(define (problem multirobot_42_2_c4)
 (:domain multirobot)
 (:objects
  v0 r16
  v1 r109
  v2 r57
  v3 r146
  v4 r18
  v5 r12
  v6 r21
  v7 r145
  v8 r103
  v9 r126
  v10 r143
  v11 r151
  v12 r39
  v13 r10
  v14 r37
  v15 r85
  v16 r124
  v17 r30
  v18 r155
  v19 r120
  v20 r43
  v21 r141
  v22 r117
  v23 r11
  v24 r59
  v25 r31
  v26
  v27 r96
  v28 r49
  v29 r5
  v30 r122
  v31 r74
  v32 r90
  v33 r75
  v34 r25
  v35 r14
  v36 r153
  v37 r138
  v38 r91
  v39 r48
  v40 r65
  v41 r44
  v42 r79
  v43 r3
  v44 r77
  v45 r15
  v46 r47
  v47 r105
  v48 r32
  v49 r33
  v50 r125
  v51 r112
  v52 r41
  v53 r87
  v54 r62
  v55 r95
  v56 r97
  v57 r60
  v58 r19
  v59 r149
  v60 r116
  v61 r4
  v62 r63
  v63 r68
  v64 r72
  v65 r7
  v66 r56
  v67 r128
  v68 r8
  v69 r58
  v70 r51
  v71 r133
  v72 r23
  v73 r82
  v74 r130
  v75 r2
  v76 r36
  v77 r29
  v78 r107
  v79 r52
  v80 r20
  v81 r104
  v82 r40
  v83 r61
  v84 r89
  v85 r119
  v86 r134
  v87 r123
  v88 r26
  v89 r148
  v90 r81
  v91 r154
  v92 r55
  v93 r64
  v94 r80
  v95 r139
  v96 r127
  v97 r50
  v98 r17
  v99 r100
  v100 r108
  v101 r102
  v102 r88
  v103 r83
  v104 r114
  v105 r28
  v106 r22
  v107 r76
  v108 r73
  v109 r53
  v110 r99
  v111 r69
  v112 r13
  v113 r70
  v114 r113
  v115 r9
  v116 r144
  v117 r38
  v118 r110
  v119 r121
  v120 r98
  v121 r142
  v122 r131
  v123 r34
  v124 r115
  v125 r132
  v126 r157
  v127 r156
  v128 r106
  v129 r137
  v130 r101
  v131 r45
  v132 r46
  v133 r150
  v134 r42
  v135 r93
  v136 r84
  v137 r152
  v138 r92
  v139 r129
  v140
  v141 r67
  v142 r6
  v143 r140
  v144 r147
  v145 r118
  v146 r111
  v147 r35
  v148 r78
  v149 r135
  v150 r94
  v151 r27
  v152 r54
  v153 r66
  v154 r136
  v155 r24
  v156 r86
  v157 r71
 )
 (:init
  (at r16 v0)
  (at r109 v1)
  (at r57 v2)
  (at r146 v3)
  (at r18 v4)
  (at r12 v5)
  (at r21 v6)
  (at r145 v7)
  (at r103 v8)
  (at r126 v9)
  (at r143 v10)
  (at r151 v11)
  (at r39 v12)
  (at r10 v13)
  (at r37 v14)
  (at r85 v15)
  (at r124 v16)
  (at r30 v17)
  (at r155 v18)
  (at r120 v19)
  (at r43 v20)
  (at r141 v21)
  (at r117 v22)
  (at r11 v23)
  (at r59 v24)
  (at r31 v25)
  (free v26)
  (at r96 v27)
  (at r49 v28)
  (at r5 v29)
  (at r122 v30)
  (at r74 v31)
  (at r90 v32)
  (at r75 v33)
  (at r25 v34)
  (at r14 v35)
  (at r153 v36)
  (at r138 v37)
  (at r91 v38)
  (at r48 v39)
  (at r65 v40)
  (at r44 v41)
  (at r79 v42)
  (at r3 v43)
  (at r77 v44)
  (at r15 v45)
  (at r47 v46)
  (at r105 v47)
  (at r32 v48)
  (at r33 v49)
  (at r125 v50)
  (at r112 v51)
  (at r41 v52)
  (at r87 v53)
  (at r62 v54)
  (at r95 v55)
  (at r97 v56)
  (at r60 v57)
  (at r19 v58)
  (at r149 v59)
  (at r116 v60)
  (at r4 v61)
  (at r63 v62)
  (at r68 v63)
  (at r72 v64)
  (at r7 v65)
  (at r56 v66)
  (at r128 v67)
  (at r8 v68)
  (at r58 v69)
  (at r51 v70)
  (at r133 v71)
  (at r23 v72)
  (at r82 v73)
  (at r130 v74)
  (at r2 v75)
  (at r36 v76)
  (at r29 v77)
  (at r107 v78)
  (at r52 v79)
  (at r20 v80)
  (at r104 v81)
  (at r40 v82)
  (at r61 v83)
  (at r89 v84)
  (at r119 v85)
  (at r134 v86)
  (at r123 v87)
  (at r26 v88)
  (at r148 v89)
  (at r81 v90)
  (at r154 v91)
  (at r55 v92)
  (at r64 v93)
  (at r80 v94)
  (at r139 v95)
  (at r127 v96)
  (at r50 v97)
  (at r17 v98)
