(define (problem multirobot_46_2_c6)
 (:domain multirobot)
 (:objects
  v0 r83
  v1 r113
  v2 r53
  v3 r18
  v4 r7
  v5 r4
  v6 r139
  v7 r159
  v8 r117
  v9 r14
  v10 r16
  v11 r47
  v12 r58
  v13 r100
  v14 r39
  v15 r62
  v16 r122
  v17 r144
  v18 r50
  v19 r22
  v20 r29
  v21 r24
  v22 r115
  v23 r17
  v24 r110
  v25 r49
  v26 r56
  v27 r143
  v28 r43
  v29 r31
  v30 r152
  v31 r149
  v32 r150
  v33 r161
  v34 r130
  v35 r5
  v36 r21
  v37 r73
  v38 r37
  v39 r124
  v40 r96
  v41 r87
  v42 r135
  v43 r44
  v44 r118
  v45 r72
  v46 r134
  v47 r158
  v48 r126
  v49 r148
  v50 r30
  v51 r131
  v52 r166
  v53 r38
  v54 r15
  v55 r86
  v56 r112
  v57 r98
  v58 r60
  v59 r142
  v60 r95
  v61 r27
  v62 r59
  v63 r109
  v64 r42
  v65 r20
  v66 r51
  v67 r32
  v68 r107
  v69 r46
  v70 r85
  v71 r137
  v72 r133
  v73 r125
  v74 r61
  v75 r160
  v76 r162
  v77 r77
  v78 r36
  v79 r119
  v80 r163
  v81 r76
  v82 r9
  v83 r129
  v84 r157
  v85 r2
  v86 r26
  v87 r75
  v88 r156
  v89 r11
  v90 r138
  v91 r155
  v92 r105
  v93 r92
  v94 r94
  v95 r103
  v96 r40
  v97
  v98 r102
  v99 r6
  v100 r71
  v101 r33
  v102 r23
  v103 r164
  v104 r54
  v105 r151
  v106 r12
  v107 r90
  v108 r91
  v109 r136
  v110 r35
  v111 r8
  v112 r108
  v113 r70
  v114 r165
  v115 r80
  v116 r13
  v117 r99
  v118 r121
  v119 r68
  v120 r79
  v121 r57
  v122 r81
  v123 r48
  v124 r74
  v125 r154
  v126 r78
  v127 r28
  v128 r114
  v129 r97
  v130 r147
  v131 r120
  v132 r41
  v133 r19
  v134 r34
  v135 r3
  v136 r52
  v137 r132
  v138 r153
  v139 r89
  v140 r64
  v141 r128
  v142 r45
  v143 r146
  v144 r69
  v145 r55
  v146 r111
  v147 r93
  v148 r116
  v149 r10
  v150 r63
  v151 r88
  v152 r104
  v153 r141
  v154
  v155 r82
  v156 r127
  v157 r106
  v158 r84
  v159 r67
  v160 r123
  v161 r145
  v162 r66
  v163 r25
  v164 r140
  v165 r65
  v166 r101
 )
 (:init
  (at r83 v0)
  (at r113 v1)
  (at r53 v2)
  (at r18 v3)
  (at r7 v4)
  (at r4 v5)
  (at r139 v6)
  (at r159 v7)
  (at r117 v8)
  (at r14 v9)
  (at r16 v10)
  (at r47 v11)
  (at r58 v12)
  (at r100 v13)
  (at r39 v14)
  (at r62 v15)
  (at r122 v16)
  (at r144 v17)
  (at r50 v18)
  (at r22 v19)
  (at r29 v20)
  (at r24 v21)
  (at r115 v22)
  (at r17 v23)
  (at r110 v24)
  (at r49 v25)
  (at r56 v26)
  (at r143 v27)
  (at r43 v28)
  (at r31 v29)
  (at r152 v30)
  (at r149 v31)
  (at r150 v32)
  (at r161 v33)
  (at r130 v34)
  (at r5 v35)
  (at r21 v36)
  (at r73 v37)
  (at r37 v38)
  (at r124 v39)
  (at r96 v40)
  (at r87 v41)
  (at r135 v42)
  (at r44 v43)
  (at r118 v44)
  (at r72 v45)
  (at r134 v46)
  (at r158 v47)
  (at r126 v48)
  (at r148 v49)
  (at r30 v50)
  (at r131 v51)
  (at r166 v52)
  (at r38 v53)
  (at r15 v54)
  (at r86 v55)
  (at r112 v56)
  (at r98 v57)
  (at r60 v58)
  (at r142 v59)
  (at r95 v60)
  (at r27 v61)
  (at r59 v62)
  (at r109 v63)
  (at r42 v64)
  (at r20 v65)
  (at r51 v66)
  (at r32 v67)
  (at r107 v68)
  (at r46 v69)
  (at r85 v70)
  (at r137 v71)
  (at r133 v72)
  (at r125 v73)
  (at r61 v74)
  (at r160 v75)
  (at r162 v76)
  (at r77 v77)
  (at r36 v78)
  (at r119 v79)
  (at r163 v80)
  (at r76 v81)
  (at r9 v82)
  (at r129 v83)
  (at r157 v84)
  (at r2 v85)
  (at r26 v86)
  (at r75 v87)
  (at r156 v88)
  (at r11 v89)
  (at r138 v90)
  (at r155 v91)
  (at r105 v92)
  (at r92 v93)
  (at r94 v94)
  (at r103 v95)
  (at r40 v96)
  (free v97)
  (at r102 v98)
  (at r6 v99)
  (at r71 v100)
  (at r33 v101)
  (at r23 v102)
  (at r164 v103)
  (at r54 v104)
  (at r151 v105)
  (at r12 v106)
  (at r90 v107)
  (at r91 v108)
