(define (problem multirobot_41_2_c4)
 (:domain multirobot)
 (:objects
  v0 r23
  v1 r149
  v2 r46
  v3 r36
  v4 r13
  v5 r7
  v6 r111
  v7 r135
  v8 r150
  v9 r160
  v10 r59
  v11 r8
  v12 r110
  v13 r147
  v14 r17
  v15 r3
  v16 r65
  v17 r90
  v18 r124
  v19 r101
  v20 r121
  v21 r151
  v22 r6
  v23 r117
  v24 r131
  v25 r109
  v26 r153
  v27 r20
  v28 r58
  v29 r77
  v30 r26
  v31 r73
  v32 r66
  v33 r74
  v34 r2
  v35 r102
  v36 r50
  v37 r52
  v38 r152
  v39 r159
  v40 r61
  v41 r11
  v42 r87
  v43 r39
  v44 r68
  v45 r120
  v46 r144
  v47 r146
  v48 r53
  v49 r154
  v50 r25
  v51 r80
  v52 r84
  v53 r81
  v54 r143
  v55 r130
  v56 r100
  v57 r104
  v58 r4
  v59 r40
  v60 r145
  v61 r113
  v62 r108
  v63 r140
  v64 r83
  v65 r29
  v66 r125
  v67 r139
  v68 r157
  v69 r21
  v70 r79
  v71 r35
  v72 r118
  v73 r155
  v74 r55
  v75 r49
  v76 r18
  v77 r12
  v78 r72
  v79 r24
  v80 r10
  v81 r31
  v82 r45
  v83 r85
  v84 r34
  v85 r88
  v86 r89
  v87 r103
  v88 r44
  v89 r122
  v90 r161
  v91 r134
  v92 r56
  v93 r41
  v94 r71
  v95 r95
  v96 r64
  v97
  v98 r62
  v99 r115
  v100 r156
  v101 r38
  v102 r15
  v103 r97
  v104 r14
  v105 r42
  v106 r60
  v107 r142
  v108 r51
  v109 r30
  v110 r54
  v111 r99
  v112 r47
  v113 r28
  v114 r82
  v115 r5
  v116 r33
  v117 r78
  v118 r107
  v119 r70
  v120 r106
  v121 r91
  v122 r116
  v123 r48
  v124 r75
  v125 r137
  v126 r96
  v127 r129
  v128 r158
  v129 r92
  v130 r63
  v131 r136
  v132 r16
  v133 r32
  v134 r119
  v135 r105
  v136 r9
  v137 r69
  v138
  v139 r132
  v140 r127
  v141 r93
  v142 r141
  v143 r76
  v144 r128
  v145 r98
  v146 r94
  v147 r123
  v148 r57
  v149 r126
  v150 r114
  v151 r138
  v152 r86
  v153 r43
  v154 r37
  v155 r27
  v156 r112
  v157 r22
  v158 r148
  v159 r67
  v160 r19
  v161 r133
 )
 (:init
  (at r23 v0)
  (at r149 v1)
  (at r46 v2)
  (at r36 v3)
  (at r13 v4)
  (at r7 v5)
  (at r111 v6)
  (at r135 v7)
  (at r150 v8)
  (at r160 v9)
  (at r59 v10)
  (at r8 v11)
  (at r110 v12)
  (at r147 v13)
  (at r17 v14)
  (at r3 v15)
  (at r65 v16)
  (at r90 v17)
  (at r124 v18)
  (at r101 v19)
  (at r121 v20)
  (at r151 v21)
  (at r6 v22)
  (at r117 v23)
  (at r131 v24)
  (at r109 v25)
  (at r153 v26)
  (at r20 v27)
  (at r58 v28)
  (at r77 v29)
  (at r26 v30)
  (at r73 v31)
  (at r66 v32)
  (at r74 v33)
  (at r2 v34)
  (at r102 v35)
  (at r50 v36)
  (at r52 v37)
  (at r152 v38)
  (at r159 v39)
  (at r61 v40)
  (at r11 v41)
  (at r87 v42)
  (at r39 v43)
  (at r68 v44)
  (at r120 v45)
  (at r144 v46)
  (at r146 v47)
  (at r53 v48)
  (at r154 v49)
  (at r25 v50)
  (at r80 v51)
  (at r84 v52)
  (at r81 v53)
  (at r143 v54)
  (at r130 v55)
  (at r100 v56)
  (at r104 v57)
  (at r4 v58)
  (at r40 v59)
  (at r145 v60)
  (at r113 v61)
  (at r108 v62)
  (at r140 v63)
  (at r83 v64)
  (at r29 v65)
  (at r125 v66)
  (at r139 v67)
  (at r157 v68)
  (at r21 v69)
  (at r79 v70)
  (at r35 v71)
  (at r118 v72)
  (at r155 v73)
  (at r55 v74)
  (at r49 v75)
  (at r18 v76)
  (at r12 v77)
  (at r72 v78)
  (at r24 v79)
  (at r10 v80)
  (at r31 v81)
  (at r45 v82)
  (at r85 v83)
  (at r34 v84)
  (at r88 v85)
  (at r89 v86)
  (at r103 v87)
  (at r44 v88)
  (at r122 v89)
  (at r161 v90)
  (at r134 v91)
  (at r56 v92)
  (at r41 v93)
  (at r71 v94)
  (at r95 v95)
  (at r64 v96)
  (free v97)
  (at r62 v98)
