(define (problem multirobot_43_2_c2)
 (:domain multirobot)
 (:objects
  v0 r62
  v1 r105
  v2 r47
  v3 r103
  v4 r128
  v5 r37
  v6 r160
  v7 r91
  v8 r114
  v9 r38
  v10 r102
  v11 r41
  v12 r5
  v13 r129
  v14 r84
  v15 r124
  v16 r107
  v17 r137
  v18 r70
  v19 r51
  v20 r131
  v21 r36
  v22 r64
  v23 r93
  v24 r127
  v25 r44
  v26 r42
  v27 r86
  v28 r52
  v29 r4
  v30 r17
  v31 r123
  v32 r57
  v33 r92
  v34 r18
  v35 r136
  v36 r48
  v37 r25
  v38 r151
  v39 r121
  v40 r143
  v41 r135
  v42 r14
  v43 r13
  v44 r97
  v45 r58
  v46 r68
  v47 r141
  v48 r67
  v49 r74
  v50 r23
  v51 r69
  v52 r100
  v53 r11
  v54 r78
  v55 r2
  v56 r65
  v57 r116
  v58 r119
  v59 r98
  v60 r29
  v61 r71
  v62 r80
  v63 r144
  v64 r83
  v65 r53
  v66 r34
  v67 r27
  v68 r49
  v69 r19
  v70 r82
  v71 r46
  v72 r3
  v73 r113
  v74 r126
  v75 r88
  v76 r56
  v77 r120
  v78 r66
  v79 r76
  v80 r112
  v81 r12
  v82 r77
  v83 r73
  v84 r142
  v85 r50
  v86 r96
  v87 r117
  v88 r156
  v89 r115
  v90 r157
  v91 r158
  v92 r85
  v93 r94
  v94 r30
  v95 r122
  v96 r95
  v97 r152
  v98 r39
  v99 r148
  v100 r132
  v101 r22
  v102 r26
  v103 r118
  v104 r28
  v105 r159
  v106 r153
  v107 r63
  v108 r15
  v109 r90
  v110 r140
  v111 r146
  v112 r60
  v113 r149
  v114 r33
  v115 r75
  v116 r110
  v117 r79
  v118 r133
  v119 r99
  v120 r72
  v121 r43
  v122 r21
  v123 r104
  v124 r150
  v125 r87
  v126 r81
  v127 r45
  v128 r138
  v129 r55
  v130
  v131 r111
  v132 r155
  v133 r108
  v134 r10
  v135 r40
  v136 r6
  v137 r89
  v138 r9
  v139 r59
  v140 r134
  v141 r154
  v142 r7
  v143 r31
  v144 r147
  v145 r35
  v146 r24
  v147 r32
  v148 r61
  v149 r130
  v150 r145
  v151 r139
  v152 r101
  v153 r20
  v154 r125
  v155
  v156 r16
  v157 r8
  v158 r109
  v159 r54
  v160 r106
 )
 (:init
  (at r62 v0)
  (at r105 v1)
  (at r47 v2)
  (at r103 v3)
  (at r128 v4)
  (at r37 v5)
  (at r160 v6)
  (at r91 v7)
  (at r114 v8)
  (at r38 v9)
  (at r102 v10)
  (at r41 v11)
  (at r5 v12)
  (at r129 v13)
  (at r84 v14)
  (at r124 v15)
  (at r107 v16)
  (at r137 v17)
  (at r70 v18)
  (at r51 v19)
  (at r131 v20)
  (at r36 v21)
  (at r64 v22)
  (at r93 v23)
  (at r127 v24)
  (at r44 v25)
  (at r42 v26)
  (at r86 v27)
  (at r52 v28)
  (at r4 v29)
  (at r17 v30)
  (at r123 v31)
  (at r57 v32)
  (at r92 v33)
  (at r18 v34)
  (at r136 v35)
  (at r48 v36)
  (at r25 v37)
  (at r151 v38)
  (at r121 v39)
  (at r143 v40)
  (at r135 v41)
  (at r14 v42)
  (at r13 v43)
  (at r97 v44)
  (at r58 v45)
  (at r68 v46)
  (at r141 v47)
  (at r67 v48)
  (at r74 v49)
  (at r23 v50)
  (at r69 v51)
  (at r100 v52)
  (at r11 v53)
  (at r78 v54)
  (at r2 v55)
  (at r65 v56)
  (at r116 v57)
  (at r119 v58)
  (at r98 v59)
  (at r29 v60)
  (at r71 v61)
  (at r80 v62)
  (at r144 v63)
  (at r83 v64)
  (at r53 v65)
  (at r34 v66)
  (at r27 v67)
  (at r49 v68)
  (at r19 v69)
  (at r82 v70)
  (at r46 v71)
  (at r3 v72)
  (at r113 v73)
  (at r126 v74)
  (at r88 v75)
  (at r56 v76)
  (at r120 v77)
  (at r66 v78)
  (at r76 v79)
  (at r112 v80)
  (at r12 v81)
  (at r77 v82)
  (at r73 v83)
  (at r142 v84)
  (at r50 v85)
  (at r96 v86)
  (at r117 v87)
  (at r156 v88)
  (at r115 v89)
  (at r157 v90)
  (at r158 v91)
  (at r85 v92)
  (at r94 v93)
  (at r30 v94)
  (at r122 v95)
  (at r95 v96)
  (at r152 v97)
  (at r39 v98)
  (at r148 v99)
  (at r132 v100)
  (at r22 v101)