  (at r100 v99)
  (at r108 v100)
  (at r102 v101)
  (at r88 v102)
  (at r83 v103)
  (at r114 v104)
  (at r28 v105)
  (at r22 v106)
  (at r76 v107)
  (at r73 v108)
  (at r53 v109)
  (at r99 v110)
  (at r69 v111)
  (at r13 v112)
  (at r70 v113)
  (at r113 v114)
  (at r9 v115)
  (at r144 v116)
  (at r38 v117)
  (at r110 v118)
  (at r121 v119)
  (at r98 v120)
  (at r142 v121)
  (at r131 v122)
  (at r34 v123)
  (at r115 v124)
  (at r132 v125)
  (at r157 v126)
  (at r156 v127)
  (at r106 v128)
  (at r137 v129)
  (at r101 v130)
  (at r45 v131)
  (at r46 v132)
  (at r150 v133)
  (at r42 v134)
  (at r93 v135)
  (at r84 v136)
  (at r152 v137)
  (at r92 v138)
  (at r129 v139)
  (free v140)
  (at r67 v141)
  (at r6 v142)
  (at r140 v143)
  (at r147 v144)
  (at r118 v145)
  (at r111 v146)
  (at r35 v147)
  (at r78 v148)
  (at r135 v149)
  (at r94 v150)
  (at r27 v151)
  (at r54 v152)
  (at r66 v153)
  (at r136 v154)
  (at r24 v155)
  (at r86 v156)
  (at r71 v157)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v16)
  (adjacent v0 v22)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v13)
  (adjacent v1 v17)
  (adjacent v1 v28)
  (adjacent v1 v37)
  (adjacent v1 v124)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v21)
  (adjacent v3 v89)
  (adjacent v4 v6)
  (adjacent v4 v108)
  (adjacent v5 v6)
  (adjacent v5 v17)
  (adjacent v5 v36)
  (adjacent v5 v47)
  (adjacent v6 v14)
  (adjacent v6 v16)
  (adjacent v7 v8)
  (adjacent v7 v27)
  (adjacent v7 v47)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v46)
  (adjacent v8 v67)
  (adjacent v9 v10)
  (adjacent v9 v33)
  (adjacent v9 v59)
  (adjacent v9 v109)
  (adjacent v10 v11)
  (adjacent v10 v24)
  (adjacent v10 v48)
  (adjacent v10 v55)
  (adjacent v11 v12)
  (adjacent v11 v36)
  (adjacent v12 v13)
  (adjacent v12 v49)
  (adjacent v13 v45)
  (adjacent v13 v81)
  (adjacent v14 v15)
  (adjacent v14 v25)
  (adjacent v15 v54)
  (adjacent v16 v34)
  (adjacent v16 v66)
  (adjacent v17 v18)
  (adjacent v17 v150)
  (adjacent v18 v19)
  (adjacent v18 v110)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v35)
  (adjacent v20 v43)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v74)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v94)
  (adjacent v28 v29)
  (adjacent v28 v113)
  (adjacent v29 v30)
  (adjacent v29 v46)
  (adjacent v30 v31)
  (adjacent v30 v42)
  (adjacent v30 v48)
  (adjacent v30 v112)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v139)
  (adjacent v34 v35)
  (adjacent v34 v148)
  (adjacent v35 v69)
  (adjacent v36 v70)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v80)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v97)
  (adjacent v41 v42)
  (adjacent v41 v109)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v47 v65)
  (adjacent v48 v150)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v60)
  (adjacent v54 v146)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v93)
  (adjacent v58 v59)
  (adjacent v58 v66)
  (adjacent v58 v119)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v151)
  (adjacent v62 v63)
  (adjacent v62 v88)
  (adjacent v63 v64)
  (adjacent v63 v104)
  (adjacent v64 v65)
  (adjacent v67 v68)
  (adjacent v67 v82)
  (adjacent v68 v69)
  (adjacent v68 v117)
  (adjacent v69 v81)
  (adjacent v69 v120)
