(define (problem multirobot_40_2_c4)
 (:domain multirobot)
 (:objects
  v0 r106
  v1 r115
  v2 r30
  v3 r102
  v4 r107
  v5 r110
  v6 r180
  v7 r54
  v8 r39
  v9 r149
  v10 r51
  v11 r164
  v12 r162
  v13 r151
  v14 r34
  v15 r57
  v16 r172
  v17 r159
  v18 r165
  v19 r78
  v20 r136
  v21 r25
  v22 r87
  v23 r11
  v24 r35
  v25 r121
  v26 r175
  v27 r108
  v28 r145
  v29 r167
  v30 r26
  v31 r36
  v32 r56
  v33 r173
  v34 r7
  v35 r168
  v36 r27
  v37 r8
  v38 r144
  v39 r2
  v40 r118
  v41 r114
  v42 r82
  v43 r127
  v44 r103
  v45 r63
  v46 r9
  v47 r100
  v48 r109
  v49 r99
  v50 r13
  v51 r116
  v52 r93
  v53 r182
  v54 r157
  v55 r60
  v56 r101
  v57 r46
  v58 r169
  v59 r72
  v60 r153
  v61 r133
  v62 r113
  v63 r62
  v64 r53
  v65 r131
  v66 r92
  v67 r19
  v68 r4
  v69 r111
  v70 r178
  v71 r181
  v72 r84
  v73 r129
  v74 r174
  v75 r176
  v76 r37
  v77 r112
  v78 r85
  v79 r123
  v80 r83
  v81 r163
  v82 r43
  v83 r89
  v84
  v85 r132
  v86 r44
  v87 r143
  v88 r79
  v89 r38
  v90 r146
  v91 r81
  v92 r170
  v93 r3
  v94 r33
  v95 r117
  v96 r24
  v97 r47
  v98 r96
  v99 r70
  v100 r18
  v101 r156
  v102 r138
  v103 r73
  v104 r58
  v105 r158
  v106 r59
  v107 r16
  v108 r74
  v109 r137
  v110 r86
  v111 r150
  v112 r147
  v113 r120
  v114 r71
  v115 r90
  v116
  v117 r161
  v118 r154
  v119 r88
  v120 r32
  v121 r177
  v122 r10
  v123 r75
  v124 r95
  v125 r130
  v126 r135
  v127 r124
  v128 r80
  v129 r14
  v130 r67
  v131 r76
  v132 r166
  v133 r119
  v134 r91
  v135 r49
  v136 r40
  v137 r152
  v138 r125
  v139 r12
  v140 r23
  v141 r105
  v142 r15
  v143 r48
  v144 r141
  v145 r6
  v146 r64
  v147 r22
  v148 r42
  v149 r104
  v150 r142
  v151 r52
  v152 r45
  v153 r77
  v154 r97
  v155 r17
  v156 r148
  v157 r139
  v158 r21
  v159 r69
  v160 r61
  v161 r122
  v162 r66
  v163 r155
  v164 r179
  v165 r94
  v166 r41
  v167 r98
  v168 r171
  v169 r28
  v170 r68
  v171 r126
  v172 r140
  v173 r160
  v174 r65
  v175 r134
  v176 r128
  v177 r50
  v178 r55
  v179 r31
  v180 r5
  v181 r29
  v182 r20
 )
 (:init
  (at r106 v0)
  (at r115 v1)
  (at r30 v2)
  (at r102 v3)
  (at r107 v4)
  (at r110 v5)
  (at r180 v6)
  (at r54 v7)
  (at r39 v8)
  (at r149 v9)
  (at r51 v10)
  (at r164 v11)
  (at r162 v12)
  (at r151 v13)
  (at r34 v14)
  (at r57 v15)
  (at r172 v16)
  (at r159 v17)
  (at r165 v18)
  (at r78 v19)
  (at r136 v20)
  (at r25 v21)
  (at r87 v22)
  (at r11 v23)
  (at r35 v24)
  (at r121 v25)
  (at r175 v26)
  (at r108 v27)
  (at r145 v28)
  (at r167 v29)
  (at r26 v30)
  (at r36 v31)
  (at r56 v32)
  (at r173 v33)
  (at r7 v34)
  (at r168 v35)
  (at r27 v36)
  (at r8 v37)
  (at r144 v38)
  (at r2 v39)
  (at r118 v40)
  (at r114 v41)
  (at r82 v42)
  (at r127 v43)
  (at r103 v44)
  (at r63 v45)
  (at r9 v46)
  (at r100 v47)
  (at r109 v48)
  (at r99 v49)
  (at r13 v50)
  (at r116 v51)
  (at r93 v52)
  (at r182 v53)
  (at r157 v54)
  (at r60 v55)
  (at r101 v56)
  (at r46 v57)
  (at r169 v58)
  (at r72 v59)
  (at r153 v60)
  (at r133 v61)
  (at r113 v62)
  (at r62 v63)
  (at r53 v64)
  (at r131 v65)
  (at r92 v66)
  (at r19 v67)
  (at r4 v68)
  (at r111 v69)
  (at r178 v70)
  (at r181 v71)
  (at r84 v72)
  (at r129 v73)
  (at r174 v74)
  (at r176 v75)
  (at r37 v76)
  (at r112 v77)
  (at r85 v78)
  (at r123 v79)
  (at r83 v80)
  (at r163 v81)
  (at r43 v82)
  (at r89 v83)
  (free v84)
  (at r132 v85)
  (at r44 v86)
  (at r143 v87)
  (at r79 v88)
  (at r38 v89)
  (at r146 v90)
  (at r81 v91)
  (at r170 v92)
  (at r3 v93)
  (at r33 v94)
  (at r117 v95)
  (at r24 v96)
  (at r47 v97)
  (at r96 v98)
  (at r70 v99)
  (at r18 v100)
  (at r156 v101)
  (at r138 v102)
  (at r73 v103)
  (at r58 v104)
