(define (problem multirobot_41_2_c1)
 (:domain multirobot)
 (:objects
  v0 r139
  v1 r17
  v2 r54
  v3 r100
  v4 r105
  v5 r41
  v6 r5
  v7 r82
  v8 r77
  v9 r116
  v10 r128
  v11 r36
  v12 r95
  v13 r56
  v14 r38
  v15 r151
  v16 r126
  v17 r28
  v18 r25
  v19 r123
  v20 r101
  v21 r35
  v22 r31
  v23 r6
  v24 r2
  v25 r143
  v26 r66
  v27 r68
  v28 r43
  v29 r58
  v30 r89
  v31 r142
  v32 r20
  v33 r24
  v34 r45
  v35 r30
  v36 r59
  v37 r3
  v38 r21
  v39 r73
  v40 r112
  v41 r79
  v42 r72
  v43 r70
  v44 r53
  v45 r133
  v46 r121
  v47 r152
  v48 r102
  v49 r9
  v50 r16
  v51 r96
  v52 r84
  v53 r140
  v54 r71
  v55 r141
  v56 r125
  v57 r50
  v58 r107
  v59 r34
  v60 r150
  v61 r130
  v62 r120
  v63 r137
  v64 r67
  v65 r78
  v66 r32
  v67 r22
  v68 r148
  v69 r147
  v70 r93
  v71 r48
  v72 r136
  v73 r127
  v74 r61
  v75 r69
  v76 r26
  v77 r117
  v78 r114
  v79 r18
  v80 r99
  v81 r19
  v82 r113
  v83 r83
  v84 r87
  v85 r144
  v86 r39
  v87 r135
  v88 r42
  v89 r111
  v90 r109
  v91 r12
  v92 r134
  v93 r104
  v94 r98
  v95 r92
  v96 r7
  v97 r153
  v98
  v99 r74
  v100 r129
  v101 r122
  v102 r88
  v103 r57
  v104 r80
  v105 r65
  v106 r119
  v107 r110
  v108 r62
  v109 r75
  v110 r124
  v111 r81
  v112 r13
  v113 r131
  v114 r94
  v115 r145
  v116 r132
  v117 r154
  v118 r103
  v119 r11
  v120 r51
  v121 r138
  v122 r55
  v123 r4
  v124 r8
  v125 r115
  v126 r91
  v127 r37
  v128 r46
  v129 r106
  v130 r146
  v131 r86
  v132 r23
  v133 r90
  v134 r29
  v135 r108
  v136 r27
  v137 r44
  v138 r97
  v139 r118
  v140 r10
  v141 r85
  v142 r49
  v143 r63
  v144 r47
  v145 r64
  v146 r33
  v147 r76
  v148 r60
  v149 r15
  v150 r149
  v151 r52
  v152 r14
  v153
  v154 r40
 )
 (:init
  (at r139 v0)
  (at r17 v1)
  (at r54 v2)
  (at r100 v3)
  (at r105 v4)
  (at r41 v5)
  (at r5 v6)
  (at r82 v7)
  (at r77 v8)
  (at r116 v9)
  (at r128 v10)
  (at r36 v11)
  (at r95 v12)
  (at r56 v13)
  (at r38 v14)
  (at r151 v15)
  (at r126 v16)
  (at r28 v17)
  (at r25 v18)
  (at r123 v19)
  (at r101 v20)
  (at r35 v21)
  (at r31 v22)
  (at r6 v23)
  (at r2 v24)
  (at r143 v25)
  (at r66 v26)
  (at r68 v27)
  (at r43 v28)
  (at r58 v29)
  (at r89 v30)
  (at r142 v31)
  (at r20 v32)
  (at r24 v33)
  (at r45 v34)
  (at r30 v35)
  (at r59 v36)
  (at r3 v37)
  (at r21 v38)
  (at r73 v39)
  (at r112 v40)
  (at r79 v41)
  (at r72 v42)
  (at r70 v43)
  (at r53 v44)
  (at r133 v45)
  (at r121 v46)
  (at r152 v47)
  (at r102 v48)
  (at r9 v49)
  (at r16 v50)
  (at r96 v51)
  (at r84 v52)
  (at r140 v53)
  (at r71 v54)
  (at r141 v55)
  (at r125 v56)
  (at r50 v57)
  (at r107 v58)
  (at r34 v59)
  (at r150 v60)
  (at r130 v61)
  (at r120 v62)
  (at r137 v63)
  (at r67 v64)
  (at r78 v65)
  (at r32 v66)
  (at r22 v67)
  (at r148 v68)
  (at r147 v69)
  (at r93 v70)
  (at r48 v71)
  (at r136 v72)
  (at r127 v73)
  (at r61 v74)
  (at r69 v75)
  (at r26 v76)
  (at r117 v77)
  (at r114 v78)
  (at r18 v79)
  (at r99 v80)
  (at r19 v81)
  (at r113 v82)
  (at r83 v83)
  (at r87 v84)
  (at r144 v85)
  (at r39 v86)
  (at r135 v87)
  (at r42 v88)
  (at r111 v89)
  (at r109 v90)
  (at r12 v91)
