(define (problem multirobot_43_2_c0)
 (:domain multirobot)
 (:objects
  v0 r123
  v1 r148
  v2 r49
  v3 r107
  v4 r126
  v5 r62
  v6 r24
  v7 r64
  v8 r9
  v9 r141
  v10 r103
  v11 r154
  v12 r119
  v13 r48
  v14 r26
  v15 r109
  v16 r97
  v17 r138
  v18 r90
  v19
  v20 r133
  v21 r61
  v22 r73
  v23 r54
  v24 r87
  v25 r72
  v26 r50
  v27 r84
  v28 r132
  v29 r129
  v30 r118
  v31 r102
  v32 r77
  v33 r37
  v34 r112
  v35 r124
  v36 r93
  v37 r122
  v38 r108
  v39 r136
  v40 r155
  v41 r117
  v42 r58
  v43 r66
  v44 r116
  v45 r82
  v46 r14
  v47 r100
  v48 r81
  v49 r142
  v50
  v51 r6
  v52 r47
  v53 r30
  v54 r29
  v55 r11
  v56 r23
  v57 r127
  v58 r86
  v59 r20
  v60 r131
  v61 r44
  v62 r33
  v63 r70
  v64 r35
  v65 r146
  v66 r114
  v67 r95
  v68 r46
  v69 r60
  v70 r128
  v71 r65
  v72 r12
  v73 r5
  v74 r41
  v75 r74
  v76 r152
  v77 r68
  v78 r32
  v79 r145
  v80 r63
  v81 r158
  v82 r121
  v83 r42
  v84 r45
  v85 r101
  v86 r71
  v87 r98
  v88 r144
  v89 r51
  v90 r134
  v91 r150
  v92 r57
  v93 r36
  v94 r17
  v95 r53
  v96 r106
  v97 r104
  v98 r157
  v99 r21
  v100 r135
  v101 r28
  v102 r79
  v103 r120
  v104 r18
  v105 r27
  v106 r83
  v107 r125
  v108 r111
  v109 r22
  v110 r92
  v111 r85
  v112 r89
  v113 r67
  v114 r156
  v115 r59
  v116 r94
  v117 r149
  v118 r147
  v119 r115
  v120 r43
  v121 r15
  v122 r7
  v123 r69
  v124 r55
  v125 r31
  v126 r4
  v127 r19
  v128 r56
  v129 r16
  v130 r137
  v131 r38
  v132 r75
  v133 r40
  v134 r96
  v135 r2
  v136 r80
  v137 r52
  v138 r151
  v139 r139
  v140 r143
  v141 r25
  v142 r99
  v143 r78
  v144 r39
  v145 r159
  v146 r88
  v147 r113
  v148 r110
  v149 r13
  v150 r153
  v151 r91
  v152 r105
  v153 r140
  v154 r130
  v155 r8
  v156 r3
  v157 r10
  v158 r34
  v159 r76
 )
 (:init
  (at r123 v0)
  (at r148 v1)
  (at r49 v2)
  (at r107 v3)
  (at r126 v4)
  (at r62 v5)
  (at r24 v6)
  (at r64 v7)
  (at r9 v8)
  (at r141 v9)
  (at r103 v10)
  (at r154 v11)
  (at r119 v12)
  (at r48 v13)
  (at r26 v14)
  (at r109 v15)
  (at r97 v16)
  (at r138 v17)
  (at r90 v18)
  (free v19)
  (at r133 v20)
  (at r61 v21)
  (at r73 v22)
  (at r54 v23)
  (at r87 v24)
  (at r72 v25)
  (at r50 v26)
  (at r84 v27)
  (at r132 v28)
  (at r129 v29)
  (at r118 v30)
  (at r102 v31)
  (at r77 v32)
  (at r37 v33)
  (at r112 v34)
  (at r124 v35)
  (at r93 v36)
  (at r122 v37)
  (at r108 v38)
  (at r136 v39)
  (at r155 v40)
  (at r117 v41)
  (at r58 v42)
  (at r66 v43)
  (at r116 v44)
  (at r82 v45)
  (at r14 v46)
  (at r100 v47)
  (at r81 v48)
  (at r142 v49)
  (free v50)
  (at r6 v51)
  (at r47 v52)
  (at r30 v53)
  (at r29 v54)
  (at r11 v55)
  (at r23 v56)
  (at r127 v57)
  (at r86 v58)
  (at r20 v59)
  (at r131 v60)
  (at r44 v61)
  (at r33 v62)
  (at r70 v63)
  (at r35 v64)
  (at r146 v65)
  (at r114 v66)
  (at r95 v67)
  (at r46 v68)
  (at r60 v69)
  (at r128 v70)
  (at r65 v71)
  (at r12 v72)
  (at r5 v73)
  (at r41 v74)
  (at r74 v75)
  (at r152 v76)
  (at r68 v77)
  (at r32 v78)
  (at r145 v79)
  (at r63 v80)
  (at r158 v81)
  (at r121 v82)
  (at r42 v83)
  (at r45 v84)
  (at r101 v85)
  (at r71 v86)
  (at r98 v87)
  (at r144 v88)
  (at r51 v89)
  (at r134 v90)
  (at r150 v91)
  (at r57 v92)
  (at r36 v93)
  (at r17 v94)
  (at r53 v95)
  (at r106 v96)
  (at r104 v97)
  (at r157 v98)
