(define (problem multirobot_45_2_c9)
 (:domain multirobot)
 (:objects
  v0 r97
  v1 r33
  v2 r134
  v3 r21
  v4 r82
  v5 r98
  v6 r54
  v7 r47
  v8 r74
  v9 r30
  v10 r111
  v11 r137
  v12 r113
  v13 r153
  v14 r28
  v15 r39
  v16 r29
  v17 r123
  v18 r151
  v19 r117
  v20 r108
  v21 r107
  v22 r154
  v23 r85
  v24 r94
  v25
  v26 r80
  v27 r131
  v28 r27
  v29 r22
  v30 r95
  v31 r157
  v32 r48
  v33 r8
  v34 r16
  v35 r11
  v36 r6
  v37 r158
  v38 r32
  v39 r63
  v40 r135
  v41 r55
  v42 r144
  v43 r105
  v44 r140
  v45 r121
  v46 r138
  v47 r81
  v48 r112
  v49 r133
  v50 r139
  v51 r5
  v52 r72
  v53 r71
  v54 r46
  v55 r75
  v56 r143
  v57 r2
  v58 r53
  v59 r100
  v60 r88
  v61 r41
  v62 r116
  v63 r103
  v64 r126
  v65 r104
  v66 r78
  v67 r114
  v68 r148
  v69 r127
  v70 r44
  v71 r120
  v72 r109
  v73 r24
  v74 r130
  v75 r147
  v76 r12
  v77 r119
  v78 r62
  v79 r49
  v80 r106
  v81 r141
  v82 r19
  v83 r136
  v84 r96
  v85
  v86 r149
  v87 r34
  v88 r23
  v89 r45
  v90 r128
  v91 r9
  v92 r20
  v93 r40
  v94 r26
  v95 r159
  v96 r79
  v97 r110
  v98 r57
  v99 r99
  v100 r142
  v101 r18
  v102 r25
  v103 r60
  v104 r66
  v105 r37
  v106 r125
  v107 r52
  v108 r101
  v109 r58
  v110 r156
  v111 r36
  v112 r152
  v113 r146
  v114 r31
  v115 r3
  v116 r73
  v117 r89
  v118 r115
  v119 r86
  v120 r4
  v121 r129
  v122 r38
  v123 r35
  v124 r118
  v125 r50
  v126 r67
  v127 r68
  v128 r84
  v129 r14
  v130 r124
  v131 r69
  v132 r7
  v133 r132
  v134 r65
  v135 r15
  v136 r61
  v137 r70
  v138 r56
  v139 r43
  v140 r102
  v141 r13
  v142 r90
  v143 r160
  v144 r93
  v145 r92
  v146 r87
  v147 r42
  v148 r83
  v149 r76
  v150 r17
  v151 r10
  v152 r155
  v153 r51
  v154 r145
  v155 r64
  v156 r59
  v157 r91
  v158 r77
  v159 r122
  v160 r150
 )
 (:init
  (at r97 v0)
  (at r33 v1)
  (at r134 v2)
  (at r21 v3)
  (at r82 v4)
  (at r98 v5)
  (at r54 v6)
  (at r47 v7)
  (at r74 v8)
  (at r30 v9)
  (at r111 v10)
  (at r137 v11)
  (at r113 v12)
  (at r153 v13)
  (at r28 v14)
  (at r39 v15)
  (at r29 v16)
  (at r123 v17)
  (at r151 v18)
  (at r117 v19)
  (at r108 v20)
  (at r107 v21)
  (at r154 v22)
  (at r85 v23)
  (at r94 v24)
  (free v25)
  (at r80 v26)
  (at r131 v27)
  (at r27 v28)
  (at r22 v29)
  (at r95 v30)
  (at r157 v31)
  (at r48 v32)
  (at r8 v33)
  (at r16 v34)
  (at r11 v35)
  (at r6 v36)
  (at r158 v37)
  (at r32 v38)
  (at r63 v39)
  (at r135 v40)
  (at r55 v41)
  (at r144 v42)
  (at r105 v43)
  (at r140 v44)
  (at r121 v45)
  (at r138 v46)
  (at r81 v47)
  (at r112 v48)
  (at r133 v49)
  (at r139 v50)
  (at r5 v51)
  (at r72 v52)
  (at r71 v53)
  (at r46 v54)
  (at r75 v55)
  (at r143 v56)
  (at r2 v57)
  (at r53 v58)
  (at r100 v59)
  (at r88 v60)
  (at r41 v61)
  (at r116 v62)
  (at r103 v63)
  (at r126 v64)
  (at r104 v65)
  (at r78 v66)
  (at r114 v67)
  (at r148 v68)
  (at r127 v69)
  (at r44 v70)
  (at r120 v71)
  (at r109 v72)
  (at r24 v73)
  (at r130 v74)
  (at r147 v75)
  (at r12 v76)
  (at r119 v77)
  (at r62 v78)
  (at r49 v79)
  (at r106 v80)
  (at r141 v81)
  (at r19 v82)
  (at r136 v83)
  (at r96 v84)
  (free v85)
  (at r149 v86)
  (at r34 v87)
  (at r23 v88)
  (at r45 v89)
  (at r128 v90)
  (at r9 v91)
  (at r20 v92)
  (at r40 v93)
  (at r26 v94)
  (at r159 v95)
  (at r79 v96)
  (at r110 v97)
  (at r57 v98)
  (at r99 v99)
  (at r142 v100)
  (at r18 v101)
  (at r25 v102)
