r140 v116)
  (at r143 v117)
  (at r124 v118)
  (at r101 v119)
  (at r118 v120)
  (at r18 v121)
  (at r84 v122)
  (at r67 v123)
  (at r144 v124)
  (at r137 v125)
  (at r119 v126)
  (at r92 v127)
  (at r133 v128)
  (at r127 v129)
  (at r57 v130)
  (at r34 v131)
  (at r165 v132)
  (at r42 v133)
  (at r49 v134)
  (at r157 v135)
  (at r139 v136)
  (at r147 v137)
  (at r148 v138)
  (at r104 v139)
  (at r15 v140)
  (at r95 v141)
  (at r48 v142)
  (at r152 v143)
  (at r55 v144)
  (at r58 v145)
  (at r40 v146)
  (at r35 v147)
  (at r10 v148)
  (at r59 v149)
  (at r91 v150)
  (at r146 v151)
  (at r110 v152)
  (at r23 v153)
  (at r135 v154)
  (at r136 v155)
  (at r159 v156)
  (at r128 v157)
  (at r155 v158)
  (at r79 v159)
  (at r44 v160)
  (at r125 v161)
  (at r33 v162)
  (at r26 v163)
  (at r25 v164)
  (at r7 v165)
  (at r64 v166)
  (at r46 v167)
  (at r30 v168)
  )
 )
)