(define (problem multirobot_40_2_c9)
 (:domain multirobot)
 (:objects
  v0 r150
  v1 r131
  v2 r133
  v3 r166
  v4 r144
  v5 r33
  v6 r80
  v7 r130
  v8 r162
  v9 r61
  v10 r47
  v11 r7
  v12 r10
  v13 r55
  v14 r160
  v15 r48
  v16 r90
  v17 r52
  v18 r132
  v19 r79
  v20 r156
  v21 r120
  v22 r138
  v23 r4
  v24 r29
  v25 r124
  v26 r30
  v27 r140
  v28 r101
  v29 r58
  v30 r23
  v31 r54
  v32 r163
  v33 r106
  v34
  v35 r105
  v36 r37
  v37 r119
  v38 r108
  v39 r40
  v40 r62
  v41 r129
  v42 r65
  v43 r13
  v44 r83
  v45 r25
  v46 r91
  v47 r38
  v48 r82
  v49 r136
  v50 r112
  v51 r39
  v52 r56
  v53 r49
  v54 r104
  v55 r139
  v56 r75
  v57 r26
  v58 r88
  v59 r157
  v60 r60
  v61 r69
  v62 r73
  v63 r102
  v64 r115
  v65 r143
  v66 r97
  v67 r51
  v68 r154
  v69 r71
  v70 r53
  v71 r121
  v72 r84
  v73 r78
  v74 r67
  v75 r22
  v76 r64
  v77 r113
  v78 r12
  v79 r127
  v80 r89
  v81 r18
  v82 r145
  v83 r15
  v84 r117
  v85 r107
  v86 r35
  v87 r41
  v88 r66
  v89
  v90 r6
  v91 r2
  v92 r134
  v93 r165
  v94 r76
  v95 r123
  v96 r36
  v97 r167
  v98 r17
  v99 r16
  v100 r72
  v101 r11
  v102 r74
  v103 r159
  v104 r86
  v105 r5
  v106 r135
  v107 r70
  v108 r20
  v109 r111
  v110 r114
  v111 r161
  v112 r118
  v113 r43
  v114 r151
  v115 r125
  v116 r63
  v117 r42
  v118 r116
  v119 r57
  v120 r9
  v121 r155
  v122 r50
  v123 r8
  v124 r141
  v125 r14
  v126 r100
  v127 r68
  v128 r81
  v129 r142
  v130 r96
  v131 r45
  v132 r34
  v133 r147
  v134 r32
  v135 r46
  v136 r24
  v137 r19
  v138 r153
  v139 r158
  v140 r85
  v141 r92
  v142 r110
  v143 r31
  v144 r148
  v145 r164
  v146 r3
  v147 r77
  v148 r146
  v149 r98
  v150 r152
  v151 r109
  v152 r137
  v153 r128
  v154 r93
  v155 r59
  v156 r99
  v157 r87
  v158 r28
  v159 r126
  v160 r122
  v161 r27
  v162 r95
  v163 r103
  v164 r94
  v165 r21
  v166 r44
  v167 r149
 )
 (:init
  (at r150 v0)
  (at r131 v1)
  (at r133 v2)
  (at r166 v3)
  (at r144 v4)
  (at r33 v5)
  (at r80 v6)
  (at r130 v7)
  (at r162 v8)
  (at r61 v9)
  (at r47 v10)
  (at r7 v11)
  (at r10 v12)
  (at r55 v13)
  (at r160 v14)
  (at r48 v15)
  (at r90 v16)
  (at r52 v17)
  (at r132 v18)
  (at r79 v19)
  (at r156 v20)
  (at r120 v21)
  (at r138 v22)
  (at r4 v23)
  (at r29 v24)
  (at r124 v25)
  (at r30 v26)
  (at r140 v27)
  (at r101 v28)
  (at r58 v29)
  (at r23 v30)
  (at r54 v31)
  (at r163 v32)
  (at r106 v33)
  (free v34)
  (at r105 v35)
  (at r37 v36)
  (at r119 v37)
  (at r108 v38)
  (at r40 v39)
  (at r62 v40)
  (at r129 v41)
  (at r65 v42)
  (at r13 v43)
  (at r83 v44)
  (at r25 v45)
  (at r91 v46)
  (at r38 v47)
  (at r82 v48)
  (at r136 v49)
  (at r112 v50)
  (at r39 v51)
  (at r56 v52)
  (at r49 v53)
  (at r104 v54)
  (at r139 v55)
  (at r75 v56)
  (at r26 v57)
  (at r88 v58)
  (at r157 v59)
  (at r60 v60)
  (at r69 v61)
  (at r73 v62)
  (at r102 v63)
  (at r115 v64)
  (at r143 v65)
  (at r97 v66)
  (at r51 v67)
  (at r154 v68)
  (at r71 v69)
  (at r53 v70)
  (at r121 v71)
  (at r84 v72)
  (at r78 v73)
  (at r67 v74)
  (at r22 v75)
  (at r64 v76)
  (at r113 v77)
  (at r12 v78)
  (at r127 v79)
  (at r89 v80)
  (at r18 v81)
  (at r145 v82)
  (at r15 v83)
  (at r117 v84)
  (at r107 v85)
  (at r35 v86)
  (at r41 v87)
  (at r66 v88)
  (free v89)
  (at r6 v90)
  (at r2 v91)
  (at r134 v92)
  (at r165 v93)
  (at r76 v94)
  (at r123 v95)
  (at r36 v96)
  (at r167 v97)
  (at r17 v98)
  (at r16 v99)
  (at r72 v100)
  (at r11 v101)
  (at r74 v102)
