(define (problem multirobot_45_2_c2)
 (:domain multirobot)
 (:objects
  v0 r12
  v1 r43
  v2 r69
  v3 r53
  v4 r45
  v5 r78
  v6 r149
  v7 r96
  v8 r14
  v9 r56
  v10 r18
  v11 r86
  v12 r111
  v13 r106
  v14 r147
  v15 r151
  v16 r90
  v17 r15
  v18 r127
  v19 r13
  v20 r161
  v21 r88
  v22 r84
  v23 r59
  v24 r158
  v25 r130
  v26 r5
  v27 r66
  v28 r153
  v29 r31
  v30 r160
  v31 r57
  v32 r41
  v33 r144
  v34 r24
  v35 r40
  v36 r80
  v37 r115
  v38 r101
  v39 r25
  v40 r126
  v41 r137
  v42 r35
  v43 r8
  v44 r97
  v45 r16
  v46 r42
  v47 r105
  v48 r19
  v49 r52
  v50 r133
  v51
  v52 r85
  v53 r39
  v54 r11
  v55 r156
  v56 r109
  v57
  v58 r54
  v59 r75
  v60 r141
  v61 r4
  v62 r140
  v63 r47
  v64 r3
  v65 r22
  v66 r128
  v67 r71
  v68 r48
  v69 r33
  v70 r135
  v71 r76
  v72 r44
  v73 r143
  v74 r102
  v75 r145
  v76 r122
  v77 r123
  v78 r117
  v79 r138
  v80 r61
  v81 r62
  v82 r34
  v83 r154
  v84 r81
  v85 r36
  v86 r152
  v87 r49
  v88 r21
  v89 r100
  v90 r63
  v91 r2
  v92 r60
  v93 r107
  v94 r77
  v95 r46
  v96 r89
  v97 r32
  v98 r64
  v99 r118
  v100 r83
  v101 r110
  v102 r27
  v103 r70
  v104 r9
  v105 r94
  v106 r68
  v107 r30
  v108 r121
  v109 r163
  v110 r28
  v111 r146
  v112 r112
  v113 r139
  v114 r72
  v115 r134
  v116 r159
  v117 r136
  v118 r58
  v119 r29
  v120 r6
  v121 r116
  v122 r7
  v123 r104
  v124 r92
  v125 r50
  v126 r26
  v127 r91
  v128 r55
  v129 r142
  v130 r73
  v131 r99
  v132 r120
  v133 r74
  v134 r98
  v135 r67
  v136 r38
  v137 r131
  v138 r114
  v139 r87
  v140 r20
  v141 r65
  v142 r108
  v143 r93
  v144 r113
  v145 r157
  v146 r155
  v147 r37
  v148 r23
  v149 r51
  v150 r103
  v151 r10
  v152 r95
  v153 r124
  v154 r125
  v155 r162
  v156 r17
  v157 r79
  v158 r132
  v159 r82
  v160 r148
  v161 r150
  v162 r129
  v163 r119
 )
 (:init
  (at r12 v0)
  (at r43 v1)
  (at r69 v2)
  (at r53 v3)
  (at r45 v4)
  (at r78 v5)
  (at r149 v6)
  (at r96 v7)
  (at r14 v8)
  (at r56 v9)
  (at r18 v10)
  (at r86 v11)
  (at r111 v12)
  (at r106 v13)
  (at r147 v14)
  (at r151 v15)
  (at r90 v16)
  (at r15 v17)
  (at r127 v18)
  (at r13 v19)
  (at r161 v20)
  (at r88 v21)
  (at r84 v22)
  (at r59 v23)
  (at r158 v24)
  (at r130 v25)
  (at r5 v26)
  (at r66 v27)
  (at r153 v28)
  (at r31 v29)
  (at r160 v30)
  (at r57 v31)
  (at r41 v32)
  (at r144 v33)
  (at r24 v34)
  (at r40 v35)
  (at r80 v36)
  (at r115 v37)
  (at r101 v38)
  (at r25 v39)
  (at r126 v40)
  (at r137 v41)
  (at r35 v42)
  (at r8 v43)
  (at r97 v44)
  (at r16 v45)
  (at r42 v46)
  (at r105 v47)
  (at r19 v48)
  (at r52 v49)
  (at r133 v50)
  (free v51)
  (at r85 v52)
  (at r39 v53)
  (at r11 v54)
  (at r156 v55)
  (at r109 v56)
  (free v57)
  (at r54 v58)
  (at r75 v59)
  (at r141 v60)
  (at r4 v61)
  (at r140 v62)
  (at r47 v63)
  (at r3 v64)
  (at r22 v65)
  (at r128 v66)
  (at r71 v67)
  (at r48 v68)
  (at r33 v69)
  (at r135 v70)
  (at r76 v71)
  (at r44 v72)
  (at r143 v73)
  (at r102 v74)
  (at r145 v75)
  (at r122 v76)
  (at r123 v77)
  (at r117 v78)
  (at r138 v79)
  (at r61 v80)
  (at r62 v81)
  (at r34 v82)
  (at r154 v83)
  (at r81 v84)
  (at r36 v85)
  (at r152 v86)
  (at r49 v87)
  (at r21 v88)
  (at r100 v89)
  (at r63 v90)
  (at r2 v91)
  (at r60 v92)
  (at r107 v93)
  (at r77 v94)
  (at r46 v95)
  (at r89 v96)
  (at r32 v97)
  (at r64 v98)
  (at r118 v99)
