(define (problem multirobot_41_2_c0)
 (:domain multirobot)
 (:objects
  v0 r30
  v1 r8
  v2 r153
  v3 r112
  v4 r67
  v5 r160
  v6 r53
  v7 r154
  v8 r108
  v9 r39
  v10 r151
  v11 r148
  v12 r140
  v13 r22
  v14 r159
  v15 r149
  v16 r86
  v17 r66
  v18 r42
  v19 r27
  v20 r135
  v21 r94
  v22 r59
  v23 r24
  v24 r19
  v25 r143
  v26 r139
  v27 r92
  v28 r91
  v29 r131
  v30 r36
  v31 r57
  v32
  v33 r37
  v34 r13
  v35 r65
  v36 r152
  v37 r97
  v38 r10
  v39 r14
  v40 r105
  v41 r99
  v42 r70
  v43 r87
  v44 r116
  v45 r110
  v46 r63
  v47 r132
  v48 r15
  v49 r74
  v50 r107
  v51 r90
  v52 r11
  v53 r85
  v54 r5
  v55 r142
  v56 r44
  v57 r121
  v58 r156
  v59 r72
  v60 r157
  v61 r109
  v62 r12
  v63 r61
  v64 r9
  v65 r40
  v66 r155
  v67 r145
  v68 r124
  v69 r127
  v70 r2
  v71 r17
  v72 r28
  v73 r38
  v74 r62
  v75 r79
  v76 r29
  v77 r138
  v78 r113
  v79 r78
  v80 r122
  v81 r129
  v82 r117
  v83 r101
  v84
  v85 r4
  v86 r43
  v87 r75
  v88 r23
  v89 r130
  v90 r7
  v91 r126
  v92 r55
  v93 r34
  v94 r50
  v95 r46
  v96 r68
  v97 r84
  v98 r89
  v99 r118
  v100 r137
  v101 r115
  v102 r48
  v103 r93
  v104 r81
  v105 r77
  v106 r33
  v107 r88
  v108 r35
  v109 r18
  v110 r123
  v111 r3
  v112 r134
  v113 r146
  v114 r41
  v115 r20
  v116 r106
  v117 r25
  v118 r125
  v119 r100
  v120 r6
  v121 r98
  v122 r52
  v123 r120
  v124 r141
  v125 r96
  v126 r103
  v127 r32
  v128 r73
  v129 r95
  v130 r60
  v131 r80
  v132 r54
  v133 r49
  v134 r76
  v135 r150
  v136 r21
  v137 r31
  v138 r111
  v139 r16
  v140 r102
  v141 r51
  v142 r114
  v143 r144
  v144 r71
  v145 r128
  v146 r83
  v147 r133
  v148 r58
  v149 r119
  v150 r47
  v151 r147
  v152 r82
  v153 r45
  v154 r158
  v155 r26
  v156 r104
  v157 r56
  v158 r136
  v159 r64
  v160 r69
 )
 (:init
  (at r30 v0)
  (at r8 v1)
  (at r153 v2)
  (at r112 v3)
  (at r67 v4)
  (at r160 v5)
  (at r53 v6)
  (at r154 v7)
  (at r108 v8)
  (at r39 v9)
  (at r151 v10)
  (at r148 v11)
  (at r140 v12)
  (at r22 v13)
  (at r159 v14)
  (at r149 v15)
  (at r86 v16)
  (at r66 v17)
  (at r42 v18)
  (at r27 v19)
  (at r135 v20)
  (at r94 v21)
  (at r59 v22)
  (at r24 v23)
  (at r19 v24)
  (at r143 v25)
  (at r139 v26)
  (at r92 v27)
  (at r91 v28)
  (at r131 v29)
  (at r36 v30)
  (at r57 v31)
  (free v32)
  (at r37 v33)
  (at r13 v34)
  (at r65 v35)
  (at r152 v36)
  (at r97 v37)
  (at r10 v38)
  (at r14 v39)
  (at r105 v40)
  (at r99 v41)
  (at r70 v42)
  (at r87 v43)
  (at r116 v44)
  (at r110 v45)
  (at r63 v46)
  (at r132 v47)
  (at r15 v48)
  (at r74 v49)
  (at r107 v50)
  (at r90 v51)
  (at r11 v52)
  (at r85 v53)
  (at r5 v54)
  (at r142 v55)
  (at r44 v56)
  (at r121 v57)
  (at r156 v58)
  (at r72 v59)
  (at r157 v60)
  (at r109 v61)
  (at r12 v62)
  (at r61 v63)
  (at r9 v64)
  (at r40 v65)
  (at r155 v66)
  (at r145 v67)
  (at r124 v68)
  (at r127 v69)
  (at r2 v70)
  (at r17 v71)
  (at r28 v72)
  (at r38 v73)
  (at r62 v74)
  (at r79 v75)
  (at r29 v76)
  (at r138 v77)
  (at r113 v78)
  (at r78 v79)
  (at r122 v80)
  (at r129 v81)
  (at r117 v82)
  (at r101 v83)
  (free v84)
  (at r4 v85)
  (at r43 v86)
  (at r75 v87)
  (at r23 v88)
  (at r130 v89)
  (at r7 v90)
  (at r126 v91)
  (at r55 v92)
  (at r34 v93)
  (at r50 v94)
  (at r46 v95)
  (at r68 v96)
  (at r84 v97)
  (at r89 v98)
  (at r118 v99)
  (at r137 v100)
  (at r115 v101)
  (at r48 v102)
