(define (problem multirobot_45_2_c7)
 (:domain multirobot)
 (:objects
  v0 r138
  v1
  v2 r73
  v3 r117
  v4 r146
  v5 r53
  v6 r108
  v7 r142
  v8 r11
  v9 r5
  v10 r50
  v11 r147
  v12 r136
  v13 r16
  v14 r90
  v15 r60
  v16 r149
  v17 r48
  v18 r156
  v19 r8
  v20 r91
  v21 r4
  v22 r115
  v23 r124
  v24 r89
  v25 r151
  v26 r82
  v27 r131
  v28 r15
  v29 r57
  v30 r160
  v31 r87
  v32 r6
  v33 r43
  v34 r27
  v35 r69
  v36 r100
  v37 r64
  v38 r126
  v39 r47
  v40 r152
  v41 r109
  v42 r66
  v43 r96
  v44 r37
  v45 r84
  v46 r21
  v47 r110
  v48 r139
  v49
  v50 r137
  v51 r132
  v52 r153
  v53 r19
  v54 r98
  v55 r29
  v56 r55
  v57 r32
  v58 r112
  v59 r7
  v60 r58
  v61 r159
  v62 r33
  v63 r56
  v64 r83
  v65 r88
  v66 r128
  v67 r95
  v68 r94
  v69 r63
  v70 r119
  v71 r52
  v72 r140
  v73 r97
  v74 r113
  v75 r122
  v76 r12
  v77 r31
  v78 r25
  v79 r86
  v80 r116
  v81 r76
  v82 r14
  v83 r107
  v84 r129
  v85 r24
  v86 r155
  v87 r42
  v88 r67
  v89 r105
  v90 r2
  v91 r80
  v92 r101
  v93 r61
  v94 r49
  v95 r102
  v96 r141
  v97 r45
  v98 r106
  v99 r72
  v100 r44
  v101 r46
  v102 r135
  v103 r143
  v104 r127
  v105 r78
  v106 r85
  v107 r18
  v108 r123
  v109 r99
  v110 r65
  v111 r144
  v112 r118
  v113 r81
  v114 r150
  v115 r22
  v116 r125
  v117 r93
  v118 r114
  v119 r74
  v120 r54
  v121 r59
  v122 r134
  v123 r130
  v124 r13
  v125 r75
  v126 r3
  v127 r92
  v128 r35
  v129 r145
  v130 r34
  v131 r30
  v132 r17
  v133 r26
  v134 r154
  v135 r157
  v136 r40
  v137 r36
  v138 r51
  v139 r39
  v140 r121
  v141 r133
  v142 r158
  v143 r104
  v144 r79
  v145 r41
  v146 r148
  v147 r28
  v148 r70
  v149 r77
  v150 r68
  v151 r10
  v152 r62
  v153 r71
  v154 r111
  v155 r9
  v156 r38
  v157 r103
  v158 r23
  v159 r120
  v160 r20
 )
 (:init
  (at r138 v0)
  (free v1)
  (at r73 v2)
  (at r117 v3)
  (at r146 v4)
  (at r53 v5)
  (at r108 v6)
  (at r142 v7)
  (at r11 v8)
  (at r5 v9)
  (at r50 v10)
  (at r147 v11)
  (at r136 v12)
  (at r16 v13)
  (at r90 v14)
  (at r60 v15)
  (at r149 v16)
  (at r48 v17)
  (at r156 v18)
  (at r8 v19)
  (at r91 v20)
  (at r4 v21)
  (at r115 v22)
  (at r124 v23)
  (at r89 v24)
  (at r151 v25)
  (at r82 v26)
  (at r131 v27)
  (at r15 v28)
  (at r57 v29)
  (at r160 v30)
  (at r87 v31)
  (at r6 v32)
  (at r43 v33)
  (at r27 v34)
  (at r69 v35)
  (at r100 v36)
  (at r64 v37)
  (at r126 v38)
  (at r47 v39)
  (at r152 v40)
  (at r109 v41)
  (at r66 v42)
  (at r96 v43)
  (at r37 v44)
  (at r84 v45)
  (at r21 v46)
  (at r110 v47)
  (at r139 v48)
  (free v49)
  (at r137 v50)
  (at r132 v51)
  (at r153 v52)
  (at r19 v53)
  (at r98 v54)
  (at r29 v55)
  (at r55 v56)
  (at r32 v57)
  (at r112 v58)
  (at r7 v59)
  (at r58 v60)
  (at r159 v61)
  (at r33 v62)
  (at r56 v63)
  (at r83 v64)
  (at r88 v65)
  (at r128 v66)
  (at r95 v67)
  (at r94 v68)
  (at r63 v69)
  (at r119 v70)
  (at r52 v71)
  (at r140 v72)
  (at r97 v73)
  (at r113 v74)
  (at r122 v75)
  (at r12 v76)
  (at r31 v77)
  (at r25 v78)
  (at r86 v79)
  (at r116 v80)
  (at r76 v81)
  (at r14 v82)
  (at r107 v83)
  (at r129 v84)
  (at r24 v85)
  (at r155 v86)
  (at r42 v87)
  (at r67 v88)
  (at r105 v89)
  (at r2 v90)
  (at r80 v91)
  (at r101 v92)
  (at r61 v93)
  (at r49 v94)
  (at r102 v95)
  (at r141 v96)
  (at r45 v97)
  (at r106 v98)
  (at r72 v99)