  (at r83 v100)
  (at r110 v101)
  (at r27 v102)
  (at r70 v103)
  (at r9 v104)
  (at r94 v105)
  (at r68 v106)
  (at r30 v107)
  (at r121 v108)
  (at r163 v109)
  (at r28 v110)
  (at r146 v111)
  (at r112 v112)
  (at r139 v113)
  (at r72 v114)
  (at r134 v115)
  (at r159 v116)
  (at r136 v117)
  (at r58 v118)
  (at r29 v119)
  (at r6 v120)
  (at r116 v121)
  (at r7 v122)
  (at r104 v123)
  (at r92 v124)
  (at r50 v125)
  (at r26 v126)
  (at r91 v127)
  (at r55 v128)
  (at r142 v129)
  (at r73 v130)
  (at r99 v131)
  (at r120 v132)
  (at r74 v133)
  (at r98 v134)
  (at r67 v135)
  (at r38 v136)
  (at r131 v137)
  (at r114 v138)
  (at r87 v139)
  (at r20 v140)
  (at r65 v141)
  (at r108 v142)
  (at r93 v143)
  (at r113 v144)
  (at r157 v145)
  (at r155 v146)
  (at r37 v147)
  (at r23 v148)
  (at r51 v149)
  (at r103 v150)
  (at r10 v151)
  (at r95 v152)
  (at r124 v153)
  (at r125 v154)
  (at r162 v155)
  (at r17 v156)
  (at r79 v157)
  (at r132 v158)
  (at r82 v159)
  (at r148 v160)
  (at r150 v161)
  (at r129 v162)
  (at r119 v163)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v56)
  (adjacent v0 v135)
  (adjacent v1 v2)
  (adjacent v1 v60)
  (adjacent v1 v96)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v65)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v11)
  (adjacent v3 v20)
  (adjacent v4 v24)
  (adjacent v4 v58)
  (adjacent v4 v69)
  (adjacent v4 v120)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v40)
  (adjacent v6 v7)
  (adjacent v6 v19)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v26)
  (adjacent v7 v37)
  (adjacent v8 v9)
  (adjacent v8 v25)
  (adjacent v8 v26)
  (adjacent v8 v38)
  (adjacent v9 v10)
  (adjacent v9 v32)
  (adjacent v10 v31)
  (adjacent v10 v53)
  (adjacent v11 v12)
  (adjacent v11 v149)
  (adjacent v12 v59)
  (adjacent v13 v14)
  (adjacent v13 v30)
  (adjacent v13 v44)
  (adjacent v13 v71)
  (adjacent v14 v15)
  (adjacent v14 v22)
  (adjacent v14 v25)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v27)
  (adjacent v18 v19)
  (adjacent v18 v21)
  (adjacent v18 v52)
  (adjacent v19 v132)
  (adjacent v19 v157)
  (adjacent v20 v21)
  (adjacent v21 v91)
  (adjacent v22 v23)
  (adjacent v22 v46)
  (adjacent v22 v105)
  (adjacent v22 v126)
  (adjacent v22 v128)
  (adjacent v23 v24)
  (adjacent v23 v31)
  (adjacent v23 v43)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v141)
  (adjacent v29 v30)
  (adjacent v29 v76)
  (adjacent v30 v88)
  (adjacent v30 v103)
  (adjacent v31 v136)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v47)
  (adjacent v35 v36)
  (adjacent v35 v41)
  (adjacent v35 v102)
  (adjacent v36 v37)
  (adjacent v36 v59)
  (adjacent v36 v70)
  (adjacent v36 v75)
  (adjacent v37 v87)
  (adjacent v37 v90)
  (adjacent v38 v39)
  (adjacent v38 v52)
  (adjacent v39 v40)
  (adjacent v39 v51)
  (adjacent v40 v57)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v64)
  (adjacent v42 v156)
  (adjacent v43 v106)
  (adjacent v44 v45)
  (adjacent v44 v163)
  (adjacent v45 v46)
  (adjacent v45 v74)
  (adjacent v45 v159)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v152)
  (adjacent v49 v50)
  (adjacent v49 v127)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v53 v83)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v57 v85)
  (adjacent v59 v70)
  (adjacent v60 v61)
  (adjacent v60 v112)