  (adjacent v70 v71)
  (adjacent v70 v75)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v116)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v103)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v133)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v94 v98)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v130)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v123)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v129)
  (adjacent v121 v132)
  (adjacent v122 v123)
  (adjacent v123 v157)
  (adjacent v124 v125)
  (adjacent v124 v149)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v130 v140)
  (adjacent v130 v147)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v145)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
 )
 (:goal
  (and
  (at r29 v0)
  (at r62 v1)
  (at r129 v2)
  (at r116 v3)
  (at r53 v4)
  (at r106 v5)
  (at r123 v6)
  (at r100 v7)
  (at r48 v8)
  (at r113 v9)
  (at r18 v10)
  (at r6 v11)
  (at r69 v12)
  (at r147 v13)
  (at r19 v14)
  (at r91 v15)
  (at r103 v16)
  (at r145 v17)
  (at r43 v18)
  (at r130 v19)
  (at r50 v20)
  (at r37 v21)
  (at r156 v22)
  (at r148 v23)
  (free v24)
  (at r86 v25)
  (at r61 v26)
  (at r136 v27)
  (at r119 v28)
  (at r57 v29)
  (at r146 v30)
  (at r55 v31)
  (at r58 v32)
  (at r27 v33)
  (at r34 v34)
  (at r25 v35)
  (at r31 v36)
  (at r93 v37)
  (at r23 v38)
  (at r52 v39)
  (free v40)
  (at r74 v41)
  (at r99 v42)
  (at r90 v43)
  (at r60 v44)
  (at r118 v45)
  (at r122 v46)
  (at r4 v47)
  (at r144 v48)
  (at r21 v49)
  (at r120 v50)
  (at r107 v51)
  (at r30 v52)
  (at r11 v53)
  (at r127 v54)
  (at r141 v55)
  (at r5 v56)
  (at r89 v57)
  (at r94 v58)
  (at r137 v59)
  (at r77 v60)
  (at r80 v61)
  (at r128 v62)
  (at r140 v63)
  (at r143 v64)
  (at r12 v65)
  (at r132 v66)
  (at r66 v67)
  (at r142 v68)
  (at r124 v69)
  (at r97 v70)
  (at r33 v71)
  (at r65 v72)
  (at r36 v73)
  (at r153 v74)
  (at r115 v75)
  (at r26 v76)
  (at r13 v77)
  (at r28 v78)
  (at r111 v79)
  (at r20 v80)
  (at r95 v81)
  (at r51 v82)
  (at r102 v83)
  (at r39 v84)
  (at r7 v85)
  (at r125 v86)
  (at r157 v87)
  (at r110 v88)
  (at r114 v89)
  (at r155 v90)
  (at r10 v91)
  (at r75 v92)
  (at r152 v93)
  (at r64 v94)
  (at r139 v95)
  (at r82 v96)
  (at r105 v97)
  (at r121 v98)
  (at r3 v99)
  (at r117 v100)
  (at r2 v101)
  (at r9 v102)
  (at r108 v103)
  (at r96 v104)
  (at r73 v105)
  (at r154 v106)
  (at r81 v107)
  (at r32 v108)
  (at r79 v109)
  (at r71 v110)
  (at r56 v111)
  (at r149 v112)
  (at r42 v113)
  (at r78 v114)
  (at r35 v115)
  (at r98 v116)
  (at r17 v117)
  (at r72 v118)
  (at r49 v119)
  (at r88 v120)
  (at r101 v121)
  (at r138 v122)
  (at r8 v123)
  (at r47 v124)
  (at r131 v125)
  (at r15 v126)
  (at r16 v127)
  (at r135 v128)
  (at r134 v129)
  (at r133 v130)
  (at r76 v131)
  (at r151 v132)
  (at r68 v133)
  (at r85 v134)
  (at r40 v135)
  (at r67 v136)
  (at r92 v137)
  (at r83 v138)
  (at r150 v139)
  (at r14 v140)
  (at r112 v141)
  (at r24 v142)
  (at r44 v143)
  (at r45 v144)
  (at r22 v145)
  (at r38 v146)
  (at r126 v147)
  (at r41 v148)
  (at r104 v149)
  (at r63 v150)
  (at r70 v151)
  (at r54 v152)
  (at r59 v153)
  (at r109 v154)
  (at r87 v155)
  (at r46 v156)
  (at r84 v157)
  )
 )
)