(define (problem multirobot_42_2_c2)
 (:domain multirobot)
 (:objects
  v0 r55
  v1 r15
  v2 r84
  v3 r82
  v4 r135
  v5 r3
  v6 r67
  v7 r136
  v8 r95
  v9 r142
  v10 r57
  v11 r16
  v12 r144
  v13 r145
  v14 r53
  v15 r21
  v16 r43
  v17 r47
  v18 r42
  v19 r94
  v20 r12
  v21 r23
  v22 r50
  v23 r150
  v24 r100
  v25 r115
  v26 r97
  v27 r151
  v28 r65
  v29 r120
  v30 r60
  v31 r73
  v32 r37
  v33 r62
  v34 r92
  v35 r66
  v36 r54
  v37 r131
  v38 r121
  v39 r64
  v40 r7
  v41 r14
  v42 r101
  v43 r59
  v44 r98
  v45 r76
  v46 r17
  v47 r68
  v48 r75
  v49 r99
  v50 r130
  v51 r152
  v52 r29
  v53 r26
  v54 r88
  v55 r153
  v56 r72
  v57 r38
  v58
  v59 r147
  v60 r122
  v61 r51
  v62 r25
  v63 r18
  v64 r48
  v65 r40
  v66 r118
  v67 r85
  v68 r149
  v69 r87
  v70 r91
  v71 r119
  v72 r41
  v73 r11
  v74 r140
  v75 r10
  v76 r102
  v77 r113
  v78 r80
  v79 r71
  v80 r35
  v81 r22
  v82 r79
  v83 r81
  v84 r19
  v85 r31
  v86 r146
  v87 r129
  v88 r123
  v89 r45
  v90 r125
  v91 r74
  v92 r154
  v93 r83
  v94 r105
  v95 r143
  v96 r2
  v97 r128
  v98 r132
  v99 r124
  v100 r86
  v101 r5
  v102 r137
  v103 r139
  v104 r96
  v105 r27
  v106 r28
  v107 r33
  v108 r127
  v109 r109
  v110 r69
  v111 r44
  v112 r8
  v113 r56
  v114 r6
  v115
  v116 r141
  v117 r58
  v118 r116
  v119 r24
  v120 r70
  v121 r13
  v122 r104
  v123 r89
  v124 r111
  v125 r61
  v126 r90
  v127 r34
  v128 r9
  v129 r114
  v130 r39
  v131 r46
  v132 r36
  v133 r52
  v134 r133
  v135 r110
  v136 r30
  v137 r106
  v138 r49
  v139 r112
  v140 r148
  v141 r126
  v142 r138
  v143 r78
  v144 r20
  v145 r32
  v146 r107
  v147 r77
  v148 r108
  v149 r117
  v150 r103
  v151 r4
  v152 r63
  v153 r134
  v154 r93
 )
 (:init
  (at r55 v0)
  (at r15 v1)
  (at r84 v2)
  (at r82 v3)
  (at r135 v4)
  (at r3 v5)
  (at r67 v6)
  (at r136 v7)
  (at r95 v8)
  (at r142 v9)
  (at r57 v10)
  (at r16 v11)
  (at r144 v12)
  (at r145 v13)
  (at r53 v14)
  (at r21 v15)
  (at r43 v16)
  (at r47 v17)
  (at r42 v18)
  (at r94 v19)
  (at r12 v20)
  (at r23 v21)
  (at r50 v22)
  (at r150 v23)
  (at r100 v24)
  (at r115 v25)
  (at r97 v26)
  (at r151 v27)
  (at r65 v28)
  (at r120 v29)
  (at r60 v30)
  (at r73 v31)
  (at r37 v32)
  (at r62 v33)
  (at r92 v34)
  (at r66 v35)
  (at r54 v36)
  (at r131 v37)
  (at r121 v38)
  (at r64 v39)
  (at r7 v40)
  (at r14 v41)
  (at r101 v42)
  (at r59 v43)
  (at r98 v44)
  (at r76 v45)
  (at r17 v46)
  (at r68 v47)
  (at r75 v48)
  (at r99 v49)
  (at r130 v50)
  (at r152 v51)
  (at r29 v52)
  (at r26 v53)
  (at r88 v54)
  (at r153 v55)
  (at r72 v56)
  (at r38 v57)
  (free v58)
  (at r147 v59)
  (at r122 v60)
  (at r51 v61)
  (at r25 v62)
  (at r18 v63)
  (at r48 v64)
  (at r40 v65)
  (at r118 v66)
  (at r85 v67)
  (at r149 v68)
  (at r87 v69)
  (at r91 v70)
  (at r119 v71)
  (at r41 v72)
  (at r11 v73)
  (at r140 v74)
  (at r10 v75)
  (at r102 v76)
  (at r113 v77)
  (at r80 v78)
  (at r71 v79)
  (at r35 v80)
  (at r22 v81)
  (at r79 v82)
  (at r81 v83)
  (at r19 v84)
  (at r31 v85)
  (at r146 v86)
  (at r129 v87)
  (at r123 v88)
  (at r45 v89)
  (at r125 v90)
  (at r74 v91)
  (at r154 v92)
  (at r83 v93)
  (at r105 v94)
  (at r143 v95)
  (at r2 v96)
  (at r128 v97)
  (at r132 v98)
  (at r124 v99)
  (at r86 v100)
