(define (problem multirobot_43_2_c7)
 (:domain multirobot)
 (:objects
  v0 r14
  v1 r77
  v2 r79
  v3 r73
  v4 r103
  v5 r115
  v6 r99
  v7 r55
  v8 r151
  v9 r146
  v10 r42
  v11 r27
  v12 r4
  v13 r44
  v14 r81
  v15 r72
  v16 r142
  v17 r163
  v18 r61
  v19 r11
  v20 r48
  v21 r101
  v22 r7
  v23 r32
  v24 r164
  v25 r159
  v26
  v27 r67
  v28 r96
  v29 r16
  v30 r88
  v31 r74
  v32 r162
  v33 r8
  v34 r122
  v35 r137
  v36 r91
  v37
  v38 r158
  v39 r145
  v40 r24
  v41 r175
  v42 r3
  v43 r6
  v44 r18
  v45 r153
  v46 r168
  v47 r147
  v48 r25
  v49 r57
  v50 r22
  v51 r132
  v52 r107
  v53 r134
  v54 r12
  v55 r84
  v56 r63
  v57 r17
  v58 r129
  v59 r47
  v60 r5
  v61 r36
  v62 r154
  v63 r111
  v64 r100
  v65 r13
  v66 r123
  v67 r112
  v68 r9
  v69 r128
  v70 r28
  v71 r40
  v72 r75
  v73 r68
  v74 r65
  v75 r38
  v76 r76
  v77 r53
  v78 r23
  v79 r39
  v80 r160
  v81 r85
  v82 r90
  v83 r41
  v84 r161
  v85 r125
  v86 r113
  v87 r62
  v88 r138
  v89 r141
  v90 r173
  v91 r43
  v92 r98
  v93 r117
  v94 r149
  v95 r120
  v96 r71
  v97 r10
  v98 r174
  v99 r133
  v100 r105
  v101 r35
  v102 r2
  v103 r33
  v104 r34
  v105 r172
  v106 r143
  v107 r26
  v108 r119
  v109 r20
  v110 r37
  v111 r50
  v112 r118
  v113 r152
  v114 r54
  v115 r58
  v116 r148
  v117 r155
  v118 r59
  v119 r30
  v120 r109
  v121 r51
  v122 r121
  v123 r29
  v124 r87
  v125 r78
  v126 r144
  v127 r82
  v128 r170
  v129 r102
  v130 r130
  v131 r110
  v132 r171
  v133 r31
  v134 r21
  v135 r140
  v136 r131
  v137 r49
  v138 r116
  v139 r106
  v140 r157
  v141 r46
  v142 r124
  v143 r127
  v144 r89
  v145 r97
  v146 r94
  v147 r135
  v148 r15
  v149 r60
  v150 r104
  v151 r45
  v152 r95
  v153 r52
  v154 r139
  v155 r86
  v156 r114
  v157 r92
  v158 r150
  v159 r70
  v160 r93
  v161 r66
  v162 r83
  v163 r69
  v164 r169
  v165 r80
  v166 r56
  v167 r167
  v168 r156
  v169 r126
  v170 r19
  v171 r64
  v172 r165
  v173 r136
  v174 r166
  v175 r108
 )
 (:init
  (at r14 v0)
  (at r77 v1)
  (at r79 v2)
  (at r73 v3)
  (at r103 v4)
  (at r115 v5)
  (at r99 v6)
  (at r55 v7)
  (at r151 v8)
  (at r146 v9)
  (at r42 v10)
  (at r27 v11)
  (at r4 v12)
  (at r44 v13)
  (at r81 v14)
  (at r72 v15)
  (at r142 v16)
  (at r163 v17)
  (at r61 v18)
  (at r11 v19)
  (at r48 v20)
  (at r101 v21)
  (at r7 v22)
  (at r32 v23)
  (at r164 v24)
  (at r159 v25)
  (free v26)
  (at r67 v27)
  (at r96 v28)
  (at r16 v29)
  (at r88 v30)
  (at r74 v31)
  (at r162 v32)
  (at r8 v33)
  (at r122 v34)
  (at r137 v35)
  (at r91 v36)
  (free v37)
  (at r158 v38)
  (at r145 v39)
  (at r24 v40)
  (at r175 v41)
  (at r3 v42)
  (at r6 v43)
  (at r18 v44)
  (at r153 v45)
  (at r168 v46)
  (at r147 v47)
  (at r25 v48)
  (at r57 v49)
  (at r22 v50)
  (at r132 v51)
  (at r107 v52)
  (at r134 v53)
  (at r12 v54)
  (at r84 v55)
  (at r63 v56)
  (at r17 v57)
  (at r129 v58)
  (at r47 v59)
  (at r5 v60)
  (at r36 v61)
  (at r154 v62)
  (at r111 v63)
  (at r100 v64)
  (at r13 v65)
  (at r123 v66)
  (at r112 v67)
  (at r9 v68)
  (at r128 v69)
  (at r28 v70)
  (at r40 v71)
  (at r75 v72)
  (at r68 v73)
  (at r65 v74)
  (at r38 v75)
  (at r76 v76)
  (at r53 v77)
  (at r23 v78)
  (at r39 v79)
  (at r160 v80)
  (at r85 v81)
  (at r90 v82)
  (at r41 v83)
  (at r161 v84)
  (at r125 v85)
  (at r113 v86)
  (at r62 v87)
  (at r138 v88)
  (at r141 v89)
  (at r173 v90)
  (at r43 v91)
  (at r98 v92)
  (at r117 v93)
  (at r149 v94)
  (at r120 v95)
  (at r71 v96)
  (at r10 v97)
  (at r174 v98)
  (at r133 v99)
  (at r105 v100)
  (at r35 v101)
  (at r2 v102)
  (at r33 v103)
  (at r34 v104)
  (at r172 v105)
