(define (problem multirobot_40_2_c1)
 (:domain multirobot)
 (:objects
  v0 r32
  v1 r102
  v2 r46
  v3 r53
  v4 r129
  v5 r15
  v6 r48
  v7 r90
  v8 r57
  v9 r144
  v10 r118
  v11 r130
  v12 r149
  v13 r95
  v14 r136
  v15 r101
  v16 r105
  v17 r143
  v18 r100
  v19 r22
  v20 r97
  v21 r83
  v22 r77
  v23 r88
  v24 r30
  v25 r74
  v26 r150
  v27 r112
  v28 r11
  v29 r107
  v30 r41
  v31 r20
  v32 r151
  v33 r33
  v34 r119
  v35 r80
  v36 r127
  v37 r137
  v38 r98
  v39 r115
  v40 r73
  v41 r132
  v42 r64
  v43 r17
  v44 r135
  v45 r86
  v46 r133
  v47 r23
  v48 r75
  v49 r85
  v50 r37
  v51 r125
  v52 r76
  v53 r51
  v54 r52
  v55 r106
  v56 r116
  v57 r120
  v58 r2
  v59 r60
  v60 r12
  v61 r61
  v62 r4
  v63 r50
  v64 r146
  v65 r108
  v66 r63
  v67 r87
  v68 r9
  v69 r47
  v70 r89
  v71 r65
  v72 r145
  v73 r62
  v74 r99
  v75 r3
  v76 r39
  v77 r111
  v78 r31
  v79 r67
  v80 r122
  v81 r26
  v82
  v83 r96
  v84 r128
  v85 r92
  v86 r84
  v87 r42
  v88 r8
  v89 r139
  v90 r10
  v91 r79
  v92 r78
  v93 r28
  v94 r66
  v95 r59
  v96 r54
  v97 r109
  v98 r19
  v99 r21
  v100 r34
  v101 r81
  v102 r43
  v103 r124
  v104 r121
  v105 r6
  v106 r7
  v107 r138
  v108 r147
  v109 r117
  v110 r141
  v111 r56
  v112 r44
  v113 r113
  v114 r114
  v115 r16
  v116 r55
  v117 r38
  v118 r93
  v119 r110
  v120 r5
  v121 r82
  v122 r142
  v123 r13
  v124 r40
  v125 r18
  v126 r27
  v127 r25
  v128 r148
  v129 r126
  v130 r140
  v131 r29
  v132 r123
  v133 r134
  v134 r14
  v135 r131
  v136 r45
  v137 r69
  v138 r104
  v139 r71
  v140 r91
  v141 r103
  v142
  v143 r36
  v144 r72
  v145 r24
  v146 r58
  v147 r68
  v148 r70
  v149 r49
  v150 r35
  v151 r94
 )
 (:init
  (at r32 v0)
  (at r102 v1)
  (at r46 v2)
  (at r53 v3)
  (at r129 v4)
  (at r15 v5)
  (at r48 v6)
  (at r90 v7)
  (at r57 v8)
  (at r144 v9)
  (at r118 v10)
  (at r130 v11)
  (at r149 v12)
  (at r95 v13)
  (at r136 v14)
  (at r101 v15)
  (at r105 v16)
  (at r143 v17)
  (at r100 v18)
  (at r22 v19)
  (at r97 v20)
  (at r83 v21)
  (at r77 v22)
  (at r88 v23)
  (at r30 v24)
  (at r74 v25)
  (at r150 v26)
  (at r112 v27)
  (at r11 v28)
  (at r107 v29)
  (at r41 v30)
  (at r20 v31)
  (at r151 v32)
  (at r33 v33)
  (at r119 v34)
  (at r80 v35)
  (at r127 v36)
  (at r137 v37)
  (at r98 v38)
  (at r115 v39)
  (at r73 v40)
  (at r132 v41)
  (at r64 v42)
  (at r17 v43)
  (at r135 v44)
  (at r86 v45)
  (at r133 v46)
  (at r23 v47)
  (at r75 v48)
  (at r85 v49)
  (at r37 v50)
  (at r125 v51)
  (at r76 v52)
  (at r51 v53)
  (at r52 v54)
  (at r106 v55)
  (at r116 v56)
  (at r120 v57)
  (at r2 v58)
  (at r60 v59)
  (at r12 v60)
  (at r61 v61)
  (at r4 v62)
  (at r50 v63)
  (at r146 v64)
  (at r108 v65)
  (at r63 v66)
  (at r87 v67)
  (at r9 v68)
  (at r47 v69)
  (at r89 v70)
  (at r65 v71)
  (at r145 v72)
  (at r62 v73)
  (at r99 v74)
  (at r3 v75)
  (at r39 v76)
  (at r111 v77)
  (at r31 v78)
  (at r67 v79)
  (at r122 v80)
  (at r26 v81)
  (free v82)
  (at r96 v83)
  (at r128 v84)
  (at r92 v85)
  (at r84 v86)
  (at r42 v87)
  (at r8 v88)
  (at r139 v89)
  (at r10 v90)
  (at r79 v91)
  (at r78 v92)
  (at r28 v93)
  (at r66 v94)
  (at r59 v95)
  (at r54 v96)
  (at r109 v97)
