(define (problem multirobot_40_2_c2)
 (:domain multirobot)
 (:objects
  v0 r156
  v1 r131
  v2 r154
  v3 r103
  v4 r50
  v5 r110
  v6 r40
  v7 r113
  v8 r89
  v9 r30
  v10 r136
  v11 r6
  v12 r36
  v13 r31
  v14 r138
  v15 r44
  v16 r151
  v17 r27
  v18 r115
  v19 r133
  v20 r125
  v21 r56
  v22 r117
  v23 r146
  v24 r149
  v25 r11
  v26 r145
  v27 r111
  v28 r81
  v29 r147
  v30 r38
  v31 r112
  v32 r24
  v33 r87
  v34 r69
  v35 r54
  v36 r148
  v37 r14
  v38 r25
  v39 r51
  v40 r72
  v41 r118
  v42 r26
  v43 r92
  v44 r45
  v45 r107
  v46 r122
  v47 r106
  v48 r12
  v49 r78
  v50 r79
  v51 r95
  v52 r124
  v53 r150
  v54 r5
  v55 r52
  v56 r94
  v57 r61
  v58 r35
  v59 r88
  v60 r90
  v61 r86
  v62 r65
  v63 r63
  v64 r155
  v65 r70
  v66 r77
  v67 r132
  v68 r93
  v69 r153
  v70 r141
  v71 r82
  v72 r101
  v73 r97
  v74 r109
  v75 r74
  v76 r42
  v77 r58
  v78 r120
  v79 r34
  v80
  v81 r116
  v82 r22
  v83 r28
  v84 r15
  v85 r129
  v86 r80
  v87 r114
  v88 r10
  v89 r139
  v90 r48
  v91 r46
  v92 r91
  v93 r130
  v94 r59
  v95 r23
  v96 r98
  v97 r121
  v98 r66
  v99
  v100 r144
  v101 r104
  v102 r83
  v103 r152
  v104 r67
  v105 r157
  v106 r47
  v107 r18
  v108 r3
  v109 r33
  v110 r119
  v111 r142
  v112 r17
  v113 r39
  v114 r137
  v115 r102
  v116 r43
  v117 r57
  v118 r84
  v119 r32
  v120 r2
  v121 r13
  v122 r53
  v123 r7
  v124 r127
  v125 r8
  v126 r126
  v127 r55
  v128 r60
  v129 r19
  v130 r100
  v131 r16
  v132 r71
  v133 r75
  v134 r68
  v135 r29
  v136 r99
  v137 r4
  v138 r128
  v139 r105
  v140 r140
  v141 r64
  v142 r96
  v143 r41
  v144 r21
  v145 r9
  v146 r134
  v147 r135
  v148 r49
  v149 r108
  v150 r62
  v151 r73
  v152 r76
  v153 r20
  v154 r37
  v155 r143
  v156 r123
  v157 r85
 )
 (:init
  (at r156 v0)
  (at r131 v1)
  (at r154 v2)
  (at r103 v3)
  (at r50 v4)
  (at r110 v5)
  (at r40 v6)
  (at r113 v7)
  (at r89 v8)
  (at r30 v9)
  (at r136 v10)
  (at r6 v11)
  (at r36 v12)
  (at r31 v13)
  (at r138 v14)
  (at r44 v15)
  (at r151 v16)
  (at r27 v17)
  (at r115 v18)
  (at r133 v19)
  (at r125 v20)
  (at r56 v21)
  (at r117 v22)
  (at r146 v23)
  (at r149 v24)
  (at r11 v25)
  (at r145 v26)
  (at r111 v27)
  (at r81 v28)
  (at r147 v29)
  (at r38 v30)
  (at r112 v31)
  (at r24 v32)
  (at r87 v33)
  (at r69 v34)
  (at r54 v35)
  (at r148 v36)
  (at r14 v37)
  (at r25 v38)
  (at r51 v39)
  (at r72 v40)
  (at r118 v41)
  (at r26 v42)
  (at r92 v43)
  (at r45 v44)
  (at r107 v45)
  (at r122 v46)
  (at r106 v47)
  (at r12 v48)
  (at r78 v49)
  (at r79 v50)
  (at r95 v51)
  (at r124 v52)
  (at r150 v53)
  (at r5 v54)
  (at r52 v55)
  (at r94 v56)
  (at r61 v57)
  (at r35 v58)
  (at r88 v59)
  (at r90 v60)
  (at r86 v61)
  (at r65 v62)
  (at r63 v63)
  (at r155 v64)
  (at r70 v65)
  (at r77 v66)
  (at r132 v67)
  (at r93 v68)
  (at r153 v69)
  (at r141 v70)
  (at r82 v71)
  (at r101 v72)
  (at r97 v73)
  (at r109 v74)
  (at r74 v75)
  (at r42 v76)
  (at r58 v77)
  (at r120 v78)
  (at r34 v79)
  (free v80)
  (at r116 v81)
  (at r22 v82)
  (at r28 v83)
  (at r15 v84)
  (at r129 v85)
  (at r80 v86)
  (at r114 v87)
  (at r10 v88)
  (at r139 v89)
  (at r48 v90)
  (at r46 v91)
  (at r91 v92)
  (at r130 v93)
  (at r59 v94)
  (at r23 v95)
  (at r98 v96)
  (at r121 v97)