  (at r136 v109)
  (at r35 v110)
  (at r8 v111)
  (at r108 v112)
  (at r70 v113)
  (at r165 v114)
  (at r80 v115)
  (at r13 v116)
  (at r99 v117)
  (at r121 v118)
  (at r68 v119)
  (at r79 v120)
  (at r57 v121)
  (at r81 v122)
  (at r48 v123)
  (at r74 v124)
  (at r154 v125)
  (at r78 v126)
  (at r28 v127)
  (at r114 v128)
  (at r97 v129)
  (at r147 v130)
  (at r120 v131)
  (at r41 v132)
  (at r19 v133)
  (at r34 v134)
  (at r3 v135)
  (at r52 v136)
  (at r132 v137)
  (at r153 v138)
  (at r89 v139)
  (at r64 v140)
  (at r128 v141)
  (at r45 v142)
  (at r146 v143)
  (at r69 v144)
  (at r55 v145)
  (at r111 v146)
  (at r93 v147)
  (at r116 v148)
  (at r10 v149)
  (at r63 v150)
  (at r88 v151)
  (at r104 v152)
  (at r141 v153)
  (free v154)
  (at r82 v155)
  (at r127 v156)
  (at r106 v157)
  (at r84 v158)
  (at r67 v159)
  (at r123 v160)
  (at r145 v161)
  (at r66 v162)
  (at r25 v163)
  (at r140 v164)
  (at r65 v165)
  (at r101 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v78)
  (adjacent v0 v125)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v88)
  (adjacent v1 v117)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v36)
  (adjacent v2 v67)
  (adjacent v3 v4)
  (adjacent v3 v151)
  (adjacent v4 v30)
  (adjacent v4 v151)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v19)
  (adjacent v6 v44)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v37)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v8 v23)
  (adjacent v8 v73)
  (adjacent v8 v87)
  (adjacent v8 v150)
  (adjacent v9 v10)
  (adjacent v9 v26)
  (adjacent v10 v11)
  (adjacent v11 v22)
  (adjacent v11 v142)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v31)
  (adjacent v15 v16)
  (adjacent v15 v33)
  (adjacent v15 v48)
  (adjacent v16 v17)
  (adjacent v16 v111)
  (adjacent v17 v18)
  (adjacent v17 v24)
  (adjacent v17 v86)
  (adjacent v17 v91)
  (adjacent v17 v95)
  (adjacent v18 v43)
  (adjacent v18 v60)
  (adjacent v19 v20)
  (adjacent v19 v156)
  (adjacent v20 v21)
  (adjacent v20 v49)
  (adjacent v20 v88)
  (adjacent v21 v22)
  (adjacent v22 v27)
  (adjacent v22 v87)
  (adjacent v23 v98)
  (adjacent v23 v162)
  (adjacent v24 v25)
  (adjacent v24 v124)
  (adjacent v25 v26)
  (adjacent v25 v32)
  (adjacent v27 v28)
  (adjacent v27 v53)
  (adjacent v28 v29)
  (adjacent v28 v165)
  (adjacent v29 v30)
  (adjacent v29 v135)
  (adjacent v30 v102)
  (adjacent v31 v32)
  (adjacent v31 v163)
  (adjacent v32 v62)
  (adjacent v32 v104)
  (adjacent v33 v34)
  (adjacent v33 v63)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v118)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v141)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v126)
  (adjacent v46 v47)
  (adjacent v46 v136)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v119)
  (adjacent v51 v52)
  (adjacent v51 v59)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v68)
  (adjacent v57 v58)
  (adjacent v57 v74)
  (adjacent v58 v59)
  (adjacent v58 v166)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v83)
  (adjacent v62 v89)
  (adjacent v63 v64)
  (adjacent v63 v109)
  (adjacent v63 v133)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v82)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v166)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v105)
  (adjacent v72 v73)
  (adjacent v73 v110)
  (adjacent v74 v75)
  (adjacent v74 v123)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v99)
  (adjacent v77 v78)
  (adjacent v77 v79)
  (adjacent v77 v158)
  (adjacent v78 v90)
  (adjacent v78 v118)
