(define (problem multirobot_43_2_c1)
 (:domain multirobot)
 (:objects
  v0 r116
  v1 r14
  v2 r143
  v3 r68
  v4 r108
  v5 r106
  v6 r95
  v7 r66
  v8 r44
  v9 r158
  v10 r58
  v11 r26
  v12 r85
  v13 r39
  v14 r34
  v15 r125
  v16 r124
  v17 r57
  v18 r129
  v19 r50
  v20 r81
  v21 r53
  v22 r86
  v23 r32
  v24 r159
  v25 r132
  v26 r20
  v27 r91
  v28 r59
  v29 r31
  v30 r16
  v31 r141
  v32 r161
  v33 r8
  v34 r172
  v35 r139
  v36 r61
  v37 r18
  v38 r70
  v39 r75
  v40 r38
  v41 r153
  v42 r52
  v43 r130
  v44 r6
  v45 r62
  v46 r107
  v47 r113
  v48 r37
  v49 r126
  v50 r112
  v51 r151
  v52 r77
  v53 r84
  v54 r55
  v55 r3
  v56 r121
  v57
  v58 r154
  v59 r167
  v60 r83
  v61
  v62 r79
  v63 r25
  v64 r146
  v65 r67
  v66 r122
  v67 r131
  v68 r88
  v69 r56
  v70 r157
  v71 r29
  v72 r164
  v73 r140
  v74 r166
  v75 r135
  v76 r43
  v77 r173
  v78 r98
  v79 r35
  v80 r45
  v81 r174
  v82 r104
  v83 r2
  v84 r74
  v85 r15
  v86 r169
  v87 r165
  v88 r90
  v89 r11
  v90 r118
  v91 r102
  v92 r33
  v93 r136
  v94 r22
  v95 r82
  v96 r42
  v97 r103
  v98 r4
  v99 r9
  v100 r110
  v101 r156
  v102 r40
  v103 r149
  v104 r152
  v105 r46
  v106 r168
  v107 r99
  v108 r111
  v109 r49
  v110 r123
  v111 r144
  v112 r114
  v113 r163
  v114 r155
  v115 r142
  v116 r94
  v117 r65
  v118 r63
  v119 r133
  v120 r160
  v121 r101
  v122 r117
  v123 r119
  v124 r150
  v125 r97
  v126 r96
  v127 r87
  v128 r5
  v129 r109
  v130 r171
  v131 r36
  v132 r134
  v133 r120
  v134 r105
  v135 r7
  v136 r170
  v137 r138
  v138 r13
  v139 r60
  v140 r41
  v141 r127
  v142 r72
  v143 r19
  v144 r78
  v145 r48
  v146 r145
  v147 r51
  v148 r12
  v149 r115
  v150 r30
  v151 r137
  v152 r89
  v153 r10
  v154 r80
  v155 r69
  v156 r148
  v157 r92
  v158 r128
  v159 r76
  v160 r162
  v161 r100
  v162 r24
  v163 r54
  v164 r21
  v165 r47
  v166 r93
  v167 r17
  v168 r27
  v169 r73
  v170 r71
  v171 r28
  v172 r64
  v173 r147
  v174 r23
 )
 (:init
  (at r116 v0)
  (at r14 v1)
  (at r143 v2)
  (at r68 v3)
  (at r108 v4)
  (at r106 v5)
  (at r95 v6)
  (at r66 v7)
  (at r44 v8)
  (at r158 v9)
  (at r58 v10)
  (at r26 v11)
  (at r85 v12)
  (at r39 v13)
  (at r34 v14)
  (at r125 v15)
  (at r124 v16)
  (at r57 v17)
  (at r129 v18)
  (at r50 v19)
  (at r81 v20)
  (at r53 v21)
  (at r86 v22)
  (at r32 v23)
  (at r159 v24)
  (at r132 v25)
  (at r20 v26)
  (at r91 v27)
  (at r59 v28)
  (at r31 v29)
  (at r16 v30)
  (at r141 v31)
  (at r161 v32)
  (at r8 v33)
  (at r172 v34)
  (at r139 v35)
  (at r61 v36)
  (at r18 v37)
  (at r70 v38)
  (at r75 v39)
  (at r38 v40)
  (at r153 v41)
  (at r52 v42)
  (at r130 v43)
  (at r6 v44)
  (at r62 v45)
  (at r107 v46)
  (at r113 v47)
  (at r37 v48)
  (at r126 v49)
  (at r112 v50)
  (at r151 v51)
  (at r77 v52)
  (at r84 v53)
  (at r55 v54)
  (at r3 v55)
  (at r121 v56)
  (free v57)
  (at r154 v58)
  (at r167 v59)
  (at r83 v60)
  (free v61)
  (at r79 v62)
  (at r25 v63)
  (at r146 v64)
  (at r67 v65)
  (at r122 v66)
  (at r131 v67)
  (at r88 v68)
  (at r56 v69)
  (at r157 v70)
  (at r29 v71)
  (at r164 v72)
  (at r140 v73)
  (at r166 v74)
  (at r135 v75)
  (at r43 v76)
  (at r173 v77)
  (at r98 v78)
  (at r35 v79)
  (at r45 v80)
  (at r174 v81)
  (at r104 v82)
  (at r2 v83)
  (at r74 v84)
  (at r15 v85)
  (at r169 v86)
  (at r165 v87)
  (at r90 v88)
  (at r11 v89)
  (at r118 v90)
  (at r102 v91)
  (at r33 v92)
  (at r136 v93)
  (at r22 v94)
  (at r82 v95)
  (at r42 v96)
  (at r103 v97)
  (at r4 v98)
  (at r9 v99)
  (at r110 v100)
  (at r156 v101)
  (at r40 v102)
  (at r149 v103)
  (at r152 v104)
  (at r46 v105)
  (at r168 v106)
  (at r99 v107)