  (at r21 v99)
  (at r135 v100)
  (at r28 v101)
  (at r79 v102)
  (at r120 v103)
  (at r18 v104)
  (at r27 v105)
  (at r83 v106)
  (at r125 v107)
  (at r111 v108)
  (at r22 v109)
  (at r92 v110)
  (at r85 v111)
  (at r89 v112)
  (at r67 v113)
  (at r156 v114)
  (at r59 v115)
  (at r94 v116)
  (at r149 v117)
  (at r147 v118)
  (at r115 v119)
  (at r43 v120)
  (at r15 v121)
  (at r7 v122)
  (at r69 v123)
  (at r55 v124)
  (at r31 v125)
  (at r4 v126)
  (at r19 v127)
  (at r56 v128)
  (at r16 v129)
  (at r137 v130)
  (at r38 v131)
  (at r75 v132)
  (at r40 v133)
  (at r96 v134)
  (at r2 v135)
  (at r80 v136)
  (at r52 v137)
  (at r151 v138)
  (at r139 v139)
  (at r143 v140)
  (at r25 v141)
  (at r99 v142)
  (at r78 v143)
  (at r39 v144)
  (at r159 v145)
  (at r88 v146)
  (at r113 v147)
  (at r110 v148)
  (at r13 v149)
  (at r153 v150)
  (at r91 v151)
  (at r105 v152)
  (at r140 v153)
  (at r130 v154)
  (at r8 v155)
  (at r3 v156)
  (at r10 v157)
  (at r34 v158)
  (at r76 v159)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v18)
  (adjacent v0 v64)
  (adjacent v0 v114)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v15)
  (adjacent v2 v53)
  (adjacent v3 v4)
  (adjacent v3 v16)
  (adjacent v3 v48)
  (adjacent v4 v58)
  (adjacent v5 v6)
  (adjacent v5 v65)
  (adjacent v6 v7)
  (adjacent v6 v120)
  (adjacent v7 v8)
  (adjacent v7 v27)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v25)
  (adjacent v9 v10)
  (adjacent v9 v19)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v18)
  (adjacent v13 v26)
  (adjacent v14 v15)
  (adjacent v14 v41)
  (adjacent v14 v82)
  (adjacent v15 v17)
  (adjacent v15 v27)
  (adjacent v15 v66)
  (adjacent v16 v17)
  (adjacent v16 v35)
  (adjacent v16 v81)
  (adjacent v17 v28)
  (adjacent v17 v31)
  (adjacent v18 v43)
  (adjacent v18 v97)
  (adjacent v19 v20)
  (adjacent v19 v57)
  (adjacent v20 v21)
  (adjacent v20 v74)
  (adjacent v21 v22)
  (adjacent v21 v30)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v88)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v42)
  (adjacent v25 v68)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v109)
  (adjacent v30 v146)
  (adjacent v31 v32)
  (adjacent v31 v64)
  (adjacent v31 v156)
  (adjacent v32 v33)
  (adjacent v32 v36)
  (adjacent v32 v63)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v78)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v119)
  (adjacent v38 v135)
  (adjacent v39 v40)
  (adjacent v40 v49)
  (adjacent v40 v54)
  (adjacent v40 v70)
  (adjacent v41 v42)
  (adjacent v42 v66)
  (adjacent v42 v79)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v103)
  (adjacent v46 v131)
  (adjacent v47 v48)
  (adjacent v47 v60)
  (adjacent v49 v50)
  (adjacent v49 v67)
  (adjacent v50 v51)
  (adjacent v50 v123)
  (adjacent v50 v140)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v97)
  (adjacent v52 v98)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v124)
  (adjacent v56 v57)
  (adjacent v56 v80)
  (adjacent v56 v89)
  (adjacent v56 v141)
  (adjacent v58 v59)
  (adjacent v58 v61)
  (adjacent v58 v65)
  (adjacent v58 v104)
  (adjacent v59 v60)
  (adjacent v59 v67)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v65 v151)
  (adjacent v66 v127)