  (at r26 v102)
  (at r118 v103)
  (at r28 v104)
  (at r159 v105)
  (at r153 v106)
  (at r63 v107)
  (at r15 v108)
  (at r90 v109)
  (at r140 v110)
  (at r146 v111)
  (at r60 v112)
  (at r149 v113)
  (at r33 v114)
  (at r75 v115)
  (at r110 v116)
  (at r79 v117)
  (at r133 v118)
  (at r99 v119)
  (at r72 v120)
  (at r43 v121)
  (at r21 v122)
  (at r104 v123)
  (at r150 v124)
  (at r87 v125)
  (at r81 v126)
  (at r45 v127)
  (at r138 v128)
  (at r55 v129)
  (free v130)
  (at r111 v131)
  (at r155 v132)
  (at r108 v133)
  (at r10 v134)
  (at r40 v135)
  (at r6 v136)
  (at r89 v137)
  (at r9 v138)
  (at r59 v139)
  (at r134 v140)
  (at r154 v141)
  (at r7 v142)
  (at r31 v143)
  (at r147 v144)
  (at r35 v145)
  (at r24 v146)
  (at r32 v147)
  (at r61 v148)
  (at r130 v149)
  (at r145 v150)
  (at r139 v151)
  (at r101 v152)
  (at r20 v153)
  (at r125 v154)
  (free v155)
  (at r16 v156)
  (at r8 v157)
  (at r109 v158)
  (at r54 v159)
  (at r106 v160)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v20)
  (adjacent v0 v80)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v14)
  (adjacent v1 v33)
  (adjacent v1 v67)
  (adjacent v1 v82)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v89)
  (adjacent v2 v113)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v43)
  (adjacent v3 v72)
  (adjacent v4 v20)
  (adjacent v5 v19)
  (adjacent v5 v43)
  (adjacent v6 v7)
  (adjacent v6 v21)
  (adjacent v7 v8)
  (adjacent v7 v45)
  (adjacent v7 v57)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v90)
  (adjacent v8 v139)
  (adjacent v9 v10)
  (adjacent v10 v88)
  (adjacent v11 v12)
  (adjacent v11 v147)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v12 v156)
  (adjacent v13 v14)
  (adjacent v13 v23)
  (adjacent v13 v24)
  (adjacent v14 v15)
  (adjacent v14 v39)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v29)
  (adjacent v17 v53)
  (adjacent v18 v19)
  (adjacent v19 v44)
  (adjacent v19 v45)
  (adjacent v21 v22)
  (adjacent v21 v52)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v24 v141)
  (adjacent v25 v26)
  (adjacent v25 v77)
  (adjacent v25 v102)
  (adjacent v26 v27)
  (adjacent v26 v30)
  (adjacent v26 v34)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v28 v81)
  (adjacent v30 v31)
  (adjacent v30 v39)
  (adjacent v30 v53)
  (adjacent v31 v32)
  (adjacent v31 v38)
  (adjacent v31 v42)
  (adjacent v31 v56)
  (adjacent v32 v46)
  (adjacent v33 v34)
  (adjacent v33 v40)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v149)
  (adjacent v37 v38)
  (adjacent v38 v44)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v44 v78)
  (adjacent v45 v73)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v54)
  (adjacent v48 v63)
  (adjacent v48 v83)
  (adjacent v48 v123)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v128)
  (adjacent v51 v52)
  (adjacent v52 v146)
  (adjacent v54 v55)
  (adjacent v54 v62)
  (adjacent v55 v56)
  (adjacent v55 v66)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v94)
  (adjacent v59 v133)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v89)
  (adjacent v61 v127)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v140)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v92)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v78 v101)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v83 v119)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v108)