  (at r111 v108)
  (at r49 v109)
  (at r123 v110)
  (at r144 v111)
  (at r114 v112)
  (at r163 v113)
  (at r155 v114)
  (at r142 v115)
  (at r94 v116)
  (at r65 v117)
  (at r63 v118)
  (at r133 v119)
  (at r160 v120)
  (at r101 v121)
  (at r117 v122)
  (at r119 v123)
  (at r150 v124)
  (at r97 v125)
  (at r96 v126)
  (at r87 v127)
  (at r5 v128)
  (at r109 v129)
  (at r171 v130)
  (at r36 v131)
  (at r134 v132)
  (at r120 v133)
  (at r105 v134)
  (at r7 v135)
  (at r170 v136)
  (at r138 v137)
  (at r13 v138)
  (at r60 v139)
  (at r41 v140)
  (at r127 v141)
  (at r72 v142)
  (at r19 v143)
  (at r78 v144)
  (at r48 v145)
  (at r145 v146)
  (at r51 v147)
  (at r12 v148)
  (at r115 v149)
  (at r30 v150)
  (at r137 v151)
  (at r89 v152)
  (at r10 v153)
  (at r80 v154)
  (at r69 v155)
  (at r148 v156)
  (at r92 v157)
  (at r128 v158)
  (at r76 v159)
  (at r162 v160)
  (at r100 v161)
  (at r24 v162)
  (at r54 v163)
  (at r21 v164)
  (at r47 v165)
  (at r93 v166)
  (at r17 v167)
  (at r27 v168)
  (at r73 v169)
  (at r71 v170)
  (at r28 v171)
  (at r64 v172)
  (at r147 v173)
  (at r23 v174)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v23)
  (adjacent v0 v109)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v11)
  (adjacent v1 v81)
  (adjacent v1 v159)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v10)
  (adjacent v2 v16)
  (adjacent v2 v21)
  (adjacent v2 v22)
  (adjacent v3 v4)
  (adjacent v3 v9)
  (adjacent v3 v26)
  (adjacent v3 v33)
  (adjacent v3 v45)
  (adjacent v3 v68)
  (adjacent v4 v8)
  (adjacent v5 v6)
  (adjacent v5 v38)
  (adjacent v5 v126)
  (adjacent v6 v7)
  (adjacent v6 v25)
  (adjacent v6 v173)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v56)
  (adjacent v8 v22)
  (adjacent v9 v27)
  (adjacent v10 v49)
  (adjacent v10 v58)
  (adjacent v10 v75)
  (adjacent v10 v121)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v152)
  (adjacent v14 v15)
  (adjacent v14 v26)
  (adjacent v14 v158)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v15 v174)
  (adjacent v16 v108)
  (adjacent v17 v18)
  (adjacent v17 v59)
  (adjacent v17 v132)
  (adjacent v18 v19)
  (adjacent v18 v69)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v58)
  (adjacent v21 v34)
  (adjacent v22 v50)
  (adjacent v23 v24)
  (adjacent v23 v92)
  (adjacent v24 v25)
  (adjacent v24 v39)
  (adjacent v24 v91)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v133)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v131)
  (adjacent v31 v32)
  (adjacent v31 v57)
  (adjacent v32 v33)
  (adjacent v32 v87)
  (adjacent v33 v65)
  (adjacent v34 v35)
  (adjacent v34 v44)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v82)
  (adjacent v37 v38)
  (adjacent v37 v90)
  (adjacent v39 v40)
  (adjacent v39 v165)
  (adjacent v40 v41)
  (adjacent v40 v64)
  (adjacent v40 v127)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v74)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v115)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v57)
  (adjacent v52 v142)
  (adjacent v53 v54)
  (adjacent v53 v91)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v58 v135)
  (adjacent v59 v60)
  (adjacent v59 v99)
  (adjacent v59 v167)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v168)
  (adjacent v63 v64)
  (adjacent v64 v112)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v100)
  (adjacent v69 v146)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v88)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v75 v113)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v101)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v98)
  (adjacent v82 v83)