  (adjacent v67 v69)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v75)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v128)
  (adjacent v73 v159)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v96)
  (adjacent v80 v81)
  (adjacent v80 v95)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v96)
  (adjacent v87 v108)
  (adjacent v89 v90)
  (adjacent v89 v134)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v115)
  (adjacent v98 v99)
  (adjacent v98 v136)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v157)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v137)
  (adjacent v120 v121)
  (adjacent v120 v132)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v128 v147)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v152)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
 )
 (:goal
  (and
  (at r107 v0)
  (at r156 v1)
  (at r138 v2)
  (at r117 v3)
  (at r99 v4)
  (at r136 v5)
  (at r91 v6)
  (at r8 v7)
  (at r33 v8)
  (at r3 v9)
  (at r56 v10)
  (at r142 v11)
  (at r63 v12)
  (at r78 v13)
  (at r119 v14)
  (at r157 v15)
  (at r6 v16)
  (at r152 v17)
  (at r41 v18)
  (at r16 v19)
  (at r83 v20)
  (at r118 v21)
  (at r12 v22)
  (at r29 v23)
  (at r110 v24)
  (at r122 v25)
  (at r95 v26)
  (free v27)
  (at r62 v28)
  (at r38 v29)
  (at r113 v30)
  (at r127 v31)
  (at r153 v32)
  (at r57 v33)
  (at r82 v34)
  (at r139 v35)
  (at r72 v36)
  (at r141 v37)
  (at r148 v38)
  (at r88 v39)
  (at r7 v40)
  (at r74 v41)
  (at r70 v42)
  (at r27 v43)
  (at r116 v44)
  (at r149 v45)
  (at r92 v46)
  (at r93 v47)
  (at r103 v48)
  (at r71 v49)
  (at r9 v50)
  (at r37 v51)
  (at r87 v52)
  (at r86 v53)
  (at r61 v54)
  (at r45 v55)
  (at r40 v56)
  (at r158 v57)
  (at r20 v58)
  (at r123 v59)
  (at r73 v60)
  (at r98 v61)
  (at r101 v62)
  (at r48 v63)
  (at r46 v64)
  (at r140 v65)
  (at r134 v66)
  (at r135 v67)
  (at r21 v68)
  (at r77 v69)
  (at r108 v70)
  (at r11 v71)
  (at r22 v72)
  (at r129 v73)
  (at r52 v74)
  (at r76 v75)
  (at r10 v76)
  (at r49 v77)
  (at r34 v78)
  (at r32 v79)
  (at r132 v80)
  (at r155 v81)
  (at r5 v82)
  (at r24 v83)
  (at r18 v84)
  (at r69 v85)
  (at r15 v86)
  (at r80 v87)
  (at r75 v88)
  (at r59 v89)
  (at r133 v90)
  (at r30 v91)
  (at r50 v92)
  (at r65 v93)
  (at r36 v94)
  (at r151 v95)
  (at r154 v96)
  (at r66 v97)
  (at r81 v98)
  (at r105 v99)
  (at r42 v100)
  (at r143 v101)
  (at r31 v102)
  (at r96 v103)
  (at r147 v104)
  (at r17 v105)
  (at r67 v106)
  (at r35 v107)
  (at r150 v108)
  (at r79 v109)
  (at r112 v110)
  (at r14 v111)
  (at r19 v112)
  (at r47 v113)
  (at r124 v114)
  (at r64 v115)
  (at r4 v116)
  (at r84 v117)
  (at r120 v118)
  (at r25 v119)
  (at r26 v120)
  (at r53 v121)
  (at r23 v122)
  (at r137 v123)
  (at r114 v124)
  (at r104 v125)
  (at r121 v126)
  (at r51 v127)
  (at r97 v128)
  (at r146 v129)
  (at r2 v130)
  (at r54 v131)
  (at r94 v132)
  (at r125 v133)
  (at r145 v134)
  (at r128 v135)
  (at r115 v136)
  (at r102 v137)
  (at r60 v138)
  (at r106 v139)
  (at r85 v140)
  (at r89 v141)
  (at r126 v142)
  (at r68 v143)
  (at r28 v144)
  (at r55 v145)
  (at r58 v146)
  (at r109 v147)
  (at r130 v148)
  (at r100 v149)
  (at r159 v150)
  (at r13 v151)
  (at r131 v152)
  (at r90 v153)
  (at r44 v154)
  (free v155)
  (at r144 v156)
  (at r111 v157)
  (at r43 v158)
  (at r39 v159)
  )
 )
)