  (at r134 v92)
  (at r104 v93)
  (at r98 v94)
  (at r92 v95)
  (at r7 v96)
  (at r153 v97)
  (free v98)
  (at r74 v99)
  (at r129 v100)
  (at r122 v101)
  (at r88 v102)
  (at r57 v103)
  (at r80 v104)
  (at r65 v105)
  (at r119 v106)
  (at r110 v107)
  (at r62 v108)
  (at r75 v109)
  (at r124 v110)
  (at r81 v111)
  (at r13 v112)
  (at r131 v113)
  (at r94 v114)
  (at r145 v115)
  (at r132 v116)
  (at r154 v117)
  (at r103 v118)
  (at r11 v119)
  (at r51 v120)
  (at r138 v121)
  (at r55 v122)
  (at r4 v123)
  (at r8 v124)
  (at r115 v125)
  (at r91 v126)
  (at r37 v127)
  (at r46 v128)
  (at r106 v129)
  (at r146 v130)
  (at r86 v131)
  (at r23 v132)
  (at r90 v133)
  (at r29 v134)
  (at r108 v135)
  (at r27 v136)
  (at r44 v137)
  (at r97 v138)
  (at r118 v139)
  (at r10 v140)
  (at r85 v141)
  (at r49 v142)
  (at r63 v143)
  (at r47 v144)
  (at r64 v145)
  (at r33 v146)
  (at r76 v147)
  (at r60 v148)
  (at r15 v149)
  (at r149 v150)
  (at r52 v151)
  (at r14 v152)
  (free v153)
  (at r40 v154)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v34)
  (adjacent v0 v154)
  (adjacent v1 v2)
  (adjacent v1 v69)
  (adjacent v1 v106)
  (adjacent v1 v125)
  (adjacent v1 v145)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v117)
  (adjacent v4 v5)
  (adjacent v4 v18)
  (adjacent v4 v27)
  (adjacent v4 v44)
  (adjacent v4 v112)
  (adjacent v5 v6)
  (adjacent v5 v24)
  (adjacent v5 v55)
  (adjacent v6 v7)
  (adjacent v6 v34)
  (adjacent v6 v35)
  (adjacent v7 v8)
  (adjacent v7 v18)
  (adjacent v7 v25)
  (adjacent v7 v37)
  (adjacent v8 v9)
  (adjacent v8 v81)
  (adjacent v8 v107)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v9 v17)
  (adjacent v9 v56)
  (adjacent v10 v14)
  (adjacent v10 v15)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v11 v75)
  (adjacent v12 v13)
  (adjacent v12 v101)
  (adjacent v13 v14)
  (adjacent v13 v44)
  (adjacent v13 v139)
  (adjacent v13 v144)
  (adjacent v14 v111)
  (adjacent v15 v16)
  (adjacent v15 v94)
  (adjacent v16 v17)
  (adjacent v16 v148)
  (adjacent v17 v43)
  (adjacent v17 v47)
  (adjacent v18 v25)
  (adjacent v18 v45)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v33)
  (adjacent v21 v22)
  (adjacent v21 v53)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v26)
  (adjacent v23 v36)
  (adjacent v23 v57)
  (adjacent v24 v26)
  (adjacent v24 v84)
  (adjacent v25 v74)
  (adjacent v26 v70)
  (adjacent v27 v28)
  (adjacent v27 v61)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v93)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v52)
  (adjacent v43 v96)
  (adjacent v44 v56)
  (adjacent v45 v46)
  (adjacent v45 v48)
  (adjacent v46 v47)
  (adjacent v46 v77)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v100)
  (adjacent v50 v51)
  (adjacent v50 v91)
  (adjacent v50 v119)
  (adjacent v51 v52)
  (adjacent v52 v83)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v62)
  (adjacent v54 v64)
  (adjacent v57 v58)
  (adjacent v57 v120)
  (adjacent v58 v59)
  (adjacent v58 v63)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v78)
  (adjacent v70 v106)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v138)