  (at r60 v103)
  (at r66 v104)
  (at r37 v105)
  (at r125 v106)
  (at r52 v107)
  (at r101 v108)
  (at r58 v109)
  (at r156 v110)
  (at r36 v111)
  (at r152 v112)
  (at r146 v113)
  (at r31 v114)
  (at r3 v115)
  (at r73 v116)
  (at r89 v117)
  (at r115 v118)
  (at r86 v119)
  (at r4 v120)
  (at r129 v121)
  (at r38 v122)
  (at r35 v123)
  (at r118 v124)
  (at r50 v125)
  (at r67 v126)
  (at r68 v127)
  (at r84 v128)
  (at r14 v129)
  (at r124 v130)
  (at r69 v131)
  (at r7 v132)
  (at r132 v133)
  (at r65 v134)
  (at r15 v135)
  (at r61 v136)
  (at r70 v137)
  (at r56 v138)
  (at r43 v139)
  (at r102 v140)
  (at r13 v141)
  (at r90 v142)
  (at r160 v143)
  (at r93 v144)
  (at r92 v145)
  (at r87 v146)
  (at r42 v147)
  (at r83 v148)
  (at r76 v149)
  (at r17 v150)
  (at r10 v151)
  (at r155 v152)
  (at r51 v153)
  (at r145 v154)
  (at r64 v155)
  (at r59 v156)
  (at r91 v157)
  (at r77 v158)
  (at r122 v159)
  (at r150 v160)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v76)
  (adjacent v1 v2)
  (adjacent v1 v19)
  (adjacent v1 v21)
  (adjacent v1 v91)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v12)
  (adjacent v2 v20)
  (adjacent v2 v27)
  (adjacent v2 v32)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v11)
  (adjacent v3 v12)
  (adjacent v3 v42)
  (adjacent v3 v68)
  (adjacent v3 v112)
  (adjacent v4 v20)
  (adjacent v4 v132)
  (adjacent v5 v80)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v6 v26)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v23)
  (adjacent v10 v38)
  (adjacent v11 v18)
  (adjacent v11 v25)
  (adjacent v13 v14)
  (adjacent v13 v29)
  (adjacent v14 v15)
  (adjacent v14 v44)
  (adjacent v15 v16)
  (adjacent v15 v119)
  (adjacent v16 v17)
  (adjacent v16 v47)
  (adjacent v16 v99)
  (adjacent v17 v18)
  (adjacent v17 v28)
  (adjacent v17 v30)
  (adjacent v17 v38)
  (adjacent v18 v19)
  (adjacent v20 v116)
  (adjacent v21 v22)
  (adjacent v21 v98)
  (adjacent v22 v23)
  (adjacent v22 v24)
  (adjacent v23 v28)
  (adjacent v23 v37)
  (adjacent v24 v25)
  (adjacent v25 v39)
  (adjacent v26 v27)
  (adjacent v27 v128)
  (adjacent v28 v29)
  (adjacent v28 v33)
  (adjacent v28 v109)
  (adjacent v29 v41)
  (adjacent v30 v31)
  (adjacent v30 v108)
  (adjacent v31 v32)
  (adjacent v32 v45)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v81)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v54)
  (adjacent v37 v48)
  (adjacent v39 v40)
  (adjacent v39 v86)
  (adjacent v40 v41)
  (adjacent v40 v61)
  (adjacent v40 v70)
  (adjacent v41 v63)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v45 v75)
  (adjacent v46 v47)
  (adjacent v47 v62)
  (adjacent v48 v49)
  (adjacent v48 v71)
  (adjacent v49 v50)
  (adjacent v49 v120)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v55)
  (adjacent v53 v54)
  (adjacent v53 v85)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v62)
  (adjacent v58 v141)
  (adjacent v59 v60)
  (adjacent v59 v67)
  (adjacent v60 v61)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v81)
  (adjacent v70 v87)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v86)
  (adjacent v73 v155)
  (adjacent v74 v75)
  (adjacent v74 v82)
  (adjacent v74 v106)
  (adjacent v75 v126)
  (adjacent v76 v77)
  (adjacent v76 v131)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v92)
  (adjacent v79 v80)
  (adjacent v81 v137)