  (at r115 v99)
  (at r156 v100)
  (at r38 v101)
  (at r15 v102)
  (at r97 v103)
  (at r14 v104)
  (at r42 v105)
  (at r60 v106)
  (at r142 v107)
  (at r51 v108)
  (at r30 v109)
  (at r54 v110)
  (at r99 v111)
  (at r47 v112)
  (at r28 v113)
  (at r82 v114)
  (at r5 v115)
  (at r33 v116)
  (at r78 v117)
  (at r107 v118)
  (at r70 v119)
  (at r106 v120)
  (at r91 v121)
  (at r116 v122)
  (at r48 v123)
  (at r75 v124)
  (at r137 v125)
  (at r96 v126)
  (at r129 v127)
  (at r158 v128)
  (at r92 v129)
  (at r63 v130)
  (at r136 v131)
  (at r16 v132)
  (at r32 v133)
  (at r119 v134)
  (at r105 v135)
  (at r9 v136)
  (at r69 v137)
  (free v138)
  (at r132 v139)
  (at r127 v140)
  (at r93 v141)
  (at r141 v142)
  (at r76 v143)
  (at r128 v144)
  (at r98 v145)
  (at r94 v146)
  (at r123 v147)
  (at r57 v148)
  (at r126 v149)
  (at r114 v150)
  (at r138 v151)
  (at r86 v152)
  (at r43 v153)
  (at r37 v154)
  (at r27 v155)
  (at r112 v156)
  (at r22 v157)
  (at r148 v158)
  (at r67 v159)
  (at r19 v160)
  (at r133 v161)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v29)
  (adjacent v3 v4)
  (adjacent v3 v52)
  (adjacent v3 v64)
  (adjacent v4 v38)
  (adjacent v5 v6)
  (adjacent v5 v21)
  (adjacent v5 v111)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v9)
  (adjacent v6 v14)
  (adjacent v6 v45)
  (adjacent v6 v72)
  (adjacent v7 v9)
  (adjacent v7 v23)
  (adjacent v8 v10)
  (adjacent v8 v15)
  (adjacent v9 v44)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v22)
  (adjacent v12 v13)
  (adjacent v12 v22)
  (adjacent v13 v14)
  (adjacent v13 v51)
  (adjacent v15 v16)
  (adjacent v15 v39)
  (adjacent v15 v87)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v60)
  (adjacent v18 v19)
  (adjacent v18 v99)
  (adjacent v19 v20)
  (adjacent v19 v28)
  (adjacent v19 v119)
  (adjacent v20 v21)
  (adjacent v20 v43)
  (adjacent v20 v107)
  (adjacent v21 v95)
  (adjacent v22 v138)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v31)
  (adjacent v26 v40)
  (adjacent v26 v66)
  (adjacent v26 v74)
  (adjacent v27 v28)
  (adjacent v28 v118)
  (adjacent v29 v30)
  (adjacent v29 v54)
  (adjacent v30 v31)
  (adjacent v30 v32)
  (adjacent v30 v59)
  (adjacent v31 v39)
  (adjacent v31 v103)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v126)
  (adjacent v36 v37)
  (adjacent v36 v53)
  (adjacent v36 v125)
  (adjacent v37 v38)
  (adjacent v39 v53)
  (adjacent v39 v63)
  (adjacent v40 v41)
  (adjacent v40 v71)
  (adjacent v41 v42)
  (adjacent v41 v46)
  (adjacent v41 v52)
  (adjacent v41 v108)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v44 v137)
  (adjacent v45 v101)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v146)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v98)
  (adjacent v53 v132)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v65)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v82)
  (adjacent v59 v145)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v107)
  (adjacent v62 v63)
  (adjacent v62 v100)
  (adjacent v62 v155)
  (adjacent v64 v65)
  (adjacent v64 v131)
  (adjacent v65 v154)
  (adjacent v66 v67)
  (adjacent v66 v110)
  (adjacent v67 v68)
  (adjacent v67 v75)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v81)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v118)
