(define (problem multirobot_41_2_c6)
 (:domain multirobot)
 (:objects
  v0 r131
  v1 r137
  v2 r64
  v3 r151
  v4 r44
  v5 r156
  v6 r111
  v7 r133
  v8 r158
  v9 r25
  v10 r93
  v11 r127
  v12 r135
  v13 r36
  v14 r129
  v15 r77
  v16 r4
  v17 r53
  v18 r161
  v19 r10
  v20 r35
  v21 r145
  v22 r116
  v23 r124
  v24 r40
  v25 r8
  v26 r150
  v27 r105
  v28 r87
  v29 r28
  v30 r107
  v31 r7
  v32 r69
  v33 r83
  v34 r54
  v35 r75
  v36 r160
  v37 r89
  v38 r95
  v39 r96
  v40 r39
  v41 r65
  v42 r141
  v43 r123
  v44 r3
  v45 r14
  v46 r94
  v47 r162
  v48 r84
  v49 r167
  v50 r130
  v51 r33
  v52 r62
  v53 r23
  v54 r152
  v55 r16
  v56 r125
  v57 r114
  v58 r61
  v59 r67
  v60 r97
  v61 r163
  v62 r79
  v63 r155
  v64 r47
  v65 r128
  v66 r144
  v67 r120
  v68 r13
  v69 r134
  v70 r34
  v71 r80
  v72 r168
  v73 r153
  v74 r146
  v75 r68
  v76 r132
  v77 r58
  v78 r66
  v79 r56
  v80 r142
  v81 r91
  v82 r52
  v83 r42
  v84 r12
  v85 r48
  v86 r86
  v87 r85
  v88 r19
  v89 r71
  v90 r9
  v91 r50
  v92 r20
  v93 r164
  v94 r18
  v95 r37
  v96 r63
  v97 r30
  v98 r78
  v99 r138
  v100 r149
  v101 r72
  v102 r76
  v103 r27
  v104 r148
  v105 r157
  v106 r98
  v107 r110
  v108 r140
  v109 r29
  v110 r92
  v111 r43
  v112 r99
  v113 r45
  v114 r113
  v115 r118
  v116 r57
  v117 r115
  v118 r102
  v119 r17
  v120 r112
  v121 r26
  v122 r165
  v123 r143
  v124 r159
  v125 r90
  v126 r100
  v127 r5
  v128 r81
  v129 r103
  v130 r51
  v131
  v132 r6
  v133 r136
  v134 r147
  v135 r104
  v136 r139
  v137 r121
  v138 r15
  v139 r109
  v140 r24
  v141 r22
  v142 r106
  v143 r122
  v144 r60
  v145 r74
  v146 r46
  v147
  v148 r166
  v149 r73
  v150 r41
  v151 r49
  v152 r101
  v153 r154
  v154 r31
  v155 r70
  v156 r82
  v157 r38
  v158 r21
  v159 r32
  v160 r117
  v161 r2
  v162 r126
  v163 r119
  v164 r11
  v165 r55
  v166 r59
  v167 r108
  v168 r88
 )
 (:init
  (at r131 v0)
  (at r137 v1)
  (at r64 v2)
  (at r151 v3)
  (at r44 v4)
  (at r156 v5)
  (at r111 v6)
  (at r133 v7)
  (at r158 v8)
  (at r25 v9)
  (at r93 v10)
  (at r127 v11)
  (at r135 v12)
  (at r36 v13)
  (at r129 v14)
  (at r77 v15)
  (at r4 v16)
  (at r53 v17)
  (at r161 v18)
  (at r10 v19)
  (at r35 v20)
  (at r145 v21)
  (at r116 v22)
  (at r124 v23)
  (at r40 v24)
  (at r8 v25)
  (at r150 v26)
  (at r105 v27)
  (at r87 v28)
  (at r28 v29)
  (at r107 v30)
  (at r7 v31)
  (at r69 v32)
  (at r83 v33)
  (at r54 v34)
  (at r75 v35)
  (at r160 v36)
  (at r89 v37)
  (at r95 v38)
  (at r96 v39)
  (at r39 v40)
  (at r65 v41)
  (at r141 v42)
  (at r123 v43)
  (at r3 v44)
  (at r14 v45)
  (at r94 v46)
  (at r162 v47)
  (at r84 v48)
  (at r167 v49)
  (at r130 v50)
  (at r33 v51)
  (at r62 v52)
  (at r23 v53)
  (at r152 v54)
  (at r16 v55)
  (at r125 v56)
  (at r114 v57)
  (at r61 v58)
  (at r67 v59)
  (at r97 v60)
  (at r163 v61)
  (at r79 v62)
  (at r155 v63)
  (at r47 v64)
  (at r128 v65)
  (at r144 v66)
  (at r120 v67)
  (at r13 v68)
  (at r134 v69)
  (at r34 v70)
  (at r80 v71)
  (at r168 v72)
  (at r153 v73)
  (at r146 v74)
  (at r68 v75)
  (at r132 v76)
  (at r58 v77)
  (at r66 v78)
  (at r56 v79)
  (at r142 v80)
  (at r91 v81)
  (at r52 v82)
  (at r42 v83)
  (at r12 v84)
  (at r48 v85)
  (at r86 v86)
  (at r85 v87)
  (at r19 v88)
  (at r71 v89)
  (at r9 v90)
  (at r50 v91)
  (at r20 v92)
  (at r164 v93)
  (at r18 v94)
  (at r37 v95)
  (at r63 v96)
  (at r30 v97)
  (at r78 v98)
  (at r138 v99)
  (at r149 v100)
  (at r72 v101)
  (at r76 v102)
  (at r27 v103)
  (at r148 v104)