  (at r158 v105)
  (at r59 v106)
  (at r16 v107)
  (at r74 v108)
  (at r137 v109)
  (at r86 v110)
  (at r150 v111)
  (at r147 v112)
  (at r120 v113)
  (at r71 v114)
  (at r90 v115)
  (free v116)
  (at r161 v117)
  (at r154 v118)
  (at r88 v119)
  (at r32 v120)
  (at r177 v121)
  (at r10 v122)
  (at r75 v123)
  (at r95 v124)
  (at r130 v125)
  (at r135 v126)
  (at r124 v127)
  (at r80 v128)
  (at r14 v129)
  (at r67 v130)
  (at r76 v131)
  (at r166 v132)
  (at r119 v133)
  (at r91 v134)
  (at r49 v135)
  (at r40 v136)
  (at r152 v137)
  (at r125 v138)
  (at r12 v139)
  (at r23 v140)
  (at r105 v141)
  (at r15 v142)
  (at r48 v143)
  (at r141 v144)
  (at r6 v145)
  (at r64 v146)
  (at r22 v147)
  (at r42 v148)
  (at r104 v149)
  (at r142 v150)
  (at r52 v151)
  (at r45 v152)
  (at r77 v153)
  (at r97 v154)
  (at r17 v155)
  (at r148 v156)
  (at r139 v157)
  (at r21 v158)
  (at r69 v159)
  (at r61 v160)
  (at r122 v161)
  (at r66 v162)
  (at r155 v163)
  (at r179 v164)
  (at r94 v165)
  (at r41 v166)
  (at r98 v167)
  (at r171 v168)
  (at r28 v169)
  (at r68 v170)
  (at r126 v171)
  (at r140 v172)
  (at r160 v173)
  (at r65 v174)
  (at r134 v175)
  (at r128 v176)
  (at r50 v177)
  (at r55 v178)
  (at r31 v179)
  (at r5 v180)
  (at r29 v181)
  (at r20 v182)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v23)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v68)
  (adjacent v4 v26)
  (adjacent v4 v120)
  (adjacent v5 v6)
  (adjacent v5 v19)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v6 v35)
  (adjacent v6 v95)
  (adjacent v7 v8)
  (adjacent v7 v18)
  (adjacent v7 v61)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v23)
  (adjacent v10 v67)
  (adjacent v11 v24)
  (adjacent v11 v62)
  (adjacent v12 v13)
  (adjacent v12 v46)
  (adjacent v12 v78)
  (adjacent v13 v14)
  (adjacent v13 v34)
  (adjacent v13 v135)
  (adjacent v13 v153)
  (adjacent v14 v15)
  (adjacent v14 v88)
  (adjacent v14 v101)
  (adjacent v15 v16)
  (adjacent v15 v163)
  (adjacent v16 v17)
  (adjacent v16 v168)
  (adjacent v17 v18)
  (adjacent v17 v19)
  (adjacent v17 v22)
  (adjacent v17 v33)
  (adjacent v17 v124)
  (adjacent v18 v83)
  (adjacent v18 v136)
  (adjacent v20 v21)
  (adjacent v20 v42)
  (adjacent v21 v22)
  (adjacent v23 v34)
  (adjacent v24 v25)
  (adjacent v24 v43)
  (adjacent v25 v26)
  (adjacent v25 v27)
  (adjacent v25 v53)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v54)
  (adjacent v28 v63)
  (adjacent v29 v30)
  (adjacent v29 v109)
  (adjacent v30 v31)
  (adjacent v30 v36)
  (adjacent v30 v159)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v60)
  (adjacent v32 v113)
  (adjacent v34 v35)
  (adjacent v34 v169)
  (adjacent v35 v47)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v97)
  (adjacent v38 v148)
  (adjacent v39 v40)
  (adjacent v39 v147)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v61)
  (adjacent v41 v141)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v62)
  (adjacent v45 v46)
  (adjacent v45 v87)
  (adjacent v47 v48)
  (adjacent v47 v96)
  (adjacent v47 v114)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v72)
  (adjacent v49 v73)
  (adjacent v49 v96)
  (adjacent v50 v51)
  (adjacent v50 v175)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v162)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v152)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v108)
  (adjacent v62 v77)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v93)
  (adjacent v65 v66)
  (adjacent v65 v92)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v82)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v102)
  (adjacent v81 v119)
  (adjacent v83 v84)