  (adjacent v76 v148)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v94)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v149)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v88)
  (adjacent v86 v87)
  (adjacent v87 v99)
  (adjacent v88 v89)
  (adjacent v88 v104)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v130)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v100)
  (adjacent v101 v102)
  (adjacent v101 v117)
  (adjacent v102 v103)
  (adjacent v102 v106)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v139)
  (adjacent v119 v120)
  (adjacent v119 v138)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v126 v131)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v161)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
 )
 (:goal
  (and
  (at r11 v0)
  (at r32 v1)
  (at r128 v2)
  (at r39 v3)
  (at r155 v4)
  (at r62 v5)
  (at r121 v6)
  (at r106 v7)
  (at r48 v8)
  (at r43 v9)
  (at r154 v10)
  (at r14 v11)
  (at r20 v12)
  (at r153 v13)
  (at r55 v14)
  (at r91 v15)
  (at r61 v16)
  (at r123 v17)
  (at r27 v18)
  (at r19 v19)
  (at r105 v20)
  (at r73 v21)
  (at r124 v22)
  (at r96 v23)
  (at r135 v24)
  (at r87 v25)
  (at r17 v26)
  (at r44 v27)
  (at r12 v28)
  (at r90 v29)
  (at r150 v30)
  (at r54 v31)
  (at r29 v32)
  (at r58 v33)
  (at r158 v34)
  (at r72 v35)
  (at r10 v36)
  (at r95 v37)
  (at r67 v38)
  (at r102 v39)
  (at r110 v40)
  (at r2 v41)
  (at r38 v42)
  (at r50 v43)
  (at r137 v44)
  (at r23 v45)
  (at r40 v46)
  (at r142 v47)
  (at r111 v48)
  (at r133 v49)
  (at r130 v50)
  (at r81 v51)
  (at r35 v52)
  (at r93 v53)
  (at r126 v54)
  (at r77 v55)
  (at r151 v56)
  (free v57)
  (at r108 v58)
  (at r99 v59)
  (at r31 v60)
  (at r42 v61)
  (at r79 v62)
  (at r34 v63)
  (at r131 v64)
  (at r21 v65)
  (at r80 v66)
  (at r76 v67)
  (at r159 v68)
  (at r59 v69)
  (at r88 v70)
  (at r18 v71)
  (at r83 v72)
  (at r37 v73)
  (at r120 v74)
  (at r74 v75)
  (at r118 v76)
  (at r143 v77)
  (at r33 v78)
  (at r97 v79)
  (at r26 v80)
  (at r119 v81)
  (at r84 v82)
  (at r117 v83)
  (at r85 v84)
  (at r115 v85)
  (at r49 v86)
  (at r5 v87)
  (at r147 v88)
  (at r94 v89)
  (at r116 v90)
  (at r122 v91)
  (at r16 v92)
  (at r30 v93)
  (at r82 v94)
  (at r103 v95)
  (at r45 v96)
  (at r92 v97)
  (at r139 v98)
  (at r89 v99)
  (at r127 v100)
  (at r136 v101)
  (at r41 v102)
  (at r78 v103)
  (at r66 v104)
  (at r109 v105)
  (at r132 v106)
  (at r70 v107)
  (at r64 v108)
  (at r68 v109)
  (at r134 v110)
  (at r152 v111)
  (at r148 v112)
  (at r129 v113)
  (at r7 v114)
  (at r138 v115)
  (at r63 v116)
  (at r146 v117)
  (at r69 v118)
  (at r22 v119)
  (at r112 v120)
  (at r101 v121)
  (at r56 v122)
  (at r100 v123)
  (at r149 v124)
  (at r13 v125)
  (at r160 v126)
  (at r65 v127)
  (at r60 v128)
  (at r75 v129)
  (at r8 v130)
  (at r52 v131)
  (at r114 v132)
  (at r28 v133)
  (free v134)
  (at r113 v135)
  (at r157 v136)
  (at r9 v137)
  (at r47 v138)
  (at r36 v139)
  (at r46 v140)
  (at r24 v141)
  (at r140 v142)
  (at r71 v143)
  (at r141 v144)
  (at r86 v145)
  (at r57 v146)
  (at r15 v147)
  (at r25 v148)
  (at r6 v149)
  (at r51 v150)
  (at r98 v151)
  (at r3 v152)
  (at r104 v153)
  (at r125 v154)
  (at r144 v155)
  (at r145 v156)
  (at r4 v157)
  (at r107 v158)
  (at r53 v159)
  (at r161 v160)
  (at r156 v161)
  )
 )
)