(define (problem multirobot_41_2_c2)
 (:domain multirobot)
 (:objects
  v0 r149
  v1 r91
  v2 r136
  v3 r144
  v4 r46
  v5 r63
  v6 r95
  v7 r80
  v8 r65
  v9 r15
  v10 r22
  v11 r146
  v12 r127
  v13 r75
  v14 r74
  v15 r18
  v16 r57
  v17 r139
  v18 r106
  v19 r102
  v20 r59
  v21 r124
  v22 r119
  v23 r97
  v24 r116
  v25 r140
  v26 r137
  v27 r155
  v28 r84
  v29 r165
  v30 r78
  v31 r157
  v32 r42
  v33 r58
  v34 r2
  v35 r121
  v36 r49
  v37 r93
  v38 r115
  v39 r135
  v40 r40
  v41 r148
  v42 r29
  v43 r9
  v44 r131
  v45 r3
  v46 r128
  v47 r110
  v48 r163
  v49 r147
  v50 r32
  v51 r125
  v52 r152
  v53 r69
  v54 r112
  v55 r73
  v56 r48
  v57 r105
  v58 r94
  v59 r109
  v60 r85
  v61 r20
  v62 r62
  v63 r98
  v64 r150
  v65 r133
  v66 r11
  v67 r134
  v68 r126
  v69 r141
  v70 r21
  v71 r104
  v72 r92
  v73 r56
  v74 r13
  v75 r154
  v76 r108
  v77 r4
  v78 r107
  v79 r7
  v80 r130
  v81 r61
  v82 r28
  v83 r30
  v84 r27
  v85 r156
  v86 r129
  v87 r47
  v88 r100
  v89 r55
  v90 r153
  v91 r96
  v92 r77
  v93 r82
  v94 r54
  v95 r160
  v96 r17
  v97
  v98 r10
  v99 r19
  v100 r38
  v101 r145
  v102 r31
  v103 r37
  v104 r101
  v105 r43
  v106 r166
  v107 r120
  v108 r24
  v109 r89
  v110 r41
  v111 r72
  v112 r76
  v113 r118
  v114 r39
  v115 r132
  v116 r81
  v117 r26
  v118 r114
  v119 r151
  v120 r44
  v121 r66
  v122 r103
  v123 r164
  v124 r68
  v125
  v126 r6
  v127 r88
  v128 r35
  v129 r14
  v130 r122
  v131 r60
  v132 r90
  v133 r8
  v134 r142
  v135 r33
  v136 r86
  v137 r36
  v138 r50
  v139 r87
  v140 r71
  v141 r5
  v142 r25
  v143 r70
  v144 r117
  v145 r143
  v146 r161
  v147 r123
  v148 r111
  v149 r12
  v150 r23
  v151 r158
  v152 r45
  v153 r162
  v154 r159
  v155 r16
  v156 r113
  v157 r52
  v158 r138
  v159 r34
  v160 r51
  v161 r67
  v162 r64
  v163 r53
  v164 r79
  v165 r99
  v166 r83
 )
 (:init
  (at r149 v0)
  (at r91 v1)
  (at r136 v2)
  (at r144 v3)
  (at r46 v4)
  (at r63 v5)
  (at r95 v6)
  (at r80 v7)
  (at r65 v8)
  (at r15 v9)
  (at r22 v10)
  (at r146 v11)
  (at r127 v12)
  (at r75 v13)
  (at r74 v14)
  (at r18 v15)
  (at r57 v16)
  (at r139 v17)
  (at r106 v18)
  (at r102 v19)
  (at r59 v20)
  (at r124 v21)
  (at r119 v22)
  (at r97 v23)
  (at r116 v24)
  (at r140 v25)
  (at r137 v26)
  (at r155 v27)
  (at r84 v28)
  (at r165 v29)
  (at r78 v30)
  (at r157 v31)
  (at r42 v32)
  (at r58 v33)
  (at r2 v34)
  (at r121 v35)
  (at r49 v36)
  (at r93 v37)
  (at r115 v38)
  (at r135 v39)
  (at r40 v40)
  (at r148 v41)
  (at r29 v42)
  (at r9 v43)
  (at r131 v44)
  (at r3 v45)
  (at r128 v46)
  (at r110 v47)
  (at r163 v48)
  (at r147 v49)
  (at r32 v50)
  (at r125 v51)
  (at r152 v52)
  (at r69 v53)
  (at r112 v54)
  (at r73 v55)
  (at r48 v56)
  (at r105 v57)
  (at r94 v58)
  (at r109 v59)
  (at r85 v60)
  (at r20 v61)
  (at r62 v62)
  (at r98 v63)
  (at r150 v64)
  (at r133 v65)
  (at r11 v66)
  (at r134 v67)
  (at r126 v68)
  (at r141 v69)
  (at r21 v70)
  (at r104 v71)
  (at r92 v72)
  (at r56 v73)
  (at r13 v74)
  (at r154 v75)
  (at r108 v76)
  (at r4 v77)
  (at r107 v78)
  (at r7 v79)
  (at r130 v80)
  (at r61 v81)
  (at r28 v82)
  (at r30 v83)
  (at r27 v84)
  (at r156 v85)
  (at r129 v86)
  (at r47 v87)
  (at r100 v88)
  (at r55 v89)
  (at r153 v90)
  (at r96 v91)
  (at r77 v92)
  (at r82 v93)
  (at r54 v94)
  (at r160 v95)
  (at r17 v96)
  (free v97)