  (adjacent v79 v80)
  (adjacent v79 v101)
  (adjacent v79 v135)
  (adjacent v79 v144)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v83 v94)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v164)
  (adjacent v89 v90)
  (adjacent v89 v134)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v99 v110)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v105 v132)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v152)
  (adjacent v110 v149)
  (adjacent v111 v112)
  (adjacent v111 v137)
  (adjacent v111 v143)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v165)
  (adjacent v119 v120)
  (adjacent v119 v138)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v135 v148)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v142 v155)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v151 v159)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
 )
 (:goal
  (and
  (at r147 v0)
  (at r31 v1)
  (at r26 v2)
  (at r30 v3)
  (at r12 v4)
  (at r110 v5)
  (at r59 v6)
  (at r123 v7)
  (at r64 v8)
  (at r77 v9)
  (at r60 v10)
  (at r68 v11)
  (at r132 v12)
  (at r166 v13)
  (at r66 v14)
  (at r165 v15)
  (at r116 v16)
  (at r57 v17)
  (at r41 v18)
  (at r157 v19)
  (at r151 v20)
  (at r101 v21)
  (at r161 v22)
  (at r144 v23)
  (at r25 v24)
  (at r33 v25)
  (at r35 v26)
  (at r47 v27)
  (at r61 v28)
  (at r105 v29)
  (free v30)
  (at r152 v31)
  (at r19 v32)
  (at r120 v33)
  (at r34 v34)
  (at r103 v35)
  (at r69 v36)
  (at r134 v37)
  (at r84 v38)
  (at r7 v39)
  (at r81 v40)
  (at r53 v41)
  (at r139 v42)
  (at r4 v43)
  (at r129 v44)
  (at r29 v45)
  (at r150 v46)
  (at r162 v47)
  (at r11 v48)
  (at r136 v49)
  (at r117 v50)
  (at r56 v51)
  (at r88 v52)
  (at r100 v53)
  (at r156 v54)
  (at r89 v55)
  (at r121 v56)
  (at r153 v57)
  (at r140 v58)
  (at r155 v59)
  (at r65 v60)
  (at r74 v61)
  (at r21 v62)
  (at r126 v63)
  (at r83 v64)
  (at r27 v65)
  (at r93 v66)
  (at r78 v67)
  (at r125 v68)
  (at r38 v69)
  (at r22 v70)
  (at r76 v71)
  (at r142 v72)
  (at r158 v73)
  (at r148 v74)
  (at r17 v75)
  (at r127 v76)
  (at r137 v77)
  (at r15 v78)
  (at r99 v79)
  (at r75 v80)
  (at r130 v81)
  (at r133 v82)
  (at r70 v83)
  (at r96 v84)
  (at r164 v85)
  (at r87 v86)
  (at r146 v87)
  (at r135 v88)
  (at r51 v89)
  (at r138 v90)
  (at r90 v91)
  (at r163 v92)
  (at r18 v93)
  (at r10 v94)
  (at r3 v95)
  (at r97 v96)
  (at r109 v97)
  (at r24 v98)
  (at r52 v99)
  (at r6 v100)
  (at r80 v101)
  (at r112 v102)
  (at r92 v103)
  (at r154 v104)
  (at r94 v105)
  (at r113 v106)
  (at r98 v107)
  (at r145 v108)
  (at r119 v109)
  (at r40 v110)
  (at r39 v111)
  (at r95 v112)
  (free v113)
  (at r42 v114)
  (at r62 v115)
  (at r86 v116)
  (at r122 v117)
  (at r73 v118)
  (at r149 v119)
  (at r82 v120)
  (at r49 v121)
  (at r160 v122)
  (at r37 v123)
  (at r36 v124)
  (at r5 v125)
  (at r67 v126)
  (at r20 v127)
  (at r58 v128)
  (at r143 v129)
  (at r63 v130)
  (at r55 v131)
  (at r159 v132)
  (at r14 v133)
  (at r102 v134)
  (at r48 v135)
  (at r54 v136)
  (at r43 v137)
  (at r16 v138)
  (at r23 v139)
  (at r8 v140)
  (at r45 v141)
  (at r108 v142)
  (at r28 v143)
  (at r114 v144)
  (at r115 v145)
  (at r141 v146)
  (at r79 v147)
  (at r9 v148)
  (at r72 v149)
  (at r13 v150)
  (at r107 v151)
  (at r85 v152)
  (at r124 v153)
  (at r131 v154)
  (at r104 v155)
  (at r91 v156)
  (at r50 v157)
  (at r106 v158)
  (at r71 v159)
  (at r32 v160)
  (at r118 v161)
  (at r128 v162)
  (at r46 v163)
  (at r2 v164)
  (at r44 v165)
  (at r111 v166)
  )
 )
)