  (at r66 v98)
  (free v99)
  (at r144 v100)
  (at r104 v101)
  (at r83 v102)
  (at r152 v103)
  (at r67 v104)
  (at r157 v105)
  (at r47 v106)
  (at r18 v107)
  (at r3 v108)
  (at r33 v109)
  (at r119 v110)
  (at r142 v111)
  (at r17 v112)
  (at r39 v113)
  (at r137 v114)
  (at r102 v115)
  (at r43 v116)
  (at r57 v117)
  (at r84 v118)
  (at r32 v119)
  (at r2 v120)
  (at r13 v121)
  (at r53 v122)
  (at r7 v123)
  (at r127 v124)
  (at r8 v125)
  (at r126 v126)
  (at r55 v127)
  (at r60 v128)
  (at r19 v129)
  (at r100 v130)
  (at r16 v131)
  (at r71 v132)
  (at r75 v133)
  (at r68 v134)
  (at r29 v135)
  (at r99 v136)
  (at r4 v137)
  (at r128 v138)
  (at r105 v139)
  (at r140 v140)
  (at r64 v141)
  (at r96 v142)
  (at r41 v143)
  (at r21 v144)
  (at r9 v145)
  (at r134 v146)
  (at r135 v147)
  (at r49 v148)
  (at r108 v149)
  (at r62 v150)
  (at r73 v151)
  (at r76 v152)
  (at r20 v153)
  (at r37 v154)
  (at r143 v155)
  (at r123 v156)
  (at r85 v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v7)
  (adjacent v0 v16)
  (adjacent v0 v17)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v36)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v4 v14)
  (adjacent v4 v76)
  (adjacent v4 v96)
  (adjacent v4 v142)
  (adjacent v5 v6)
  (adjacent v6 v16)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v7 v66)
  (adjacent v7 v125)
  (adjacent v8 v9)
  (adjacent v8 v13)
  (adjacent v9 v147)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v23)
  (adjacent v11 v29)
  (adjacent v11 v50)
  (adjacent v11 v73)
  (adjacent v12 v13)
  (adjacent v12 v41)
  (adjacent v13 v53)
  (adjacent v14 v15)
  (adjacent v15 v74)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v59)
  (adjacent v20 v21)
  (adjacent v20 v30)
  (adjacent v20 v131)
  (adjacent v20 v157)
  (adjacent v21 v22)
  (adjacent v21 v82)
  (adjacent v22 v23)
  (adjacent v22 v58)
  (adjacent v22 v79)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v40)
  (adjacent v24 v73)
  (adjacent v24 v96)
  (adjacent v25 v26)
  (adjacent v25 v37)
  (adjacent v25 v119)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v109)
  (adjacent v28 v29)
  (adjacent v28 v114)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v126)
  (adjacent v32 v33)
  (adjacent v32 v54)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v81)
  (adjacent v35 v36)
  (adjacent v35 v46)
  (adjacent v37 v38)
  (adjacent v37 v103)
  (adjacent v37 v154)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v45)
  (adjacent v40 v78)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v137)
  (adjacent v46 v47)
  (adjacent v46 v72)
  (adjacent v47 v48)
  (adjacent v47 v51)
  (adjacent v47 v65)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v136)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v108)
  (adjacent v54 v55)
  (adjacent v54 v93)
  (adjacent v54 v156)
  (adjacent v55 v56)
  (adjacent v55 v120)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v59 v93)
  (adjacent v60 v61)
  (adjacent v60 v136)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v95)
  (adjacent v62 v146)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v87)
  (adjacent v66 v67)
  (adjacent v66 v147)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v102)
  (adjacent v70 v71)