  (at r143 v106)
  (at r26 v107)
  (at r119 v108)
  (at r20 v109)
  (at r37 v110)
  (at r50 v111)
  (at r118 v112)
  (at r152 v113)
  (at r54 v114)
  (at r58 v115)
  (at r148 v116)
  (at r155 v117)
  (at r59 v118)
  (at r30 v119)
  (at r109 v120)
  (at r51 v121)
  (at r121 v122)
  (at r29 v123)
  (at r87 v124)
  (at r78 v125)
  (at r144 v126)
  (at r82 v127)
  (at r170 v128)
  (at r102 v129)
  (at r130 v130)
  (at r110 v131)
  (at r171 v132)
  (at r31 v133)
  (at r21 v134)
  (at r140 v135)
  (at r131 v136)
  (at r49 v137)
  (at r116 v138)
  (at r106 v139)
  (at r157 v140)
  (at r46 v141)
  (at r124 v142)
  (at r127 v143)
  (at r89 v144)
  (at r97 v145)
  (at r94 v146)
  (at r135 v147)
  (at r15 v148)
  (at r60 v149)
  (at r104 v150)
  (at r45 v151)
  (at r95 v152)
  (at r52 v153)
  (at r139 v154)
  (at r86 v155)
  (at r114 v156)
  (at r92 v157)
  (at r150 v158)
  (at r70 v159)
  (at r93 v160)
  (at r66 v161)
  (at r83 v162)
  (at r69 v163)
  (at r169 v164)
  (at r80 v165)
  (at r56 v166)
  (at r167 v167)
  (at r156 v168)
  (at r126 v169)
  (at r19 v170)
  (at r64 v171)
  (at r165 v172)
  (at r136 v173)
  (at r166 v174)
  (at r108 v175)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v10)
  (adjacent v1 v42)
  (adjacent v2 v3)
  (adjacent v2 v22)
  (adjacent v2 v53)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v16)
  (adjacent v3 v36)
  (adjacent v3 v95)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v17)
  (adjacent v6 v98)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v49)
  (adjacent v8 v86)
  (adjacent v9 v121)
  (adjacent v10 v11)
  (adjacent v10 v30)
  (adjacent v10 v39)
  (adjacent v10 v124)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v85)
  (adjacent v12 v144)
  (adjacent v13 v14)
  (adjacent v13 v43)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v104)
  (adjacent v16 v38)
  (adjacent v17 v18)
  (adjacent v17 v29)
  (adjacent v17 v87)
  (adjacent v17 v105)
  (adjacent v18 v19)
  (adjacent v18 v23)
  (adjacent v19 v20)
  (adjacent v19 v68)
  (adjacent v20 v21)
  (adjacent v20 v113)
  (adjacent v21 v22)
  (adjacent v22 v47)
  (adjacent v22 v52)
  (adjacent v22 v136)
  (adjacent v23 v24)
  (adjacent v23 v51)
  (adjacent v23 v144)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v37)
  (adjacent v26 v27)
  (adjacent v26 v125)
  (adjacent v27 v28)
  (adjacent v27 v48)
  (adjacent v27 v60)
  (adjacent v27 v160)
  (adjacent v28 v29)
  (adjacent v28 v48)
  (adjacent v28 v93)
  (adjacent v29 v79)
  (adjacent v30 v31)
  (adjacent v30 v103)
  (adjacent v30 v117)
  (adjacent v31 v32)
  (adjacent v31 v73)
  (adjacent v31 v116)
  (adjacent v31 v143)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v39 v161)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v120)
  (adjacent v41 v121)
  (adjacent v43 v44)
  (adjacent v43 v105)
  (adjacent v44 v45)
  (adjacent v44 v132)
  (adjacent v45 v46)
  (adjacent v45 v164)
  (adjacent v46 v47)
  (adjacent v46 v114)
  (adjacent v48 v76)
  (adjacent v49 v50)
  (adjacent v49 v54)
  (adjacent v50 v51)
  (adjacent v51 v67)
  (adjacent v52 v53)
  (adjacent v52 v106)
  (adjacent v53 v80)
  (adjacent v54 v55)
  (adjacent v54 v72)
  (adjacent v55 v56)
  (adjacent v55 v61)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v75)
  (adjacent v58 v59)
  (adjacent v58 v71)
  (adjacent v59 v60)
  (adjacent v60 v92)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v146)
  (adjacent v67 v88)
  (adjacent v68 v69)
  (adjacent v68 v143)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v135)
  (adjacent v72 v73)
  (adjacent v72 v74)