  (at r93 v103)
  (at r81 v104)
  (at r77 v105)
  (at r33 v106)
  (at r88 v107)
  (at r35 v108)
  (at r18 v109)
  (at r123 v110)
  (at r3 v111)
  (at r134 v112)
  (at r146 v113)
  (at r41 v114)
  (at r20 v115)
  (at r106 v116)
  (at r25 v117)
  (at r125 v118)
  (at r100 v119)
  (at r6 v120)
  (at r98 v121)
  (at r52 v122)
  (at r120 v123)
  (at r141 v124)
  (at r96 v125)
  (at r103 v126)
  (at r32 v127)
  (at r73 v128)
  (at r95 v129)
  (at r60 v130)
  (at r80 v131)
  (at r54 v132)
  (at r49 v133)
  (at r76 v134)
  (at r150 v135)
  (at r21 v136)
  (at r31 v137)
  (at r111 v138)
  (at r16 v139)
  (at r102 v140)
  (at r51 v141)
  (at r114 v142)
  (at r144 v143)
  (at r71 v144)
  (at r128 v145)
  (at r83 v146)
  (at r133 v147)
  (at r58 v148)
  (at r119 v149)
  (at r47 v150)
  (at r147 v151)
  (at r82 v152)
  (at r45 v153)
  (at r158 v154)
  (at r26 v155)
  (at r104 v156)
  (at r56 v157)
  (at r136 v158)
  (at r64 v159)
  (at r69 v160)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v22)
  (adjacent v0 v55)
  (adjacent v0 v116)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v17)
  (adjacent v1 v54)
  (adjacent v1 v72)
  (adjacent v1 v122)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v160)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v99)
  (adjacent v4 v5)
  (adjacent v4 v31)
  (adjacent v4 v49)
  (adjacent v5 v6)
  (adjacent v5 v145)
  (adjacent v6 v7)
  (adjacent v6 v18)
  (adjacent v6 v32)
  (adjacent v6 v33)
  (adjacent v6 v50)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v48)
  (adjacent v9 v57)
  (adjacent v10 v11)
  (adjacent v10 v43)
  (adjacent v11 v12)
  (adjacent v11 v28)
  (adjacent v12 v56)
  (adjacent v13 v14)
  (adjacent v13 v40)
  (adjacent v13 v110)
  (adjacent v14 v15)
  (adjacent v14 v53)
  (adjacent v15 v16)
  (adjacent v15 v72)
  (adjacent v15 v85)
  (adjacent v15 v126)
  (adjacent v15 v148)
  (adjacent v16 v17)
  (adjacent v16 v71)
  (adjacent v17 v23)
  (adjacent v18 v19)
  (adjacent v18 v39)
  (adjacent v18 v146)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v49)
  (adjacent v21 v22)
  (adjacent v22 v26)
  (adjacent v22 v27)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v24 v25)
  (adjacent v24 v30)
  (adjacent v24 v78)
  (adjacent v24 v98)
  (adjacent v25 v26)
  (adjacent v28 v29)
  (adjacent v28 v62)
  (adjacent v29 v30)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v137)
  (adjacent v35 v36)
  (adjacent v35 v154)
  (adjacent v36 v37)
  (adjacent v36 v63)
  (adjacent v37 v38)
  (adjacent v37 v56)
  (adjacent v38 v39)
  (adjacent v38 v42)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v95)
  (adjacent v41 v130)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v148)
  (adjacent v46 v47)
  (adjacent v46 v91)
  (adjacent v47 v48)
  (adjacent v47 v66)
  (adjacent v48 v147)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v109)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v86)
  (adjacent v57 v58)
  (adjacent v57 v117)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v65)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v121)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v73)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v79)
  (adjacent v78 v96)
  (adjacent v78 v105)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v92)
  (adjacent v86 v143)
  (adjacent v87 v88)