  (adjacent v70 v77)
  (adjacent v71 v72)
  (adjacent v71 v92)
  (adjacent v71 v130)
  (adjacent v72 v100)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v155)
  (adjacent v82 v83)
  (adjacent v82 v88)
  (adjacent v83 v84)
  (adjacent v83 v155)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v101)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v97)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v156)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v148)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v113)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v135)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v141)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v131 v157)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (at r51 v0)
  (at r52 v1)
  (at r117 v2)
  (at r41 v3)
  (at r138 v4)
  (at r32 v5)
  (at r75 v6)
  (at r83 v7)
  (at r6 v8)
  (at r47 v9)
  (at r2 v10)
  (at r146 v11)
  (at r71 v12)
  (at r143 v13)
  (at r92 v14)
  (at r40 v15)
  (at r142 v16)
  (at r28 v17)
  (at r141 v18)
  (at r24 v19)
  (at r46 v20)
  (at r65 v21)
  (at r140 v22)
  (at r120 v23)
  (at r108 v24)
  (at r132 v25)
  (at r35 v26)
  (at r81 v27)
  (at r135 v28)
  (at r105 v29)
  (at r74 v30)
  (at r55 v31)
  (at r42 v32)
  (at r125 v33)
  (at r151 v34)
  (at r78 v35)
  (at r23 v36)
  (at r107 v37)
  (at r58 v38)
  (at r27 v39)
  (at r154 v40)
  (at r100 v41)
  (at r61 v42)
  (at r156 v43)
  (at r72 v44)
  (at r82 v45)
  (at r85 v46)
  (at r22 v47)
  (at r147 v48)
  (at r67 v49)
  (at r89 v50)
  (at r116 v51)
  (at r86 v52)
  (at r109 v53)
  (at r33 v54)
  (at r43 v55)
  (at r38 v56)
  (at r9 v57)
  (at r157 v58)
  (at r18 v59)
  (at r59 v60)
  (at r148 v61)
  (at r110 v62)
  (at r137 v63)
  (at r31 v64)
  (at r155 v65)
  (at r150 v66)
  (at r26 v67)
  (at r152 v68)
  (at r48 v69)
  (at r97 v70)
  (at r14 v71)
  (at r12 v72)
  (at r93 v73)
  (at r15 v74)
  (at r76 v75)
  (free v76)
  (at r49 v77)
  (at r17 v78)
  (at r112 v79)
  (at r127 v80)
  (at r20 v81)
  (at r130 v82)
  (at r153 v83)
  (at r4 v84)
  (at r113 v85)
  (at r119 v86)
  (at r10 v87)
  (at r121 v88)
  (at r36 v89)
  (at r7 v90)
  (at r99 v91)
  (at r134 v92)
  (at r68 v93)
  (at r131 v94)
  (at r16 v95)
  (at r45 v96)
  (at r124 v97)
  (at r37 v98)
  (at r39 v99)
  (at r11 v100)
  (at r57 v101)
  (at r64 v102)
  (at r54 v103)
  (at r95 v104)
  (at r98 v105)
  (at r53 v106)
  (at r101 v107)
  (at r5 v108)
  (at r63 v109)
  (at r79 v110)
  (at r30 v111)
  (at r129 v112)
  (at r73 v113)
  (at r136 v114)
  (at r25 v115)
  (at r123 v116)
  (at r69 v117)
  (at r29 v118)
  (at r90 v119)
  (at r118 v120)
  (at r77 v121)
  (at r8 v122)
  (at r60 v123)
  (at r44 v124)
  (at r62 v125)
  (at r144 v126)
  (at r114 v127)
  (at r128 v128)
  (at r50 v129)
  (at r87 v130)
  (at r88 v131)
  (at r139 v132)
  (at r3 v133)
  (at r104 v134)
  (at r115 v135)
  (at r111 v136)
  (at r94 v137)
  (at r13 v138)
  (at r84 v139)
  (at r102 v140)
  (at r19 v141)
  (free v142)
  (at r34 v143)
  (at r106 v144)
  (at r103 v145)
  (at r80 v146)
  (at r145 v147)
  (at r122 v148)
  (at r133 v149)
  (at r21 v150)
  (at r149 v151)
  (at r70 v152)
  (at r96 v153)
  (at r66 v154)
  (at r56 v155)
  (at r126 v156)
  (at r91 v157)
  )
 )
)