  (at r159 v103)
  (at r86 v104)
  (at r5 v105)
  (at r135 v106)
  (at r70 v107)
  (at r20 v108)
  (at r111 v109)
  (at r114 v110)
  (at r161 v111)
  (at r118 v112)
  (at r43 v113)
  (at r151 v114)
  (at r125 v115)
  (at r63 v116)
  (at r42 v117)
  (at r116 v118)
  (at r57 v119)
  (at r9 v120)
  (at r155 v121)
  (at r50 v122)
  (at r8 v123)
  (at r141 v124)
  (at r14 v125)
  (at r100 v126)
  (at r68 v127)
  (at r81 v128)
  (at r142 v129)
  (at r96 v130)
  (at r45 v131)
  (at r34 v132)
  (at r147 v133)
  (at r32 v134)
  (at r46 v135)
  (at r24 v136)
  (at r19 v137)
  (at r153 v138)
  (at r158 v139)
  (at r85 v140)
  (at r92 v141)
  (at r110 v142)
  (at r31 v143)
  (at r148 v144)
  (at r164 v145)
  (at r3 v146)
  (at r77 v147)
  (at r146 v148)
  (at r98 v149)
  (at r152 v150)
  (at r109 v151)
  (at r137 v152)
  (at r128 v153)
  (at r93 v154)
  (at r59 v155)
  (at r99 v156)
  (at r87 v157)
  (at r28 v158)
  (at r126 v159)
  (at r122 v160)
  (at r27 v161)
  (at r95 v162)
  (at r103 v163)
  (at r94 v164)
  (at r21 v165)
  (at r44 v166)
  (at r149 v167)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v23)
  (adjacent v0 v29)
  (adjacent v0 v42)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v65)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v11)
  (adjacent v3 v4)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v86)
  (adjacent v7 v8)
  (adjacent v7 v167)
  (adjacent v8 v9)
  (adjacent v8 v13)
  (adjacent v8 v19)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v9 v133)
  (adjacent v10 v91)
  (adjacent v11 v12)
  (adjacent v11 v81)
  (adjacent v12 v36)
  (adjacent v13 v14)
  (adjacent v13 v116)
  (adjacent v14 v15)
  (adjacent v14 v82)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v41)
  (adjacent v17 v18)
  (adjacent v17 v28)
  (adjacent v17 v160)
  (adjacent v18 v24)
  (adjacent v19 v20)
  (adjacent v19 v35)
  (adjacent v19 v85)
  (adjacent v19 v166)
  (adjacent v20 v21)
  (adjacent v20 v53)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v71)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v153)
  (adjacent v27 v28)
  (adjacent v27 v102)
  (adjacent v27 v112)
  (adjacent v28 v41)
  (adjacent v28 v48)
  (adjacent v29 v30)
  (adjacent v29 v90)
  (adjacent v30 v31)
  (adjacent v30 v66)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v40)
  (adjacent v33 v82)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v36 v117)
  (adjacent v37 v38)
  (adjacent v37 v47)
  (adjacent v37 v125)
  (adjacent v38 v39)
  (adjacent v38 v98)
  (adjacent v38 v145)
  (adjacent v39 v40)
  (adjacent v40 v57)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v52)
  (adjacent v44 v45)
  (adjacent v44 v91)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v113)
  (adjacent v48 v49)
  (adjacent v48 v58)
  (adjacent v49 v50)
  (adjacent v49 v59)
  (adjacent v50 v51)
  (adjacent v50 v78)
  (adjacent v50 v79)
  (adjacent v50 v101)
  (adjacent v51 v52)
  (adjacent v51 v58)
  (adjacent v53 v54)
  (adjacent v53 v92)
  (adjacent v54 v55)
  (adjacent v54 v96)
  (adjacent v55 v56)
  (adjacent v55 v106)
  (adjacent v55 v128)
  (adjacent v55 v138)
  (adjacent v56 v57)
  (adjacent v56 v146)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v167)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v66 v83)
  (adjacent v67 v68)
  (adjacent v67 v72)
  (adjacent v67 v127)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v137)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v72 v112)