  (at r10 v98)
  (at r19 v99)
  (at r38 v100)
  (at r145 v101)
  (at r31 v102)
  (at r37 v103)
  (at r101 v104)
  (at r43 v105)
  (at r166 v106)
  (at r120 v107)
  (at r24 v108)
  (at r89 v109)
  (at r41 v110)
  (at r72 v111)
  (at r76 v112)
  (at r118 v113)
  (at r39 v114)
  (at r132 v115)
  (at r81 v116)
  (at r26 v117)
  (at r114 v118)
  (at r151 v119)
  (at r44 v120)
  (at r66 v121)
  (at r103 v122)
  (at r164 v123)
  (at r68 v124)
  (free v125)
  (at r6 v126)
  (at r88 v127)
  (at r35 v128)
  (at r14 v129)
  (at r122 v130)
  (at r60 v131)
  (at r90 v132)
  (at r8 v133)
  (at r142 v134)
  (at r33 v135)
  (at r86 v136)
  (at r36 v137)
  (at r50 v138)
  (at r87 v139)
  (at r71 v140)
  (at r5 v141)
  (at r25 v142)
  (at r70 v143)
  (at r117 v144)
  (at r143 v145)
  (at r161 v146)
  (at r123 v147)
  (at r111 v148)
  (at r12 v149)
  (at r23 v150)
  (at r158 v151)
  (at r45 v152)
  (at r162 v153)
  (at r159 v154)
  (at r16 v155)
  (at r113 v156)
  (at r52 v157)
  (at r138 v158)
  (at r34 v159)
  (at r51 v160)
  (at r67 v161)
  (at r64 v162)
  (at r53 v163)
  (at r79 v164)
  (at r99 v165)
  (at r83 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v72)
  (adjacent v0 v122)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v8)
  (adjacent v1 v13)
  (adjacent v1 v18)
  (adjacent v1 v61)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v14)
  (adjacent v3 v4)
  (adjacent v4 v12)
  (adjacent v4 v25)
  (adjacent v4 v31)
  (adjacent v4 v32)
  (adjacent v4 v58)
  (adjacent v5 v6)
  (adjacent v5 v59)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v6 v52)
  (adjacent v8 v9)
  (adjacent v8 v137)
  (adjacent v9 v10)
  (adjacent v9 v19)
  (adjacent v9 v31)
  (adjacent v9 v38)
  (adjacent v9 v91)
  (adjacent v10 v11)
  (adjacent v10 v107)
  (adjacent v11 v26)
  (adjacent v11 v73)
  (adjacent v12 v13)
  (adjacent v14 v15)
  (adjacent v14 v46)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v30)
  (adjacent v17 v151)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v90)
  (adjacent v21 v22)
  (adjacent v21 v71)
  (adjacent v22 v23)
  (adjacent v22 v62)
  (adjacent v22 v80)
  (adjacent v22 v124)
  (adjacent v23 v24)
  (adjacent v23 v94)
  (adjacent v24 v25)
  (adjacent v25 v45)
  (adjacent v26 v27)
  (adjacent v26 v158)
  (adjacent v27 v28)
  (adjacent v27 v106)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v28 v45)
  (adjacent v28 v100)
  (adjacent v28 v143)
  (adjacent v29 v30)
  (adjacent v29 v128)
  (adjacent v30 v37)
  (adjacent v31 v33)
  (adjacent v31 v137)
  (adjacent v32 v51)
  (adjacent v32 v79)
  (adjacent v33 v34)
  (adjacent v33 v65)
  (adjacent v33 v66)
  (adjacent v33 v84)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v44)
  (adjacent v36 v37)
  (adjacent v36 v162)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v74)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v65)
  (adjacent v44 v109)
  (adjacent v45 v64)
  (adjacent v46 v47)
  (adjacent v46 v150)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v131)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v166)
  (adjacent v54 v55)
  (adjacent v54 v83)
  (adjacent v55 v56)
  (adjacent v55 v101)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v116)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v148)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v117)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v93)
