(define (problem multirobot_43_2_c4)
 (:domain multirobot)
 (:objects
  v0 r127
  v1 r80
  v2 r37
  v3 r153
  v4 r65
  v5 r60
  v6 r138
  v7 r9
  v8 r52
  v9 r126
  v10 r61
  v11 r41
  v12 r149
  v13 r67
  v14 r47
  v15 r155
  v16 r82
  v17 r108
  v18 r11
  v19 r143
  v20 r59
  v21 r134
  v22 r30
  v23 r125
  v24 r106
  v25 r147
  v26 r141
  v27 r7
  v28 r42
  v29 r4
  v30 r84
  v31 r154
  v32 r14
  v33 r150
  v34 r18
  v35 r122
  v36 r133
  v37 r12
  v38 r17
  v39 r75
  v40 r135
  v41 r45
  v42 r53
  v43 r114
  v44 r25
  v45 r24
  v46 r74
  v47 r139
  v48 r26
  v49 r15
  v50 r38
  v51 r55
  v52 r78
  v53 r98
  v54 r95
  v55 r132
  v56 r69
  v57 r3
  v58 r21
  v59 r62
  v60 r94
  v61 r109
  v62 r129
  v63 r49
  v64 r99
  v65 r86
  v66 r117
  v67 r87
  v68 r63
  v69 r20
  v70 r33
  v71 r137
  v72 r103
  v73 r121
  v74 r50
  v75 r35
  v76 r146
  v77 r115
  v78 r112
  v79 r118
  v80 r83
  v81 r44
  v82 r136
  v83
  v84 r68
  v85 r40
  v86 r27
  v87 r10
  v88 r105
  v89 r89
  v90 r16
  v91 r148
  v92 r71
  v93 r142
  v94 r54
  v95 r39
  v96 r6
  v97 r145
  v98 r93
  v99 r19
  v100 r107
  v101 r123
  v102 r128
  v103 r29
  v104 r22
  v105 r120
  v106 r104
  v107 r32
  v108 r43
  v109 r124
  v110 r140
  v111 r79
  v112 r151
  v113
  v114 r64
  v115 r58
  v116 r130
  v117 r116
  v118 r5
  v119 r36
  v120 r92
  v121 r66
  v122 r28
  v123 r70
  v124 r91
  v125 r88
  v126 r8
  v127 r144
  v128 r51
  v129 r81
  v130 r56
  v131 r57
  v132 r111
  v133 r131
  v134 r76
  v135 r31
  v136 r72
  v137 r46
  v138 r2
  v139 r34
  v140 r97
  v141 r90
  v142 r102
  v143 r110
  v144 r101
  v145 r73
  v146 r23
  v147 r85
  v148 r48
  v149 r100
  v150 r13
  v151 r152
  v152 r119
  v153 r77
  v154 r113
  v155 r96
 )
 (:init
  (at r127 v0)
  (at r80 v1)
  (at r37 v2)
  (at r153 v3)
  (at r65 v4)
  (at r60 v5)
  (at r138 v6)
  (at r9 v7)
  (at r52 v8)
  (at r126 v9)
  (at r61 v10)
  (at r41 v11)
  (at r149 v12)
  (at r67 v13)
  (at r47 v14)
  (at r155 v15)
  (at r82 v16)
  (at r108 v17)
  (at r11 v18)
  (at r143 v19)
  (at r59 v20)
  (at r134 v21)
  (at r30 v22)
  (at r125 v23)
  (at r106 v24)
  (at r147 v25)
  (at r141 v26)
  (at r7 v27)
  (at r42 v28)
  (at r4 v29)
  (at r84 v30)
  (at r154 v31)
  (at r14 v32)
  (at r150 v33)
  (at r18 v34)
  (at r122 v35)
  (at r133 v36)
  (at r12 v37)
  (at r17 v38)
  (at r75 v39)
  (at r135 v40)
  (at r45 v41)
  (at r53 v42)
  (at r114 v43)
  (at r25 v44)
  (at r24 v45)
  (at r74 v46)
  (at r139 v47)
  (at r26 v48)
  (at r15 v49)
  (at r38 v50)
  (at r55 v51)
  (at r78 v52)
  (at r98 v53)
  (at r95 v54)
  (at r132 v55)
  (at r69 v56)
  (at r3 v57)
  (at r21 v58)
  (at r62 v59)
  (at r94 v60)
  (at r109 v61)
  (at r129 v62)
  (at r49 v63)
  (at r99 v64)
  (at r86 v65)
  (at r117 v66)
  (at r87 v67)
  (at r63 v68)
  (at r20 v69)
  (at r33 v70)
  (at r137 v71)
  (at r103 v72)
  (at r121 v73)
  (at r50 v74)
  (at r35 v75)
  (at r146 v76)
  (at r115 v77)
  (at r112 v78)
  (at r118 v79)
  (at r83 v80)
  (at r44 v81)
  (at r136 v82)
  (free v83)
  (at r68 v84)
  (at r40 v85)
  (at r27 v86)
  (at r10 v87)
  (at r105 v88)
  (at r89 v89)
  (at r16 v90)
  (at r148 v91)
  (at r71 v92)
  (at r142 v93)
  (at r54 v94)
  (at r39 v95)
  (at r6 v96)
  (at r145 v97)