  (at r5 v101)
  (at r137 v102)
  (at r139 v103)
  (at r96 v104)
  (at r27 v105)
  (at r28 v106)
  (at r33 v107)
  (at r127 v108)
  (at r109 v109)
  (at r69 v110)
  (at r44 v111)
  (at r8 v112)
  (at r56 v113)
  (at r6 v114)
  (free v115)
  (at r141 v116)
  (at r58 v117)
  (at r116 v118)
  (at r24 v119)
  (at r70 v120)
  (at r13 v121)
  (at r104 v122)
  (at r89 v123)
  (at r111 v124)
  (at r61 v125)
  (at r90 v126)
  (at r34 v127)
  (at r9 v128)
  (at r114 v129)
  (at r39 v130)
  (at r46 v131)
  (at r36 v132)
  (at r52 v133)
  (at r133 v134)
  (at r110 v135)
  (at r30 v136)
  (at r106 v137)
  (at r49 v138)
  (at r112 v139)
  (at r148 v140)
  (at r126 v141)
  (at r138 v142)
  (at r78 v143)
  (at r20 v144)
  (at r32 v145)
  (at r107 v146)
  (at r77 v147)
  (at r108 v148)
  (at r117 v149)
  (at r103 v150)
  (at r4 v151)
  (at r63 v152)
  (at r134 v153)
  (at r93 v154)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v6)
  (adjacent v0 v23)
  (adjacent v0 v88)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v15)
  (adjacent v2 v3)
  (adjacent v2 v16)
  (adjacent v2 v46)
  (adjacent v2 v72)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v44)
  (adjacent v4 v11)
  (adjacent v5 v83)
  (adjacent v6 v7)
  (adjacent v6 v94)
  (adjacent v6 v128)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v8 v41)
  (adjacent v8 v73)
  (adjacent v9 v10)
  (adjacent v9 v38)
  (adjacent v10 v11)
  (adjacent v10 v119)
  (adjacent v11 v27)
  (adjacent v12 v13)
  (adjacent v12 v31)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v48)
  (adjacent v15 v49)
  (adjacent v16 v17)
  (adjacent v16 v30)
  (adjacent v16 v37)
  (adjacent v16 v88)
  (adjacent v17 v18)
  (adjacent v17 v65)
  (adjacent v18 v19)
  (adjacent v18 v40)
  (adjacent v18 v63)
  (adjacent v18 v75)
  (adjacent v19 v20)
  (adjacent v19 v45)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v28)
  (adjacent v21 v110)
  (adjacent v22 v154)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v55)
  (adjacent v27 v56)
  (adjacent v27 v89)
  (adjacent v28 v29)
  (adjacent v28 v59)
  (adjacent v28 v76)
  (adjacent v28 v120)
  (adjacent v29 v30)
  (adjacent v29 v143)
  (adjacent v30 v80)
  (adjacent v30 v96)
  (adjacent v31 v32)
  (adjacent v31 v60)
  (adjacent v31 v118)
  (adjacent v32 v33)
  (adjacent v32 v45)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v120)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v66)
  (adjacent v39 v104)
  (adjacent v41 v42)
  (adjacent v41 v97)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v81)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v91)
  (adjacent v49 v50)
  (adjacent v49 v112)
  (adjacent v49 v151)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v135)
  (adjacent v53 v54)
  (adjacent v53 v117)
  (adjacent v54 v55)
  (adjacent v54 v64)
  (adjacent v54 v79)
  (adjacent v55 v109)
  (adjacent v56 v57)
  (adjacent v56 v82)
  (adjacent v56 v128)
  (adjacent v57 v58)
  (adjacent v57 v77)
  (adjacent v57 v82)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v74)
  (adjacent v64 v65)
  (adjacent v64 v89)
  (adjacent v64 v150)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v144)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v73 v90)
  (adjacent v75 v76)