  (at r157 v105)
  (at r98 v106)
  (at r110 v107)
  (at r140 v108)
  (at r29 v109)
  (at r92 v110)
  (at r43 v111)
  (at r99 v112)
  (at r45 v113)
  (at r113 v114)
  (at r118 v115)
  (at r57 v116)
  (at r115 v117)
  (at r102 v118)
  (at r17 v119)
  (at r112 v120)
  (at r26 v121)
  (at r165 v122)
  (at r143 v123)
  (at r159 v124)
  (at r90 v125)
  (at r100 v126)
  (at r5 v127)
  (at r81 v128)
  (at r103 v129)
  (at r51 v130)
  (free v131)
  (at r6 v132)
  (at r136 v133)
  (at r147 v134)
  (at r104 v135)
  (at r139 v136)
  (at r121 v137)
  (at r15 v138)
  (at r109 v139)
  (at r24 v140)
  (at r22 v141)
  (at r106 v142)
  (at r122 v143)
  (at r60 v144)
  (at r74 v145)
  (at r46 v146)
  (free v147)
  (at r166 v148)
  (at r73 v149)
  (at r41 v150)
  (at r49 v151)
  (at r101 v152)
  (at r154 v153)
  (at r31 v154)
  (at r70 v155)
  (at r82 v156)
  (at r38 v157)
  (at r21 v158)
  (at r32 v159)
  (at r117 v160)
  (at r2 v161)
  (at r126 v162)
  (at r119 v163)
  (at r11 v164)
  (at r55 v165)
  (at r59 v166)
  (at r108 v167)
  (at r88 v168)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v23)
  (adjacent v0 v40)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v16)
  (adjacent v1 v24)
  (adjacent v1 v46)
  (adjacent v1 v148)
  (adjacent v1 v157)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v52)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v142)
  (adjacent v4 v6)
  (adjacent v4 v7)
  (adjacent v4 v85)
  (adjacent v5 v6)
  (adjacent v5 v120)
  (adjacent v5 v168)
  (adjacent v7 v8)
  (adjacent v7 v17)
  (adjacent v8 v9)
  (adjacent v8 v63)
  (adjacent v8 v64)
  (adjacent v9 v10)
  (adjacent v9 v36)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v90)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v142)
  (adjacent v15 v16)
  (adjacent v15 v76)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v28)
  (adjacent v19 v47)
  (adjacent v19 v141)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v102)
  (adjacent v23 v27)
  (adjacent v23 v30)
  (adjacent v23 v39)
  (adjacent v23 v82)
  (adjacent v23 v86)
  (adjacent v24 v25)
  (adjacent v24 v81)
  (adjacent v25 v26)
  (adjacent v25 v31)
  (adjacent v26 v27)
  (adjacent v27 v58)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v37)
  (adjacent v29 v121)
  (adjacent v29 v149)
  (adjacent v29 v166)
  (adjacent v31 v32)
  (adjacent v31 v40)
  (adjacent v31 v41)
  (adjacent v31 v136)
  (adjacent v32 v33)
  (adjacent v32 v57)
  (adjacent v33 v34)
  (adjacent v33 v132)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v94)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v154)
  (adjacent v47 v48)
  (adjacent v47 v165)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v110)
  (adjacent v51 v52)
  (adjacent v51 v53)
  (adjacent v52 v71)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v77)
  (adjacent v54 v143)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v160)
  (adjacent v58 v59)
  (adjacent v58 v70)
  (adjacent v58 v110)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v133)
  (adjacent v61 v62)
  (adjacent v61 v101)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v64 v95)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v103)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v125)
  (adjacent v69 v128)
  (adjacent v69 v158)
  (adjacent v70 v114)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v113)
  (adjacent v73 v74)
  (adjacent v73 v102)
  (adjacent v74 v75)
  (adjacent v74 v91)