  (adjacent v83 v125)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v129)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v110)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v130)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v161)
  (adjacent v110 v111)
  (adjacent v110 v149)
  (adjacent v111 v112)
  (adjacent v111 v123)
  (adjacent v111 v142)
  (adjacent v111 v160)
  (adjacent v112 v113)
  (adjacent v112 v157)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v136)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v161)
  (adjacent v129 v130)
  (adjacent v130 v151)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v152)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
 )
 (:goal
  (and
  (at r130 v0)
  (at r111 v1)
  (at r70 v2)
  (at r112 v3)
  (at r128 v4)
  (at r152 v5)
  (at r50 v6)
  (at r123 v7)
  (at r82 v8)
  (at r20 v9)
  (at r17 v10)
  (at r51 v11)
  (at r165 v12)
  (at r10 v13)
  (at r106 v14)
  (at r142 v15)
  (at r158 v16)
  (at r80 v17)
  (at r121 v18)
  (at r159 v19)
  (at r104 v20)
  (at r88 v21)
  (at r75 v22)
  (at r141 v23)
  (at r71 v24)
  (at r47 v25)
  (at r19 v26)
  (at r93 v27)
  (at r53 v28)
  (at r39 v29)
  (at r9 v30)
  (at r11 v31)
  (at r161 v32)
  (at r107 v33)
  (at r118 v34)
  (at r87 v35)
  (at r68 v36)
  (at r57 v37)
  (at r73 v38)
  (at r98 v39)
  (at r117 v40)
  (at r31 v41)
  (at r139 v42)
  (at r124 v43)
  (at r100 v44)
  (at r56 v45)
  (at r122 v46)
  (at r76 v47)
  (at r8 v48)
  (at r102 v49)
  (at r96 v50)
  (free v51)
  (at r52 v52)
  (at r60 v53)
  (at r12 v54)
  (at r5 v55)
  (at r162 v56)
  (at r25 v57)
  (at r34 v58)
  (at r64 v59)
  (at r146 v60)
  (at r27 v61)
  (at r83 v62)
  (at r84 v63)
  (at r151 v64)
  (at r164 v65)
  (at r119 v66)
  (at r43 v67)
  (at r61 v68)
  (at r156 v69)
  (at r30 v70)
  (at r148 v71)
  (at r143 v72)
  (at r103 v73)
  (at r99 v74)
  (at r95 v75)
  (at r134 v76)
  (at r131 v77)
  (at r115 v78)
  (at r108 v79)
  (at r90 v80)
  (at r135 v81)
  (at r101 v82)
  (at r97 v83)
  (at r29 v84)
  (at r154 v85)
  (at r7 v86)
  (at r6 v87)
  (at r140 v88)
  (at r67 v89)
  (at r13 v90)
  (at r65 v91)
  (at r49 v92)
  (at r105 v93)
  (at r136 v94)
  (at r132 v95)
  (at r150 v96)
  (at r46 v97)
  (at r110 v98)
  (at r116 v99)
  (at r149 v100)
  (at r113 v101)
  (at r127 v102)
  (at r163 v103)
  (at r86 v104)
  (at r66 v105)
  (at r58 v106)
  (free v107)
  (at r48 v108)
  (at r109 v109)
  (at r79 v110)
  (at r89 v111)
  (at r40 v112)
  (at r72 v113)
  (at r137 v114)
  (at r36 v115)
  (at r26 v116)
  (at r4 v117)
  (at r144 v118)
  (at r120 v119)
  (at r69 v120)
  (at r22 v121)
  (at r85 v122)
  (at r18 v123)
  (at r78 v124)
  (at r133 v125)
  (at r14 v126)
  (at r2 v127)
  (at r15 v128)
  (at r59 v129)
  (at r92 v130)
  (at r166 v131)
  (at r45 v132)
  (at r23 v133)
  (at r138 v134)
  (at r32 v135)
  (at r77 v136)
  (at r42 v137)
  (at r63 v138)
  (at r44 v139)
  (at r37 v140)
  (at r28 v141)
  (at r94 v142)
  (at r160 v143)
  (at r145 v144)
  (at r62 v145)
  (at r129 v146)
  (at r54 v147)
  (at r24 v148)
  (at r33 v149)
  (at r3 v150)
  (at r157 v151)
  (at r35 v152)
  (at r125 v153)
  (at r38 v154)
  (at r126 v155)
  (at r114 v156)
  (at r153 v157)
  (at r91 v158)
  (at r55 v159)
  (at r16 v160)
  (at r155 v161)
  (at r41 v162)
  (at r147 v163)
  (at r74 v164)
  (at r81 v165)
  (at r21 v166)
  )
 )
)