  (adjacent v60 v160)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v84)
  (adjacent v63 v64)
  (adjacent v64 v77)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v127)
  (adjacent v70 v123)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v113)
  (adjacent v73 v74)
  (adjacent v74 v114)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v95)
  (adjacent v88 v121)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v148)
  (adjacent v100 v101)
  (adjacent v100 v115)
  (adjacent v100 v133)
  (adjacent v100 v157)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v124)
  (adjacent v122 v123)
  (adjacent v123 v151)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v134 v142)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
 )
 (:goal
  (and
  (at r101 v0)
  (at r8 v1)
  (at r140 v2)
  (at r155 v3)
  (at r82 v4)
  (at r42 v5)
  (at r151 v6)
  (at r135 v7)
  (at r149 v8)
  (at r89 v9)
  (free v10)
  (at r120 v11)
  (at r92 v12)
  (at r45 v13)
  (at r10 v14)
  (at r2 v15)
  (at r81 v16)
  (at r57 v17)
  (at r112 v18)
  (at r24 v19)
  (at r88 v20)
  (at r75 v21)
  (at r133 v22)
  (at r49 v23)
  (at r132 v24)
  (at r139 v25)
  (at r27 v26)
  (at r51 v27)
  (at r161 v28)
  (at r123 v29)
  (at r6 v30)
  (at r136 v31)
  (at r113 v32)
  (at r63 v33)
  (at r121 v34)
  (at r40 v35)
  (at r3 v36)
  (at r99 v37)
  (at r142 v38)
  (at r117 v39)
  (at r43 v40)
  (at r37 v41)
  (at r30 v42)
  (at r9 v43)
  (at r86 v44)
  (at r127 v45)
  (at r72 v46)
  (at r102 v47)
  (at r131 v48)
  (at r100 v49)
  (at r91 v50)
  (at r128 v51)
  (at r144 v52)
  (at r98 v53)
  (at r15 v54)
  (at r78 v55)
  (at r97 v56)
  (at r19 v57)
  (at r118 v58)
  (at r150 v59)
  (at r104 v60)
  (at r46 v61)
  (at r58 v62)
  (at r41 v63)
  (at r55 v64)
  (at r143 v65)
  (at r22 v66)
  (at r80 v67)
  (at r126 v68)
  (at r103 v69)
  (at r36 v70)
  (at r14 v71)
  (at r69 v72)
  (at r110 v73)
  (at r56 v74)
  (free v75)
  (at r4 v76)
  (at r146 v77)
  (at r66 v78)
  (at r54 v79)
  (at r114 v80)
  (at r25 v81)
  (at r28 v82)
  (at r157 v83)
  (at r141 v84)
  (at r74 v85)
  (at r16 v86)
  (at r162 v87)
  (at r156 v88)
  (at r64 v89)
  (at r29 v90)
  (at r33 v91)
  (at r158 v92)
  (at r163 v93)
  (at r96 v94)
  (at r59 v95)
  (at r53 v96)
  (at r17 v97)
  (at r70 v98)
  (at r50 v99)
  (at r48 v100)
  (at r67 v101)
  (at r108 v102)
  (at r115 v103)
  (at r116 v104)
  (at r39 v105)
  (at r138 v106)
  (at r52 v107)
  (at r73 v108)
  (at r87 v109)
  (at r84 v110)
  (at r148 v111)
  (at r85 v112)
  (at r11 v113)
  (at r13 v114)
  (at r111 v115)
  (at r107 v116)
  (at r79 v117)
  (at r134 v118)
  (at r61 v119)
  (at r90 v120)
  (at r93 v121)
  (at r119 v122)
  (at r60 v123)
  (at r145 v124)
  (at r62 v125)
  (at r5 v126)
  (at r35 v127)
  (at r26 v128)
  (at r7 v129)
  (at r94 v130)
  (at r21 v131)
  (at r44 v132)
  (at r147 v133)
  (at r152 v134)
  (at r47 v135)
  (at r20 v136)
  (at r38 v137)
  (at r137 v138)
  (at r105 v139)
  (at r77 v140)
  (at r95 v141)
  (at r83 v142)
  (at r18 v143)
  (at r68 v144)
  (at r153 v145)
  (at r125 v146)
  (at r160 v147)
  (at r31 v148)
  (at r23 v149)
  (at r122 v150)
  (at r71 v151)
  (at r109 v152)
  (at r12 v153)
  (at r32 v154)
  (at r130 v155)
  (at r106 v156)
  (at r159 v157)
  (at r76 v158)
  (at r124 v159)
  (at r34 v160)
  (at r129 v161)
  (at r65 v162)
  (at r154 v163)
  )
 )
)