  (adjacent v73 v74)
  (adjacent v73 v80)
  (adjacent v73 v97)
  (adjacent v74 v124)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v78 v132)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v89)
  (adjacent v83 v90)
  (adjacent v84 v85)
  (adjacent v84 v118)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v119)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v118)
  (adjacent v100 v105)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v144)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v131)
  (adjacent v124 v143)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v132 v147)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (at r64 v0)
  (at r40 v1)
  (at r130 v2)
  (at r60 v3)
  (at r86 v4)
  (at r8 v5)
  (at r43 v6)
  (at r11 v7)
  (at r141 v8)
  (at r136 v9)
  (at r6 v10)
  (at r108 v11)
  (free v12)
  (at r84 v13)
  (at r99 v14)
  (at r48 v15)
  (at r118 v16)
  (at r33 v17)
  (at r25 v18)
  (at r31 v19)
  (at r106 v20)
  (at r145 v21)
  (at r125 v22)
  (at r67 v23)
  (at r147 v24)
  (at r79 v25)
  (at r126 v26)
  (at r56 v27)
  (at r19 v28)
  (at r52 v29)
  (at r30 v30)
  (at r81 v31)
  (at r44 v32)
  (at r111 v33)
  (at r4 v34)
  (at r95 v35)
  (at r109 v36)
  (at r29 v37)
  (at r69 v38)
  (at r46 v39)
  (at r131 v40)
  (at r140 v41)
  (at r121 v42)
  (at r94 v43)
  (at r102 v44)
  (at r134 v45)
  (free v46)
  (at r14 v47)
  (at r115 v48)
  (at r90 v49)
  (at r59 v50)
  (at r138 v51)
  (at r73 v52)
  (at r101 v53)
  (at r152 v54)
  (at r21 v55)
  (at r22 v56)
  (at r85 v57)
  (at r150 v58)
  (at r28 v59)
  (at r105 v60)
  (at r124 v61)
  (at r132 v62)
  (at r148 v63)
  (at r72 v64)
  (at r123 v65)
  (at r16 v66)
  (at r151 v67)
  (at r117 v68)
  (at r35 v69)
  (at r66 v70)
  (at r142 v71)
  (at r153 v72)
  (at r78 v73)
  (at r49 v74)
  (at r144 v75)
  (at r88 v76)
  (at r91 v77)
  (at r127 v78)
  (at r45 v79)
  (at r36 v80)
  (at r114 v81)
  (at r103 v82)
  (at r7 v83)
  (at r80 v84)
  (at r32 v85)
  (at r54 v86)
  (at r87 v87)
  (at r47 v88)
  (at r71 v89)
  (at r104 v90)
  (at r89 v91)
  (at r63 v92)
  (at r51 v93)
  (at r37 v94)
  (at r110 v95)
  (at r23 v96)
  (at r143 v97)
  (at r97 v98)
  (at r77 v99)
  (at r92 v100)
  (at r139 v101)
  (at r75 v102)
  (at r55 v103)
  (at r82 v104)
  (at r83 v105)
  (at r146 v106)
  (at r3 v107)
  (at r65 v108)
  (at r61 v109)
  (at r58 v110)
  (at r50 v111)
  (at r27 v112)
  (at r93 v113)
  (at r68 v114)
  (at r119 v115)
  (at r5 v116)
  (at r62 v117)
  (at r57 v118)
  (at r154 v119)
  (at r38 v120)
  (at r24 v121)
  (at r135 v122)
  (at r20 v123)
  (at r70 v124)
  (at r26 v125)
  (at r128 v126)
  (at r113 v127)
  (at r129 v128)
  (at r13 v129)
  (at r17 v130)
  (at r120 v131)
  (at r18 v132)
  (at r53 v133)
  (at r107 v134)
  (at r76 v135)
  (at r9 v136)
  (at r12 v137)
  (at r122 v138)
  (at r100 v139)
  (at r42 v140)
  (at r133 v141)
  (at r15 v142)
  (at r149 v143)
  (at r39 v144)
  (at r98 v145)
  (at r112 v146)
  (at r34 v147)
  (at r74 v148)
  (at r2 v149)
  (at r10 v150)
  (at r41 v151)
  (at r96 v152)
  (at r116 v153)
  (at r137 v154)
  )
 )
)