  (adjacent v82 v166)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v108)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v128)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v159)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v107)
  (adjacent v98 v116)
  (adjacent v99 v100)
  (adjacent v100 v132)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v109 v110)
  (adjacent v109 v122)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v153)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v116 v129)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v122 v136)
  (adjacent v122 v172)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v143)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v160)
  (adjacent v136 v137)
  (adjacent v136 v145)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
 )
 (:goal
  (and
  (at r165 v0)
  (at r106 v1)
  (at r161 v2)
  (at r134 v3)
  (at r83 v4)
  (at r41 v5)
  (at r128 v6)
  (at r121 v7)
  (at r131 v8)
  (at r30 v9)
  (at r18 v10)
  (at r20 v11)
  (at r65 v12)
  (at r125 v13)
  (at r77 v14)
  (at r75 v15)
  (at r94 v16)
  (at r139 v17)
  (at r12 v18)
  (at r163 v19)
  (at r89 v20)
  (at r119 v21)
  (at r172 v22)
  (at r44 v23)
  (at r86 v24)
  (at r85 v25)
  (at r50 v26)
  (at r152 v27)
  (at r9 v28)
  (at r84 v29)
  (at r145 v30)
  (at r87 v31)
  (at r157 v32)
  (at r35 v33)
  (at r25 v34)
  (at r96 v35)
  (at r124 v36)
  (at r126 v37)
  (at r17 v38)
  (at r171 v39)
  (at r132 v40)
  (at r110 v41)
  (at r92 v42)
  (at r14 v43)
  (at r2 v44)
  (at r113 v45)
  (at r147 v46)
  (at r73 v47)
  (at r136 v48)
  (at r22 v49)
  (at r170 v50)
  (at r166 v51)
  (at r53 v52)
  (at r104 v53)
  (at r57 v54)
  (at r148 v55)
  (at r52 v56)
  (at r71 v57)
  (at r4 v58)
  (at r72 v59)
  (at r42 v60)
  (at r143 v61)
  (at r154 v62)
  (at r97 v63)
  (at r158 v64)
  (at r127 v65)
  (at r61 v66)
  (at r109 v67)
  (at r138 v68)
  (at r164 v69)
  (at r107 v70)
  (at r108 v71)
  (at r46 v72)
  (at r55 v73)
  (at r48 v74)
  (at r91 v75)
  (at r69 v76)
  (at r156 v77)
  (at r141 v78)
  (at r112 v79)
  (at r26 v80)
  (at r81 v81)
  (at r39 v82)
  (free v83)
  (at r79 v84)
  (at r100 v85)
  (at r151 v86)
  (at r95 v87)
  (at r76 v88)
  (at r130 v89)
  (at r159 v90)
  (at r137 v91)
  (at r67 v92)
  (at r51 v93)
  (at r103 v94)
  (at r120 v95)
  (at r16 v96)
  (at r64 v97)
  (at r7 v98)
  (at r36 v99)
  (at r117 v100)
  (at r49 v101)
  (at r123 v102)
  (at r62 v103)
  (at r21 v104)
  (at r8 v105)
  (at r11 v106)
  (at r31 v107)
  (at r111 v108)
  (at r13 v109)
  (at r146 v110)
  (at r101 v111)
  (at r174 v112)
  (at r45 v113)
  (at r10 v114)
  (at r6 v115)
  (at r70 v116)
  (at r60 v117)
  (at r29 v118)
  (at r47 v119)
  (at r59 v120)
  (at r169 v121)
  (at r24 v122)
  (at r149 v123)
  (at r58 v124)
  (at r167 v125)
  (at r142 v126)
  (at r102 v127)
  (at r88 v128)
  (at r144 v129)
  (at r37 v130)
  (at r5 v131)
  (at r54 v132)
  (at r80 v133)
  (at r153 v134)
  (at r135 v135)
  (at r98 v136)
  (at r66 v137)
  (at r160 v138)
  (at r133 v139)
  (at r68 v140)
  (at r155 v141)
  (at r122 v142)
  (at r33 v143)
  (at r118 v144)
  (at r140 v145)
  (at r78 v146)
  (at r56 v147)
  (at r93 v148)
  (at r38 v149)
  (at r74 v150)
  (at r27 v151)
  (at r105 v152)
  (at r40 v153)
  (at r19 v154)
  (at r32 v155)
  (at r15 v156)
  (at r173 v157)
  (at r162 v158)
  (at r34 v159)
  (at r168 v160)
  (at r114 v161)
  (free v162)
  (at r99 v163)
  (at r23 v164)
  (at r116 v165)
  (at r150 v166)
  (at r115 v167)
  (at r63 v168)
  (at r43 v169)
  (at r82 v170)
  (at r129 v171)
  (at r28 v172)
  (at r90 v173)
  (at r3 v174)
  )
 )
)