  (adjacent v81 v149)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v102)
  (adjacent v87 v88)
  (adjacent v87 v111)
  (adjacent v87 v126)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v105)
  (adjacent v91 v142)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v127)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v103)
  (adjacent v96 v138)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v103 v125)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v115)
  (adjacent v107 v129)
  (adjacent v107 v148)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v112 v146)
  (adjacent v113 v114)
  (adjacent v113 v160)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v128 v154)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v145)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
 )
 (:goal
  (and
  (at r122 v0)
  (at r42 v1)
  (at r58 v2)
  (at r36 v3)
  (at r81 v4)
  (at r146 v5)
  (at r106 v6)
  (at r93 v7)
  (at r138 v8)
  (at r33 v9)
  (at r109 v10)
  (at r64 v11)
  (at r94 v12)
  (at r46 v13)
  (at r13 v14)
  (at r28 v15)
  (at r30 v16)
  (at r120 v17)
  (at r82 v18)
  (at r76 v19)
  (at r100 v20)
  (at r85 v21)
  (at r88 v22)
  (at r79 v23)
  (at r136 v24)
  (at r55 v25)
  (at r140 v26)
  (at r8 v27)
  (at r67 v28)
  (at r60 v29)
  (at r34 v30)
  (at r87 v31)
  (at r24 v32)
  (at r75 v33)
  (at r145 v34)
  (at r154 v35)
  (at r102 v36)
  (at r6 v37)
  (at r27 v38)
  (at r54 v39)
  (at r38 v40)
  (at r121 v41)
  (at r10 v42)
  (at r137 v43)
  (at r117 v44)
  (at r151 v45)
  (at r23 v46)
  (at r84 v47)
  (at r155 v48)
  (at r110 v49)
  (at r105 v50)
  (at r63 v51)
  (at r92 v52)
  (at r43 v53)
  (at r49 v54)
  (at r97 v55)
  (at r124 v56)
  (at r99 v57)
  (at r40 v58)
  (at r119 v59)
  (at r20 v60)
  (at r15 v61)
  (at r96 v62)
  (at r25 v63)
  (at r53 v64)
  (at r29 v65)
  (at r83 v66)
  (at r160 v67)
  (at r74 v68)
  (at r95 v69)
  (at r44 v70)
  (at r31 v71)
  (at r116 v72)
  (at r101 v73)
  (at r47 v74)
  (at r111 v75)
  (at r128 v76)
  (at r19 v77)
  (at r4 v78)
  (at r157 v79)
  (at r91 v80)
  (at r135 v81)
  (at r113 v82)
  (at r39 v83)
  (at r50 v84)
  (at r156 v85)
  (at r62 v86)
  (at r103 v87)
  (at r143 v88)
  (at r125 v89)
  (at r57 v90)
  (at r142 v91)
  (at r147 v92)
  (at r35 v93)
  (at r78 v94)
  (at r16 v95)
  (at r9 v96)
  (at r65 v97)
  (at r89 v98)
  (free v99)
  (at r153 v100)
  (at r104 v101)
  (at r70 v102)
  (at r37 v103)
  (at r148 v104)
  (free v105)
  (at r72 v106)
  (at r80 v107)
  (at r114 v108)
  (at r126 v109)
  (at r129 v110)
  (at r131 v111)
  (at r73 v112)
  (at r90 v113)
  (at r69 v114)
  (at r12 v115)
  (at r51 v116)
  (at r144 v117)
  (at r32 v118)
  (at r56 v119)
  (at r7 v120)
  (at r98 v121)
  (at r141 v122)
  (at r17 v123)
  (at r52 v124)
  (at r118 v125)
  (at r66 v126)
  (at r11 v127)
  (at r108 v128)
  (at r150 v129)
  (at r149 v130)
  (at r127 v131)
  (at r2 v132)
  (at r45 v133)
  (at r112 v134)
  (at r139 v135)
  (at r26 v136)
  (at r77 v137)
  (at r107 v138)
  (at r159 v139)
  (at r115 v140)
  (at r18 v141)
  (at r130 v142)
  (at r41 v143)
  (at r48 v144)
  (at r132 v145)
  (at r86 v146)
  (at r152 v147)
  (at r5 v148)
  (at r71 v149)
  (at r123 v150)
  (at r59 v151)
  (at r134 v152)
  (at r21 v153)
  (at r22 v154)
  (at r61 v155)
  (at r68 v156)
  (at r133 v157)
  (at r14 v158)
  (at r3 v159)
  (at r158 v160)
  )
 )
)