  (adjacent v86 v87)
  (adjacent v86 v91)
  (adjacent v86 v95)
  (adjacent v86 v107)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v102 v122)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v112)
  (adjacent v104 v145)
  (adjacent v105 v106)
  (adjacent v105 v118)
  (adjacent v106 v107)
  (adjacent v107 v150)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v132)
  (adjacent v111 v112)
  (adjacent v111 v160)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v138)
  (adjacent v115 v116)
  (adjacent v115 v140)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v157)
  (adjacent v119 v120)
  (adjacent v119 v137)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v148)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
 )
 (:goal
  (and
  (at r89 v0)
  (at r128 v1)
  (at r122 v2)
  (at r37 v3)
  (at r22 v4)
  (at r99 v5)
  (at r88 v6)
  (at r125 v7)
  (at r83 v8)
  (at r71 v9)
  (at r135 v10)
  (at r133 v11)
  (at r114 v12)
  (at r149 v13)
  (at r54 v14)
  (at r60 v15)
  (at r120 v16)
  (at r136 v17)
  (at r155 v18)
  (at r98 v19)
  (at r84 v20)
  (at r82 v21)
  (at r97 v22)
  (at r11 v23)
  (at r20 v24)
  (at r94 v25)
  (at r30 v26)
  (at r45 v27)
  (at r5 v28)
  (at r4 v29)
  (at r96 v30)
  (at r117 v31)
  (at r85 v32)
  (at r115 v33)
  (at r154 v34)
  (at r38 v35)
  (at r68 v36)
  (at r31 v37)
  (at r2 v38)
  (at r131 v39)
  (at r58 v40)
  (at r61 v41)
  (at r126 v42)
  (at r39 v43)
  (at r142 v44)
  (at r63 v45)
  (at r15 v46)
  (at r23 v47)
  (at r50 v48)
  (at r28 v49)
  (at r123 v50)
  (at r44 v51)
  (at r18 v52)
  (at r151 v53)
  (at r35 v54)
  (at r145 v55)
  (at r107 v56)
  (at r9 v57)
  (at r141 v58)
  (at r137 v59)
  (at r80 v60)
  (at r79 v61)
  (at r36 v62)
  (at r29 v63)
  (at r92 v64)
  (at r42 v65)
  (at r119 v66)
  (at r159 v67)
  (at r148 v68)
  (at r40 v69)
  (at r32 v70)
  (at r130 v71)
  (at r74 v72)
  (at r7 v73)
  (at r69 v74)
  (at r47 v75)
  (at r124 v76)
  (at r90 v77)
  (at r158 v78)
  (at r10 v79)
  (at r76 v80)
  (at r150 v81)
  (at r25 v82)
  (at r116 v83)
  (at r14 v84)
  (at r56 v85)
  (at r26 v86)
  (at r104 v87)
  (at r3 v88)
  (at r51 v89)
  (at r43 v90)
  (at r147 v91)
  (at r144 v92)
  (at r160 v93)
  (at r49 v94)
  (at r48 v95)
  (at r67 v96)
  (at r6 v97)
  (at r64 v98)
  (at r146 v99)
  (at r134 v100)
  (at r91 v101)
  (at r34 v102)
  (at r121 v103)
  (at r19 v104)
  (at r118 v105)
  (at r27 v106)
  (at r156 v107)
  (at r111 v108)
  (at r77 v109)
  (at r66 v110)
  (at r12 v111)
  (at r62 v112)
  (at r65 v113)
  (at r53 v114)
  (at r41 v115)
  (at r13 v116)
  (at r8 v117)
  (at r106 v118)
  (at r95 v119)
  (at r100 v120)
  (at r102 v121)
  (at r21 v122)
  (at r152 v123)
  (at r112 v124)
  (at r108 v125)
  (at r33 v126)
  (at r113 v127)
  (at r72 v128)
  (free v129)
  (at r139 v130)
  (at r17 v131)
  (at r157 v132)
  (at r55 v133)
  (at r24 v134)
  (at r129 v135)
  (at r110 v136)
  (at r140 v137)
  (at r59 v138)
  (at r103 v139)
  (at r16 v140)
  (at r105 v141)
  (at r73 v142)
  (at r70 v143)
  (at r57 v144)
  (at r52 v145)
  (free v146)
  (at r93 v147)
  (at r143 v148)
  (at r78 v149)
  (at r153 v150)
  (at r109 v151)
  (at r127 v152)
  (at r87 v153)
  (at r138 v154)
  (at r81 v155)
  (at r46 v156)
  (at r101 v157)
  (at r86 v158)
  (at r75 v159)
  (at r132 v160)
  )
 )
)