  (adjacent v76 v103)
  (adjacent v77 v78)
  (adjacent v77 v87)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v80 v121)
  (adjacent v83 v84)
  (adjacent v83 v90)
  (adjacent v83 v95)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v140)
  (adjacent v91 v92)
  (adjacent v91 v116)
  (adjacent v91 v129)
  (adjacent v92 v93)
  (adjacent v92 v130)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v97 v117)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v113)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v129)
  (adjacent v113 v114)
  (adjacent v113 v127)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v118 v119)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v131 v136)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v141)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
 )
 (:goal
  (and
  (at r139 v0)
  (at r103 v1)
  (at r74 v2)
  (at r128 v3)
  (at r50 v4)
  (at r87 v5)
  (at r89 v6)
  (at r67 v7)
  (at r62 v8)
  (at r142 v9)
  (at r123 v10)
  (at r36 v11)
  (at r126 v12)
  (at r72 v13)
  (at r117 v14)
  (at r127 v15)
  (at r29 v16)
  (at r41 v17)
  (at r49 v18)
  (at r61 v19)
  (at r82 v20)
  (at r20 v21)
  (at r59 v22)
  (at r109 v23)
  (at r68 v24)
  (at r51 v25)
  (at r83 v26)
  (at r85 v27)
  (at r132 v28)
  (at r113 v29)
  (at r28 v30)
  (at r91 v31)
  (at r121 v32)
  (at r152 v33)
  (at r150 v34)
  (at r137 v35)
  (free v36)
  (at r56 v37)
  (at r80 v38)
  (at r116 v39)
  (at r25 v40)
  (at r138 v41)
  (at r5 v42)
  (at r88 v43)
  (at r154 v44)
  (at r108 v45)
  (at r130 v46)
  (at r53 v47)
  (free v48)
  (at r46 v49)
  (at r58 v50)
  (at r99 v51)
  (at r3 v52)
  (at r92 v53)
  (at r13 v54)
  (at r21 v55)
  (at r118 v56)
  (at r125 v57)
  (at r145 v58)
  (at r66 v59)
  (at r22 v60)
  (at r30 v61)
  (at r90 v62)
  (at r112 v63)
  (at r10 v64)
  (at r23 v65)
  (at r100 v66)
  (at r8 v67)
  (at r48 v68)
  (at r42 v69)
  (at r141 v70)
  (at r52 v71)
  (at r63 v72)
  (at r105 v73)
  (at r124 v74)
  (at r148 v75)
  (at r151 v76)
  (at r96 v77)
  (at r55 v78)
  (at r16 v79)
  (at r144 v80)
  (at r31 v81)
  (at r33 v82)
  (at r40 v83)
  (at r24 v84)
  (at r122 v85)
  (at r76 v86)
  (at r78 v87)
  (at r115 v88)
  (at r12 v89)
  (at r38 v90)
  (at r101 v91)
  (at r93 v92)
  (at r97 v93)
  (at r84 v94)
  (at r26 v95)
  (at r4 v96)
  (at r81 v97)
  (at r35 v98)
  (at r32 v99)
  (at r70 v100)
  (at r77 v101)
  (at r57 v102)
  (at r6 v103)
  (at r60 v104)
  (at r19 v105)
  (at r18 v106)
  (at r73 v107)
  (at r106 v108)
  (at r14 v109)
  (at r110 v110)
  (at r146 v111)
  (at r15 v112)
  (at r11 v113)
  (at r129 v114)
  (at r69 v115)
  (at r153 v116)
  (at r104 v117)
  (at r114 v118)
  (at r111 v119)
  (at r54 v120)
  (at r65 v121)
  (at r140 v122)
  (at r94 v123)
  (at r86 v124)
  (at r107 v125)
  (at r98 v126)
  (at r75 v127)
  (at r43 v128)
  (at r44 v129)
  (at r71 v130)
  (at r17 v131)
  (at r134 v132)
  (at r7 v133)
  (at r95 v134)
  (at r39 v135)
  (at r27 v136)
  (at r34 v137)
  (at r135 v138)
  (at r147 v139)
  (at r45 v140)
  (at r79 v141)
  (at r102 v142)
  (at r136 v143)
  (at r133 v144)
  (at r149 v145)
  (at r37 v146)
  (at r119 v147)
  (at r2 v148)
  (at r64 v149)
  (at r131 v150)
  (at r120 v151)
  (at r143 v152)
  (at r9 v153)
  (at r47 v154)
  )
 )
)