  (at r93 v98)
  (at r19 v99)
  (at r107 v100)
  (at r123 v101)
  (at r128 v102)
  (at r29 v103)
  (at r22 v104)
  (at r120 v105)
  (at r104 v106)
  (at r32 v107)
  (at r43 v108)
  (at r124 v109)
  (at r140 v110)
  (at r79 v111)
  (at r151 v112)
  (free v113)
  (at r64 v114)
  (at r58 v115)
  (at r130 v116)
  (at r116 v117)
  (at r5 v118)
  (at r36 v119)
  (at r92 v120)
  (at r66 v121)
  (at r28 v122)
  (at r70 v123)
  (at r91 v124)
  (at r88 v125)
  (at r8 v126)
  (at r144 v127)
  (at r51 v128)
  (at r81 v129)
  (at r56 v130)
  (at r57 v131)
  (at r111 v132)
  (at r131 v133)
  (at r76 v134)
  (at r31 v135)
  (at r72 v136)
  (at r46 v137)
  (at r2 v138)
  (at r34 v139)
  (at r97 v140)
  (at r90 v141)
  (at r102 v142)
  (at r110 v143)
  (at r101 v144)
  (at r73 v145)
  (at r23 v146)
  (at r85 v147)
  (at r48 v148)
  (at r100 v149)
  (at r13 v150)
  (at r152 v151)
  (at r119 v152)
  (at r77 v153)
  (at r113 v154)
  (at r96 v155)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v20)
  (adjacent v0 v57)
  (adjacent v0 v81)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v11)
  (adjacent v1 v53)
  (adjacent v1 v63)
  (adjacent v1 v84)
  (adjacent v1 v91)
  (adjacent v1 v96)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v98)
  (adjacent v3 v4)
  (adjacent v3 v34)
  (adjacent v3 v41)
  (adjacent v4 v23)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v29)
  (adjacent v6 v74)
  (adjacent v6 v142)
  (adjacent v7 v8)
  (adjacent v7 v31)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v9 v10)
  (adjacent v9 v64)
  (adjacent v10 v11)
  (adjacent v10 v97)
  (adjacent v11 v41)
  (adjacent v12 v13)
  (adjacent v12 v15)
  (adjacent v12 v90)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v24)
  (adjacent v14 v85)
  (adjacent v14 v110)
  (adjacent v14 v125)
  (adjacent v14 v150)
  (adjacent v15 v16)
  (adjacent v15 v56)
  (adjacent v16 v17)
  (adjacent v16 v35)
  (adjacent v16 v73)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v46)
  (adjacent v22 v66)
  (adjacent v22 v105)
  (adjacent v24 v25)
  (adjacent v24 v30)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v42)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v28 v95)
  (adjacent v29 v74)
  (adjacent v30 v31)
  (adjacent v30 v67)
  (adjacent v32 v33)
  (adjacent v32 v83)
  (adjacent v32 v126)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v135)
  (adjacent v38 v39)
  (adjacent v38 v155)
  (adjacent v39 v40)
  (adjacent v41 v47)
  (adjacent v42 v43)
  (adjacent v42 v118)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v54)
  (adjacent v44 v75)
  (adjacent v45 v46)
  (adjacent v45 v99)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v127)
  (adjacent v49 v50)
  (adjacent v49 v67)
  (adjacent v50 v51)
  (adjacent v50 v80)
  (adjacent v51 v52)
  (adjacent v51 v68)
  (adjacent v52 v53)
  (adjacent v52 v73)
  (adjacent v54 v55)
  (adjacent v54 v143)
  (adjacent v55 v56)
  (adjacent v55 v82)
  (adjacent v56 v136)
  (adjacent v57 v58)
  (adjacent v57 v111)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v145)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v128)
  (adjacent v64 v65)
  (adjacent v64 v84)
  (adjacent v65 v66)
  (adjacent v65 v72)
  (adjacent v66 v116)