  (at r44 v100)
  (at r46 v101)
  (at r135 v102)
  (at r143 v103)
  (at r127 v104)
  (at r78 v105)
  (at r85 v106)
  (at r18 v107)
  (at r123 v108)
  (at r99 v109)
  (at r65 v110)
  (at r144 v111)
  (at r118 v112)
  (at r81 v113)
  (at r150 v114)
  (at r22 v115)
  (at r125 v116)
  (at r93 v117)
  (at r114 v118)
  (at r74 v119)
  (at r54 v120)
  (at r59 v121)
  (at r134 v122)
  (at r130 v123)
  (at r13 v124)
  (at r75 v125)
  (at r3 v126)
  (at r92 v127)
  (at r35 v128)
  (at r145 v129)
  (at r34 v130)
  (at r30 v131)
  (at r17 v132)
  (at r26 v133)
  (at r154 v134)
  (at r157 v135)
  (at r40 v136)
  (at r36 v137)
  (at r51 v138)
  (at r39 v139)
  (at r121 v140)
  (at r133 v141)
  (at r158 v142)
  (at r104 v143)
  (at r79 v144)
  (at r41 v145)
  (at r148 v146)
  (at r28 v147)
  (at r70 v148)
  (at r77 v149)
  (at r68 v150)
  (at r10 v151)
  (at r62 v152)
  (at r71 v153)
  (at r111 v154)
  (at r9 v155)
  (at r38 v156)
  (at r103 v157)
  (at r23 v158)
  (at r120 v159)
  (at r20 v160)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v15)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v10)
  (adjacent v1 v42)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v28)
  (adjacent v3 v4)
  (adjacent v3 v18)
  (adjacent v3 v34)
  (adjacent v3 v44)
  (adjacent v3 v113)
  (adjacent v4 v14)
  (adjacent v4 v48)
  (adjacent v5 v6)
  (adjacent v5 v35)
  (adjacent v5 v53)
  (adjacent v6 v7)
  (adjacent v6 v17)
  (adjacent v6 v78)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v41)
  (adjacent v7 v73)
  (adjacent v8 v9)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v22)
  (adjacent v12 v39)
  (adjacent v13 v14)
  (adjacent v13 v29)
  (adjacent v13 v49)
  (adjacent v14 v82)
  (adjacent v15 v16)
  (adjacent v15 v99)
  (adjacent v16 v17)
  (adjacent v16 v23)
  (adjacent v16 v76)
  (adjacent v16 v133)
  (adjacent v16 v143)
  (adjacent v18 v19)
  (adjacent v18 v30)
  (adjacent v18 v58)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v21 v52)
  (adjacent v22 v105)
  (adjacent v23 v24)
  (adjacent v23 v29)
  (adjacent v23 v37)
  (adjacent v23 v67)
  (adjacent v24 v25)
  (adjacent v24 v38)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v60)
  (adjacent v27 v81)
  (adjacent v27 v120)
  (adjacent v28 v93)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v87)
  (adjacent v32 v33)
  (adjacent v32 v74)
  (adjacent v33 v34)
  (adjacent v33 v66)
  (adjacent v33 v134)
  (adjacent v34 v152)
  (adjacent v35 v36)
  (adjacent v35 v45)
  (adjacent v35 v59)
  (adjacent v35 v76)
  (adjacent v35 v97)
  (adjacent v36 v37)
  (adjacent v38 v119)
  (adjacent v39 v40)
  (adjacent v39 v86)
  (adjacent v40 v41)
  (adjacent v40 v124)
  (adjacent v41 v61)
  (adjacent v42 v43)
  (adjacent v42 v60)
  (adjacent v42 v88)
  (adjacent v43 v44)
  (adjacent v43 v94)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v86)
  (adjacent v46 v128)
  (adjacent v47 v48)
  (adjacent v47 v108)
  (adjacent v48 v77)
  (adjacent v48 v85)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v75)
  (adjacent v52 v156)
  (adjacent v53 v54)
  (adjacent v53 v59)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v117)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v136)
  (adjacent v65 v66)
  (adjacent v65 v142)
  (adjacent v66 v106)
  (adjacent v66 v112)