  (adjacent v83 v130)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v126)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v97 v98)
  (adjacent v97 v131)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v153)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v123)
  (adjacent v115 v127)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v154)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v142)
  (adjacent v134 v135)
  (adjacent v135 v160)
  (adjacent v136 v137)
  (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 v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v154 v155)
  (adjacent v154 v182)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v157 v176)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
 )
 (:goal
  (and
  (at r101 v0)
  (at r24 v1)
  (at r89 v2)
  (at r77 v3)
  (at r150 v4)
  (at r42 v5)
  (at r112 v6)
  (at r5 v7)
  (at r105 v8)
  (at r93 v9)
  (at r141 v10)
  (at r142 v11)
  (at r15 v12)
  (at r160 v13)
  (at r19 v14)
  (at r125 v15)
  (at r182 v16)
  (at r61 v17)
  (at r48 v18)
  (at r58 v19)
  (at r140 v20)
  (at r72 v21)
  (at r111 v22)
  (at r152 v23)
  (at r154 v24)
  (at r139 v25)
  (at r113 v26)
  (at r69 v27)
  (at r115 v28)
  (at r90 v29)
  (at r80 v30)
  (at r47 v31)
  (at r124 v32)
  (at r99 v33)
  (at r126 v34)
  (at r70 v35)
  (at r172 v36)
  (at r98 v37)
  (free v38)
  (at r165 v39)
  (at r79 v40)
  (at r95 v41)
  (at r22 v42)
  (at r171 v43)
  (at r17 v44)
  (at r181 v45)
  (at r173 v46)
  (at r166 v47)
  (at r84 v48)
  (at r94 v49)
  (at r37 v50)
  (at r66 v51)
  (at r136 v52)
  (at r149 v53)
  (at r164 v54)
  (at r92 v55)
  (at r170 v56)
  (at r63 v57)
  (at r155 v58)
  (at r74 v59)
  (at r117 v60)
  (at r153 v61)
  (at r46 v62)
  (at r169 v63)
  (at r138 v64)
  (at r83 v65)
  (at r116 v66)
  (at r135 v67)
  (at r60 v68)
  (at r175 v69)
  (at r119 v70)
  (at r162 v71)
  (at r85 v72)
  (at r156 v73)
  (at r179 v74)
  (at r86 v75)
  (at r7 v76)
  (at r78 v77)
  (at r8 v78)
  (at r28 v79)
  (at r13 v80)
  (at r9 v81)
  (at r106 v82)
  (at r32 v83)
  (at r4 v84)
  (at r12 v85)
  (at r103 v86)
  (at r34 v87)
  (at r10 v88)
  (at r36 v89)
  (at r178 v90)
  (at r176 v91)
  (at r161 v92)
  (at r76 v93)
  (at r108 v94)
  (at r38 v95)
  (at r54 v96)
  (at r143 v97)
  (at r168 v98)
  (at r31 v99)
  (at r102 v100)
  (at r55 v101)
  (at r129 v102)
  (at r14 v103)
  (at r167 v104)
  (at r21 v105)
  (at r120 v106)
  (at r130 v107)
  (at r18 v108)
  (at r91 v109)
  (at r131 v110)
  (at r147 v111)
  (at r159 v112)
  (at r158 v113)
  (at r68 v114)
  (at r121 v115)
  (at r87 v116)
  (at r6 v117)
  (at r96 v118)
  (at r118 v119)
  (at r44 v120)
  (at r11 v121)
  (at r35 v122)
  (at r110 v123)
  (at r20 v124)
  (at r157 v125)
  (at r71 v126)
  (at r104 v127)
  (at r56 v128)
  (at r128 v129)
  (at r133 v130)
  (at r27 v131)
  (at r64 v132)
  (at r53 v133)
  (at r82 v134)
  (at r88 v135)
  (at r109 v136)
  (at r81 v137)
  (at r174 v138)
  (free v139)
  (at r2 v140)
  (at r151 v141)
  (at r127 v142)
  (at r73 v143)
  (at r30 v144)
  (at r107 v145)
  (at r57 v146)
  (at r23 v147)
  (at r45 v148)
  (at r43 v149)
  (at r29 v150)
  (at r67 v151)
  (at r122 v152)
  (at r25 v153)
  (at r100 v154)
  (at r180 v155)
  (at r39 v156)
  (at r75 v157)
  (at r123 v158)
  (at r144 v159)
  (at r146 v160)
  (at r40 v161)
  (at r148 v162)
  (at r62 v163)
  (at r26 v164)
  (at r132 v165)
  (at r33 v166)
  (at r16 v167)
  (at r145 v168)
  (at r51 v169)
  (at r50 v170)
  (at r163 v171)
  (at r49 v172)
  (at r41 v173)
  (at r114 v174)
  (at r52 v175)
  (at r137 v176)
  (at r3 v177)
  (at r65 v178)
  (at r59 v179)
  (at r177 v180)
  (at r97 v181)
  (at r134 v182)
  )
 )
)