  (adjacent v68 v69)
  (adjacent v68 v83)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v100)
  (adjacent v75 v76)
  (adjacent v75 v129)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v83 v131)
  (adjacent v85 v86)
  (adjacent v85 v99)
  (adjacent v85 v146)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v119)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v106)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v117)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v130)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v126)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v141)
  (adjacent v133 v134)
  (adjacent v133 v142)
  (adjacent v134 v135)
  (adjacent v135 v151)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
 )
 (:goal
  (and
  (at r27 v0)
  (at r85 v1)
  (at r91 v2)
  (at r46 v3)
  (at r133 v4)
  (at r99 v5)
  (at r124 v6)
  (at r109 v7)
  (at r5 v8)
  (at r141 v9)
  (at r111 v10)
  (at r53 v11)
  (at r125 v12)
  (at r3 v13)
  (at r66 v14)
  (at r117 v15)
  (at r58 v16)
  (at r7 v17)
  (at r155 v18)
  (at r73 v19)
  (at r88 v20)
  (at r131 v21)
  (at r84 v22)
  (at r134 v23)
  (at r41 v24)
  (at r136 v25)
  (at r61 v26)
  (at r96 v27)
  (at r120 v28)
  (at r145 v29)
  (at r135 v30)
  (at r83 v31)
  (at r148 v32)
  (at r140 v33)
  (at r94 v34)
  (at r16 v35)
  (at r118 v36)
  (at r76 v37)
  (at r23 v38)
  (at r59 v39)
  (at r89 v40)
  (at r75 v41)
  (at r81 v42)
  (at r67 v43)
  (at r106 v44)
  (at r128 v45)
  (at r13 v46)
  (at r43 v47)
  (at r108 v48)
  (at r9 v49)
  (at r14 v50)
  (at r110 v51)
  (at r126 v52)
  (at r97 v53)
  (at r19 v54)
  (at r119 v55)
  (at r15 v56)
  (at r147 v57)
  (at r54 v58)
  (at r40 v59)
  (at r78 v60)
  (at r62 v61)
  (at r74 v62)
  (at r4 v63)
  (at r152 v64)
  (at r143 v65)
  (at r113 v66)
  (at r64 v67)
  (at r137 v68)
  (at r52 v69)
  (at r139 v70)
  (at r2 v71)
  (at r123 v72)
  (at r48 v73)
  (at r33 v74)
  (at r68 v75)
  (at r18 v76)
  (at r63 v77)
  (at r21 v78)
  (at r127 v79)
  (at r92 v80)
  (at r151 v81)
  (at r115 v82)
  (at r138 v83)
  (at r144 v84)
  (at r26 v85)
  (at r35 v86)
  (at r51 v87)
  (at r34 v88)
  (at r93 v89)
  (at r114 v90)
  (at r116 v91)
  (at r102 v92)
  (at r36 v93)
  (at r49 v94)
  (at r24 v95)
  (at r146 v96)
  (at r8 v97)
  (at r104 v98)
  (at r37 v99)
  (at r130 v100)
  (at r60 v101)
  (at r132 v102)
  (at r86 v103)
  (at r31 v104)
  (at r20 v105)
  (at r142 v106)
  (at r47 v107)
  (at r38 v108)
  (at r82 v109)
  (at r10 v110)
  (at r149 v111)
  (at r90 v112)
  (at r12 v113)
  (at r11 v114)
  (at r107 v115)
  (at r154 v116)
  (at r71 v117)
  (free v118)
  (at r129 v119)
  (at r32 v120)
  (at r69 v121)
  (at r95 v122)
  (at r101 v123)
  (at r65 v124)
  (at r79 v125)
  (at r150 v126)
  (at r17 v127)
  (at r105 v128)
  (at r80 v129)
  (at r25 v130)
  (at r56 v131)
  (at r50 v132)
  (at r72 v133)
  (at r121 v134)
  (free v135)
  (at r30 v136)
  (at r153 v137)
  (at r39 v138)
  (at r42 v139)
  (at r98 v140)
  (at r22 v141)
  (at r28 v142)
  (at r103 v143)
  (at r29 v144)
  (at r44 v145)
  (at r100 v146)
  (at r6 v147)
  (at r70 v148)
  (at r77 v149)
  (at r45 v150)
  (at r55 v151)
  (at r57 v152)
  (at r87 v153)
  (at r112 v154)
  (at r122 v155)
  )
 )
)