  (adjacent v66 v157)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v118)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v76 v89)
  (adjacent v77 v96)
  (adjacent v78 v79)
  (adjacent v78 v159)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v82 v129)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v89 v109)
  (adjacent v89 v125)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v98)
  (adjacent v97 v98)
  (adjacent v97 v149)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v135)
  (adjacent v101 v102)
  (adjacent v101 v134)
  (adjacent v101 v137)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v158)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v160)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v148)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v159 v160)
 )
 (:goal
  (and
  (at r53 v0)
  (at r45 v1)
  (at r128 v2)
  (at r138 v3)
  (at r10 v4)
  (at r153 v5)
  (at r17 v6)
  (at r64 v7)
  (at r50 v8)
  (at r31 v9)
  (at r105 v10)
  (at r150 v11)
  (at r13 v12)
  (at r56 v13)
  (at r8 v14)
  (at r119 v15)
  (at r142 v16)
  (at r19 v17)
  (at r159 v18)
  (at r134 v19)
  (at r117 v20)
  (at r41 v21)
  (at r4 v22)
  (at r35 v23)
  (at r148 v24)
  (at r125 v25)
  (at r18 v26)
  (at r51 v27)
  (at r149 v28)
  (at r137 v29)
  (at r126 v30)
  (at r42 v31)
  (at r44 v32)
  (at r140 v33)
  (at r147 v34)
  (at r55 v35)
  (at r129 v36)
  (at r26 v37)
  (at r47 v38)
  (at r14 v39)
  (at r48 v40)
  (at r15 v41)
  (at r98 v42)
  (at r135 v43)
  (at r36 v44)
  (at r152 v45)
  (at r43 v46)
  (at r37 v47)
  (at r121 v48)
  (at r96 v49)
  (at r141 v50)
  (at r62 v51)
  (at r97 v52)
  (at r72 v53)
  (at r106 v54)
  (at r132 v55)
  (at r151 v56)
  (at r7 v57)
  (at r69 v58)
  (at r49 v59)
  (at r29 v60)
  (at r115 v61)
  (at r30 v62)
  (at r123 v63)
  (at r58 v64)
  (at r112 v65)
  (at r22 v66)
  (at r40 v67)
  (at r99 v68)
  (at r71 v69)
  (at r61 v70)
  (at r103 v71)
  (at r6 v72)
  (at r130 v73)
  (at r82 v74)
  (at r79 v75)
  (at r59 v76)
  (at r101 v77)
  (at r39 v78)
  (at r57 v79)
  (at r80 v80)
  (at r108 v81)
  (at r109 v82)
  (at r75 v83)
  (at r67 v84)
  (at r122 v85)
  (at r32 v86)
  (at r11 v87)
  (at r90 v88)
  (at r38 v89)
  (at r85 v90)
  (at r5 v91)
  (at r146 v92)
  (at r73 v93)
  (at r25 v94)
  (at r114 v95)
  (at r118 v96)
  (at r2 v97)
  (at r145 v98)
  (at r120 v99)
  (at r110 v100)
  (at r92 v101)
  (at r154 v102)
  (at r104 v103)
  (at r94 v104)
  (at r87 v105)
  (at r81 v106)
  (at r113 v107)
  (at r100 v108)
  (at r9 v109)
  (free v110)
  (at r86 v111)
  (at r65 v112)
  (at r16 v113)
  (at r131 v114)
  (at r74 v115)
  (at r156 v116)
  (at r91 v117)
  (at r102 v118)
  (at r34 v119)
  (at r20 v120)
  (at r116 v121)
  (at r46 v122)
  (at r23 v123)
  (at r139 v124)
  (at r83 v125)
  (at r93 v126)
  (at r144 v127)
  (at r33 v128)
  (at r89 v129)
  (at r136 v130)
  (at r76 v131)
  (at r70 v132)
  (free v133)
  (at r3 v134)
  (at r12 v135)
  (at r143 v136)
  (at r107 v137)
  (at r84 v138)
  (at r127 v139)
  (at r133 v140)
  (at r77 v141)
  (at r155 v142)
  (at r158 v143)
  (at r66 v144)
  (at r95 v145)
  (at r27 v146)
  (at r21 v147)
  (at r52 v148)
  (at r68 v149)
  (at r63 v150)
  (at r160 v151)
  (at r24 v152)
  (at r78 v153)
  (at r60 v154)
  (at r124 v155)
  (at r157 v156)
  (at r88 v157)
  (at r54 v158)
  (at r28 v159)
  (at r111 v160)
  )
 )
)