  (at r19 v98)
  (at r21 v99)
  (at r34 v100)
  (at r81 v101)
  (at r43 v102)
  (at r124 v103)
  (at r121 v104)
  (at r6 v105)
  (at r7 v106)
  (at r138 v107)
  (at r147 v108)
  (at r117 v109)
  (at r141 v110)
  (at r56 v111)
  (at r44 v112)
  (at r113 v113)
  (at r114 v114)
  (at r16 v115)
  (at r55 v116)
  (at r38 v117)
  (at r93 v118)
  (at r110 v119)
  (at r5 v120)
  (at r82 v121)
  (at r142 v122)
  (at r13 v123)
  (at r40 v124)
  (at r18 v125)
  (at r27 v126)
  (at r25 v127)
  (at r148 v128)
  (at r126 v129)
  (at r140 v130)
  (at r29 v131)
  (at r123 v132)
  (at r134 v133)
  (at r14 v134)
  (at r131 v135)
  (at r45 v136)
  (at r69 v137)
  (at r104 v138)
  (at r71 v139)
  (at r91 v140)
  (at r103 v141)
  (free v142)
  (at r36 v143)
  (at r72 v144)
  (at r24 v145)
  (at r58 v146)
  (at r68 v147)
  (at r70 v148)
  (at r49 v149)
  (at r35 v150)
  (at r94 v151)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v20)
  (adjacent v0 v48)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v28)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v33)
  (adjacent v4 v63)
  (adjacent v5 v6)
  (adjacent v5 v127)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v25)
  (adjacent v6 v88)
  (adjacent v7 v8)
  (adjacent v7 v21)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v8 v27)
  (adjacent v8 v34)
  (adjacent v9 v10)
  (adjacent v9 v19)
  (adjacent v9 v26)
  (adjacent v10 v11)
  (adjacent v10 v112)
  (adjacent v12 v13)
  (adjacent v12 v89)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v42)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v20)
  (adjacent v16 v142)
  (adjacent v17 v18)
  (adjacent v17 v21)
  (adjacent v18 v19)
  (adjacent v19 v70)
  (adjacent v19 v71)
  (adjacent v19 v109)
  (adjacent v20 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v64)
  (adjacent v25 v80)
  (adjacent v25 v92)
  (adjacent v25 v136)
  (adjacent v25 v151)
  (adjacent v26 v27)
  (adjacent v27 v41)
  (adjacent v27 v43)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v40)
  (adjacent v31 v107)
  (adjacent v32 v33)
  (adjacent v33 v76)
  (adjacent v33 v146)
  (adjacent v34 v35)
  (adjacent v34 v54)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v42)
  (adjacent v37 v38)
  (adjacent v37 v117)
  (adjacent v38 v39)
  (adjacent v38 v82)
  (adjacent v39 v40)
  (adjacent v39 v106)
  (adjacent v40 v41)
  (adjacent v40 v49)
  (adjacent v40 v61)
  (adjacent v43 v44)
  (adjacent v43 v55)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v75)
  (adjacent v47 v48)
  (adjacent v48 v99)
  (adjacent v48 v135)
  (adjacent v49 v50)
  (adjacent v49 v150)
  (adjacent v50 v51)
  (adjacent v50 v81)
  (adjacent v50 v100)
  (adjacent v51 v52)
  (adjacent v51 v124)
  (adjacent v52 v53)
  (adjacent v52 v60)
  (adjacent v52 v66)
  (adjacent v52 v141)
  (adjacent v53 v54)
  (adjacent v53 v121)
  (adjacent v55 v56)
  (adjacent v55 v81)
  (adjacent v55 v87)
  (adjacent v55 v127)
  (adjacent v56 v57)
  (adjacent v56 v125)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v65)
  (adjacent v61 v62)
  (adjacent v61 v112)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v71 v88)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v93)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v110)