  (adjacent v72 v131)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v145)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v142)
  (adjacent v83 v84)
  (adjacent v83 v104)
  (adjacent v83 v169)
  (adjacent v84 v85)
  (adjacent v84 v97)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v96)
  (adjacent v88 v106)
  (adjacent v88 v122)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v175)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v153)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v107)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v163)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v154)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v168)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v145 v146)
  (adjacent v145 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
 )
 (:goal
  (and
  (at r54 v0)
  (at r149 v1)
  (at r31 v2)
  (at r8 v3)
  (at r117 v4)
  (at r79 v5)
  (at r35 v6)
  (at r151 v7)
  (at r41 v8)
  (at r123 v9)
  (at r157 v10)
  (at r18 v11)
  (at r72 v12)
  (at r34 v13)
  (at r128 v14)
  (at r26 v15)
  (at r142 v16)
  (at r61 v17)
  (at r33 v18)
  (at r122 v19)
  (at r65 v20)
  (at r84 v21)
  (at r67 v22)
  (at r51 v23)
  (free v24)
  (at r42 v25)
  (at r112 v26)
  (at r63 v27)
  (at r100 v28)
  (at r32 v29)
  (at r21 v30)
  (at r173 v31)
  (at r78 v32)
  (at r86 v33)
  (at r164 v34)
  (at r23 v35)
  (at r118 v36)
  (at r101 v37)
  (at r174 v38)
  (at r80 v39)
  (at r68 v40)
  (at r150 v41)
  (at r17 v42)
  (at r10 v43)
  (at r165 v44)
  (at r57 v45)
  (at r6 v46)
  (at r43 v47)
  (at r36 v48)
  (at r27 v49)
  (at r132 v50)
  (at r4 v51)
  (at r83 v52)
  (at r73 v53)
  (at r59 v54)
  (at r141 v55)
  (at r133 v56)
  (at r131 v57)
  (at r50 v58)
  (at r145 v59)
  (at r3 v60)
  (at r116 v61)
  (at r108 v62)
  (at r13 v63)
  (at r28 v64)
  (at r92 v65)
  (at r126 v66)
  (at r168 v67)
  (at r58 v68)
  (at r135 v69)
  (at r16 v70)
  (at r45 v71)
  (at r144 v72)
  (at r56 v73)
  (at r53 v74)
  (at r29 v75)
  (at r37 v76)
  (at r38 v77)
  (at r127 v78)
  (at r2 v79)
  (at r46 v80)
  (free v81)
  (at r55 v82)
  (at r5 v83)
  (at r107 v84)
  (at r7 v85)
  (at r40 v86)
  (at r48 v87)
  (at r137 v88)
  (at r62 v89)
  (at r87 v90)
  (at r124 v91)
  (at r160 v92)
  (at r138 v93)
  (at r156 v94)
  (at r106 v95)
  (at r91 v96)
  (at r20 v97)
  (at r24 v98)
  (at r71 v99)
  (at r103 v100)
  (at r14 v101)
  (at r93 v102)
  (at r76 v103)
  (at r52 v104)
  (at r139 v105)
  (at r169 v106)
  (at r159 v107)
  (at r125 v108)
  (at r170 v109)
  (at r44 v110)
  (at r105 v111)
  (at r74 v112)
  (at r15 v113)
  (at r121 v114)
  (at r60 v115)
  (at r49 v116)
  (at r85 v117)
  (at r140 v118)
  (at r148 v119)
  (at r22 v120)
  (at r153 v121)
  (at r152 v122)
  (at r115 v123)
  (at r136 v124)
  (at r134 v125)
  (at r130 v126)
  (at r110 v127)
  (at r102 v128)
  (at r64 v129)
  (at r94 v130)
  (at r155 v131)
  (at r11 v132)
  (at r158 v133)
  (at r147 v134)
  (at r111 v135)
  (at r69 v136)
  (at r109 v137)
  (at r129 v138)
  (at r66 v139)
  (at r96 v140)
  (at r12 v141)
  (at r119 v142)
  (at r97 v143)
  (at r77 v144)
  (at r30 v145)
  (at r120 v146)
  (at r172 v147)
  (at r143 v148)
  (at r161 v149)
  (at r9 v150)
  (at r146 v151)
  (at r99 v152)
  (at r25 v153)
  (at r104 v154)
  (at r114 v155)
  (at r167 v156)
  (at r81 v157)
  (at r166 v158)
  (at r175 v159)
  (at r39 v160)
  (at r90 v161)
  (at r162 v162)
  (at r47 v163)
  (at r113 v164)
  (at r163 v165)
  (at r75 v166)
  (at r82 v167)
  (at r88 v168)
  (at r70 v169)
  (at r98 v170)
  (at r19 v171)
  (at r89 v172)
  (at r154 v173)
  (at r95 v174)
  (at r171 v175)
  )
 )
)