  (adjacent v72 v139)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v111)
  (adjacent v75 v76)
  (adjacent v75 v152)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v118)
  (adjacent v82 v105)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v132)
  (adjacent v90 v95)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v97)
  (adjacent v96 v97)
  (adjacent v97 v124)
  (adjacent v97 v159)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v117)
  (adjacent v103 v161)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v160)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v136)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v139 v165)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v162 v166)
  (adjacent v163 v164)
  (adjacent v164 v165)
 )
 (:goal
  (and
  (at r43 v0)
  (at r91 v1)
  (at r143 v2)
  (at r66 v3)
  (at r54 v4)
  (at r17 v5)
  (at r104 v6)
  (at r78 v7)
  (at r9 v8)
  (at r35 v9)
  (at r150 v10)
  (at r62 v11)
  (at r100 v12)
  (at r134 v13)
  (at r147 v14)
  (at r23 v15)
  (at r148 v16)
  (at r71 v17)
  (at r72 v18)
  (at r44 v19)
  (at r47 v20)
  (at r7 v21)
  (at r76 v22)
  (at r131 v23)
  (at r77 v24)
  (at r14 v25)
  (at r39 v26)
  (at r109 v27)
  (at r55 v28)
  (at r60 v29)
  (at r57 v30)
  (at r149 v31)
  (at r107 v32)
  (at r105 v33)
  (at r63 v34)
  (at r138 v35)
  (at r8 v36)
  (at r133 v37)
  (at r5 v38)
  (at r156 v39)
  (at r48 v40)
  (at r116 v41)
  (at r45 v42)
  (at r115 v43)
  (at r166 v44)
  (at r30 v45)
  (at r130 v46)
  (at r158 v47)
  (at r137 v48)
  (at r132 v49)
  (at r112 v50)
  (free v51)
  (at r120 v52)
  (at r96 v53)
  (at r38 v54)
  (at r136 v55)
  (at r87 v56)
  (at r64 v57)
  (at r4 v58)
  (at r89 v59)
  (at r102 v60)
  (at r83 v61)
  (at r122 v62)
  (at r144 v63)
  (at r118 v64)
  (at r139 v65)
  (at r95 v66)
  (at r98 v67)
  (at r146 v68)
  (at r108 v69)
  (at r19 v70)
  (at r94 v71)
  (at r155 v72)
  (at r25 v73)
  (at r73 v74)
  (at r15 v75)
  (at r80 v76)
  (at r75 v77)
  (at r124 v78)
  (at r34 v79)
  (at r142 v80)
  (at r154 v81)
  (at r129 v82)
  (at r164 v83)
  (at r93 v84)
  (at r157 v85)
  (at r37 v86)
  (at r97 v87)
  (at r24 v88)
  (at r56 v89)
  (at r61 v90)
  (at r135 v91)
  (at r27 v92)
  (at r22 v93)
  (at r88 v94)
  (at r114 v95)
  (at r65 v96)
  (at r3 v97)
  (at r52 v98)
  (at r59 v99)
  (at r117 v100)
  (at r110 v101)
  (at r10 v102)
  (at r68 v103)
  (at r69 v104)
  (at r58 v105)
  (at r125 v106)
  (at r20 v107)
  (at r121 v108)
  (at r126 v109)
  (at r167 v110)
  (at r70 v111)
  (at r16 v112)
  (at r86 v113)
  (at r12 v114)
  (at r40 v115)
  (at r32 v116)
  (at r36 v117)
  (at r90 v118)
  (at r33 v119)
  (at r79 v120)
  (at r51 v121)
  (at r46 v122)
  (at r141 v123)
  (at r113 v124)
  (at r153 v125)
  (free v126)
  (at r67 v127)
  (at r18 v128)
  (at r29 v129)
  (at r162 v130)
  (at r41 v131)
  (at r140 v132)
  (at r128 v133)
  (at r82 v134)
  (at r127 v135)
  (at r159 v136)
  (at r119 v137)
  (at r85 v138)
  (at r2 v139)
  (at r81 v140)
  (at r145 v141)
  (at r151 v142)
  (at r50 v143)
  (at r49 v144)
  (at r160 v145)
  (at r99 v146)
  (at r84 v147)
  (at r103 v148)
  (at r31 v149)
  (at r163 v150)
  (at r101 v151)
  (at r26 v152)
  (at r161 v153)
  (at r53 v154)
  (at r6 v155)
  (at r21 v156)
  (at r152 v157)
  (at r165 v158)
  (at r123 v159)
  (at r106 v160)
  (at r111 v161)
  (at r28 v162)
  (at r74 v163)
  (at r11 v164)
  (at r42 v165)
  (at r92 v166)
  (at r13 v167)
  )
 )
)