  (adjacent v74 v166)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v167)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v109)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v111)
  (adjacent v89 v144)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v157)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v129)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v156)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v153)
  (adjacent v114 v115)
  (adjacent v114 v126)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v126 v137)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v130 v161)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v133 v150)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v143)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v149)
  (adjacent v140 v141)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v167 v168)
 )
 (:goal
  (and
  (at r67 v0)
  (at r136 v1)
  (at r135 v2)
  (at r120 v3)
  (at r3 v4)
  (at r168 v5)
  (at r45 v6)
  (at r5 v7)
  (at r76 v8)
  (at r107 v9)
  (at r98 v10)
  (at r91 v11)
  (at r32 v12)
  (at r117 v13)
  (at r166 v14)
  (at r10 v15)
  (at r132 v16)
  (at r123 v17)
  (at r23 v18)
  (at r154 v19)
  (at r163 v20)
  (at r144 v21)
  (at r124 v22)
  (at r29 v23)
  (at r75 v24)
  (at r26 v25)
  (at r54 v26)
  (at r159 v27)
  (at r147 v28)
  (at r43 v29)
  (at r119 v30)
  (at r71 v31)
  (at r96 v32)
  (at r161 v33)
  (at r14 v34)
  (at r105 v35)
  (at r25 v36)
  (at r50 v37)
  (at r38 v38)
  (at r110 v39)
  (at r33 v40)
  (at r34 v41)
  (at r53 v42)
  (at r92 v43)
  (at r39 v44)
  (at r82 v45)
  (at r79 v46)
  (at r106 v47)
  (at r57 v48)
  (at r86 v49)
  (at r128 v50)
  (at r139 v51)
  (at r72 v52)
  (at r97 v53)
  (at r95 v54)
  (at r18 v55)
  (at r62 v56)
  (at r149 v57)
  (at r40 v58)
  (at r126 v59)
  (at r167 v60)
  (at r4 v61)
  (at r155 v62)
  (at r157 v63)
  (free v64)
  (at r104 v65)
  (at r153 v66)
  (at r122 v67)
  (at r84 v68)
  (at r160 v69)
  (at r108 v70)
  (free v71)
  (at r19 v72)
  (at r142 v73)
  (at r77 v74)
  (at r112 v75)
  (at r30 v76)
  (at r130 v77)
  (at r37 v78)
  (at r101 v79)
  (at r99 v80)
  (at r140 v81)
  (at r13 v82)
  (at r102 v83)
  (at r49 v84)
  (at r70 v85)
  (at r55 v86)
  (at r121 v87)
  (at r7 v88)
  (at r11 v89)
  (at r48 v90)
  (at r115 v91)
  (at r22 v92)
  (at r87 v93)
  (at r152 v94)
  (at r12 v95)
  (at r2 v96)
  (at r94 v97)
  (at r61 v98)
  (at r59 v99)
  (at r15 v100)
  (at r158 v101)
  (at r36 v102)
  (at r81 v103)
  (at r118 v104)
  (at r151 v105)
  (at r74 v106)
  (at r100 v107)
  (at r148 v108)
  (at r21 v109)
  (at r35 v110)
  (at r138 v111)
  (at r90 v112)
  (at r145 v113)
  (at r42 v114)
  (at r137 v115)
  (at r129 v116)
  (at r68 v117)
  (at r8 v118)
  (at r24 v119)
  (at r89 v120)
  (at r17 v121)
  (at r73 v122)
  (at r141 v123)
  (at r44 v124)
  (at r109 v125)
  (at r41 v126)
  (at r31 v127)
  (at r133 v128)
  (at r27 v129)
  (at r66 v130)
  (at r51 v131)
  (at r103 v132)
  (at r83 v133)
  (at r78 v134)
  (at r165 v135)
  (at r85 v136)
  (at r146 v137)
  (at r143 v138)
  (at r20 v139)
  (at r113 v140)
  (at r156 v141)
  (at r131 v142)
  (at r52 v143)
  (at r46 v144)
  (at r116 v145)
  (at r111 v146)
  (at r80 v147)
  (at r28 v148)
  (at r114 v149)
  (at r9 v150)
  (at r162 v151)
  (at r134 v152)
  (at r88 v153)
  (at r60 v154)
  (at r47 v155)
  (at r64 v156)
  (at r16 v157)
  (at r56 v158)
  (at r93 v159)
  (at r69 v160)
  (at r150 v161)
  (at r125 v162)
  (at r6 v163)
  (at r58 v164)
  (at r127 v165)
  (at r65 v166)
  (at r63 v167)
  (at r164 v168)
  )
 )
)