  (adjacent v79 v80)
  (adjacent v79 v118)
  (adjacent v81 v111)
  (adjacent v82 v83)
  (adjacent v82 v128)
  (adjacent v82 v142)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v128)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v122)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v129)
  (adjacent v98 v99)
  (adjacent v98 v143)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v113)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v151)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v126)
  (adjacent v110 v111)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v127 v147)
  (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 v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
 )
 (:goal
  (and
  (at r67 v0)
  (at r4 v1)
  (at r51 v2)
  (at r149 v3)
  (at r6 v4)
  (at r104 v5)
  (at r140 v6)
  (at r120 v7)
  (at r55 v8)
  (at r151 v9)
  (at r148 v10)
  (at r94 v11)
  (at r69 v12)
  (at r22 v13)
  (at r27 v14)
  (at r28 v15)
  (at r44 v16)
  (at r30 v17)
  (at r80 v18)
  (at r127 v19)
  (at r143 v20)
  (at r25 v21)
  (free v22)
  (at r119 v23)
  (at r85 v24)
  (at r37 v25)
  (at r135 v26)
  (at r72 v27)
  (at r52 v28)
  (at r32 v29)
  (at r16 v30)
  (at r76 v31)
  (at r24 v32)
  (at r139 v33)
  (at r137 v34)
  (at r124 v35)
  (at r93 v36)
  (free v37)
  (at r23 v38)
  (at r31 v39)
  (at r43 v40)
  (at r125 v41)
  (at r87 v42)
  (at r48 v43)
  (at r146 v44)
  (at r110 v45)
  (at r136 v46)
  (at r117 v47)
  (at r17 v48)
  (at r5 v49)
  (at r147 v50)
  (at r114 v51)
  (at r101 v52)
  (at r40 v53)
  (at r18 v54)
  (at r141 v55)
  (at r138 v56)
  (at r145 v57)
  (at r64 v58)
  (at r45 v59)
  (at r111 v60)
  (at r36 v61)
  (at r98 v62)
  (at r123 v63)
  (at r9 v64)
  (at r95 v65)
  (at r61 v66)
  (at r102 v67)
  (at r62 v68)
  (at r130 v69)
  (at r57 v70)
  (at r35 v71)
  (at r109 v72)
  (at r105 v73)
  (at r89 v74)
  (at r90 v75)
  (at r144 v76)
  (at r126 v77)
  (at r122 v78)
  (at r38 v79)
  (at r142 v80)
  (at r86 v81)
  (at r82 v82)
  (at r56 v83)
  (at r41 v84)
  (at r20 v85)
  (at r81 v86)
  (at r121 v87)
  (at r3 v88)
  (at r70 v89)
  (at r112 v90)
  (at r129 v91)
  (at r83 v92)
  (at r73 v93)
  (at r65 v94)
  (at r12 v95)
  (at r103 v96)
  (at r19 v97)
  (at r53 v98)
  (at r132 v99)
  (at r42 v100)
  (at r26 v101)
  (at r78 v102)
  (at r59 v103)
  (at r10 v104)
  (at r128 v105)
  (at r71 v106)
  (at r11 v107)
  (at r107 v108)
  (at r63 v109)
  (at r21 v110)
  (at r13 v111)
  (at r68 v112)
  (at r113 v113)
  (at r131 v114)
  (at r47 v115)
  (at r100 v116)
  (at r133 v117)
  (at r46 v118)
  (at r66 v119)
  (at r7 v120)
  (at r118 v121)
  (at r79 v122)
  (at r84 v123)
  (at r49 v124)
  (at r54 v125)
  (at r39 v126)
  (at r15 v127)
  (at r75 v128)
  (at r106 v129)
  (at r58 v130)
  (at r74 v131)
  (at r96 v132)
  (at r91 v133)
  (at r88 v134)
  (at r92 v135)
  (at r134 v136)
  (at r108 v137)
  (at r99 v138)
  (at r33 v139)
  (at r115 v140)
  (at r29 v141)
  (at r50 v142)
  (at r8 v143)
  (at r77 v144)
  (at r34 v145)
  (at r2 v146)
  (at r14 v147)
  (at r150 v148)
  (at r116 v149)
  (at r97 v150)
  (at r60 v151)
  )
 )
)