  (adjacent v87 v106)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v92 v113)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v134)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v112)
  (adjacent v99 v100)
  (adjacent v99 v125)
  (adjacent v99 v153)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v106 v133)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v142)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v131)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v154)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v144)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v145)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v138)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v143 v155)
  (adjacent v146 v147)
  (adjacent v147 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
 )
 (:goal
  (and
  (at r57 v0)
  (at r27 v1)
  (at r60 v2)
  (free v3)
  (at r93 v4)
  (at r119 v5)
  (at r32 v6)
  (at r50 v7)
  (at r157 v8)
  (at r47 v9)
  (at r80 v10)
  (at r136 v11)
  (at r29 v12)
  (at r28 v13)
  (at r142 v14)
  (at r18 v15)
  (at r79 v16)
  (at r146 v17)
  (at r54 v18)
  (at r43 v19)
  (at r138 v20)
  (at r65 v21)
  (at r88 v22)
  (at r52 v23)
  (at r21 v24)
  (at r139 v25)
  (at r114 v26)
  (at r151 v27)
  (at r2 v28)
  (at r70 v29)
  (at r41 v30)
  (at r55 v31)
  (at r19 v32)
  (at r68 v33)
  (at r147 v34)
  (at r3 v35)
  (at r42 v36)
  (at r78 v37)
  (at r140 v38)
  (at r144 v39)
  (at r153 v40)
  (at r51 v41)
  (at r82 v42)
  (at r92 v43)
  (at r33 v44)
  (at r152 v45)
  (at r81 v46)
  (at r85 v47)
  (at r134 v48)
  (at r35 v49)
  (at r112 v50)
  (at r39 v51)
  (at r120 v52)
  (at r145 v53)
  (at r30 v54)
  (at r111 v55)
  (at r11 v56)
  (at r121 v57)
  (at r135 v58)
  (at r38 v59)
  (at r86 v60)
  (at r96 v61)
  (at r67 v62)
  (at r26 v63)
  (at r94 v64)
  (at r10 v65)
  (at r61 v66)
  (at r89 v67)
  (at r100 v68)
  (at r137 v69)
  (at r63 v70)
  (at r133 v71)
  (at r34 v72)
  (at r87 v73)
  (at r6 v74)
  (at r105 v75)
  (at r20 v76)
  (at r75 v77)
  (at r125 v78)
  (at r104 v79)
  (at r71 v80)
  (at r159 v81)
  (at r25 v82)
  (at r97 v83)
  (at r113 v84)
  (at r16 v85)
  (at r23 v86)
  (at r102 v87)
  (at r49 v88)
  (at r62 v89)
  (at r46 v90)
  (at r101 v91)
  (at r143 v92)
  (at r129 v93)
  (at r22 v94)
  (at r130 v95)
  (at r53 v96)
  (at r160 v97)
  (at r99 v98)
  (at r45 v99)
  (at r103 v100)
  (at r90 v101)
  (at r106 v102)
  (at r36 v103)
  (at r48 v104)
  (at r12 v105)
  (at r73 v106)
  (at r128 v107)
  (at r91 v108)
  (at r5 v109)
  (at r124 v110)
  (at r107 v111)
  (at r149 v112)
  (at r13 v113)
  (at r72 v114)
  (at r127 v115)
  (at r83 v116)
  (at r59 v117)
  (at r66 v118)
  (at r132 v119)
  (at r40 v120)
  (at r156 v121)
  (at r17 v122)
  (at r98 v123)
  (at r115 v124)
  (at r76 v125)
  (at r4 v126)
  (at r148 v127)
  (at r84 v128)
  (at r155 v129)
  (at r31 v130)
  (at r37 v131)
  (at r110 v132)
  (at r122 v133)
  (at r131 v134)
  (at r126 v135)
  (at r108 v136)
  (at r141 v137)
  (at r14 v138)
  (at r64 v139)
  (at r69 v140)
  (at r24 v141)
  (free v142)
  (at r15 v143)
  (at r150 v144)
  (at r44 v145)
  (at r118 v146)
  (at r116 v147)
  (at r95 v148)
  (at r123 v149)
  (at r117 v150)
  (at r7 v151)
  (at r158 v152)
  (at r56 v153)
  (at r109 v154)
  (at r74 v155)
  (at r58 v156)
  (at r9 v157)
  (at r8 v158)
  (at r77 v159)
  (at r154 v160)
  )
 )
)