(define (problem multirobot_47_2_c0)
 (:domain multirobot)
 (:objects
  v0 r66
  v1 r43
  v2 r9
  v3 r54
  v4 r29
  v5 r8
  v6 r123
  v7 r88
  v8 r100
  v9 r32
  v10 r64
  v11 r131
  v12 r4
  v13 r145
  v14 r61
  v15 r142
  v16 r19
  v17 r127
  v18 r72
  v19 r28
  v20 r27
  v21 r5
  v22 r82
  v23 r86
  v24 r119
  v25 r103
  v26 r141
  v27 r122
  v28 r80
  v29 r59
  v30 r137
  v31 r99
  v32 r150
  v33 r40
  v34 r42
  v35 r2
  v36 r121
  v37 r75
  v38 r36
  v39 r109
  v40 r38
  v41 r144
  v42 r13
  v43 r153
  v44 r81
  v45 r85
  v46 r126
  v47 r41
  v48 r120
  v49 r128
  v50 r52
  v51 r97
  v52 r70
  v53 r55
  v54 r118
  v55 r26
  v56 r83
  v57 r129
  v58 r69
  v59 r102
  v60 r39
  v61 r58
  v62 r25
  v63 r20
  v64 r3
  v65 r23
  v66 r139
  v67 r117
  v68 r63
  v69 r106
  v70 r17
  v71 r124
  v72 r136
  v73 r155
  v74 r90
  v75 r115
  v76 r35
  v77 r114
  v78 r133
  v79 r71
  v80 r107
  v81 r76
  v82 r92
  v83 r7
  v84 r105
  v85 r135
  v86 r93
  v87 r151
  v88 r152
  v89 r65
  v90 r51
  v91 r44
  v92 r154
  v93 r60
  v94 r143
  v95 r156
  v96 r14
  v97 r22
  v98 r98
  v99 r68
  v100 r37
  v101 r148
  v102 r6
  v103 r30
  v104 r94
  v105 r116
  v106 r111
  v107 r15
  v108 r113
  v109 r140
  v110 r12
  v111 r84
  v112 r134
  v113 r62
  v114 r108
  v115 r16
  v116 r57
  v117 r18
  v118 r24
  v119 r56
  v120 r33
  v121 r138
  v122 r101
  v123 r48
  v124 r104
  v125 r112
  v126 r95
  v127 r11
  v128 r67
  v129 r77
  v130 r34
  v131 r73
  v132 r78
  v133 r96
  v134 r125
  v135 r10
  v136 r53
  v137 r46
  v138 r110
  v139 r47
  v140 r74
  v141 r132
  v142 r50
  v143 r49
  v144 r149
  v145 r79
  v146 r91
  v147 r130
  v148
  v149 r146
  v150 r31
  v151 r147
  v152 r89
  v153 r45
  v154
  v155 r87
  v156 r21
 )
 (:init
  (at r66 v0)
  (at r43 v1)
  (at r9 v2)
  (at r54 v3)
  (at r29 v4)
  (at r8 v5)
  (at r123 v6)
  (at r88 v7)
  (at r100 v8)
  (at r32 v9)
  (at r64 v10)
  (at r131 v11)
  (at r4 v12)
  (at r145 v13)
  (at r61 v14)
  (at r142 v15)
  (at r19 v16)
  (at r127 v17)
  (at r72 v18)
  (at r28 v19)
  (at r27 v20)
  (at r5 v21)
  (at r82 v22)
  (at r86 v23)
  (at r119 v24)
  (at r103 v25)
  (at r141 v26)
  (at r122 v27)
  (at r80 v28)
  (at r59 v29)
  (at r137 v30)
  (at r99 v31)
  (at r150 v32)
  (at r40 v33)
  (at r42 v34)
  (at r2 v35)
  (at r121 v36)
  (at r75 v37)
  (at r36 v38)
  (at r109 v39)
  (at r38 v40)
  (at r144 v41)
  (at r13 v42)
  (at r153 v43)
  (at r81 v44)
  (at r85 v45)
  (at r126 v46)
  (at r41 v47)
  (at r120 v48)
  (at r128 v49)
  (at r52 v50)
  (at r97 v51)
  (at r70 v52)
  (at r55 v53)
  (at r118 v54)
  (at r26 v55)
  (at r83 v56)
  (at r129 v57)
  (at r69 v58)
  (at r102 v59)
  (at r39 v60)
  (at r58 v61)
  (at r25 v62)
  (at r20 v63)
  (at r3 v64)
  (at r23 v65)
  (at r139 v66)
  (at r117 v67)
  (at r63 v68)
  (at r106 v69)
  (at r17 v70)
  (at r124 v71)
  (at r136 v72)
  (at r155 v73)
  (at r90 v74)
  (at r115 v75)
  (at r35 v76)
  (at r114 v77)
  (at r133 v78)
  (at r71 v79)
  (at r107 v80)
  (at r76 v81)
  (at r92 v82)
  (at r7 v83)
  (at r105 v84)
  (at r135 v85)
  (at r93 v86)
  (at r151 v87)
  (at r152 v88)
  (at r65 v89)
  (at r51 v90)
  (at r44 v91)
  (at r154 v92)
  (at r60 v93)
  (at r143 v94)
  (at r156 v95)
  (at r14 v96)
  (at r22 v97)
  (at r98 v98)
  (at r68 v99)
  (at r37 v100)
  (at r148 v101)
  (at r6 v102)
  (at r30 v103)
  (at r94 v104)
  (at r116 v105)
  (at r111 v106)
  (at r15 v107)
  (at r113 v108)
  (at r140 v109)
  (at r12 v110)
  (at r84 v111)
  (at r134 v112)
  (at r62 v113)
  (at r108 v114)
  (at r16 v115)
  (at r57 v116)
  (at r18 v117)
  (at r24 v118)
  (at r56 v119)
  (at r33 v120)
  (at r138 v121)
  (at r101 v122)
  (at r48 v123)
  (at r104 v124)
  (at r112 v125)
  (at r95 v126)
  (at r11 v127)
  (at r67 v128)
  (at r77 v129)
  (at r34 v130)
  (at r73 v131)
  (at r78 v132)
  (at r96 v133)
  (at r125 v134)
  (at r10 v135)
  (at r53 v136)
  (at r46 v137)
  (at r110 v138)
  (at r47 v139)
  (at r74 v140)
  (at r132 v141)
  (at r50 v142)
  (at r49 v143)
  (at r149 v144)
  (at r79 v145)
  (at r91 v146)
  (at r130 v147)
  (free v148)
  (at r146 v149)
  (at r31 v150)
  (at r147 v151)
  (at r89 v152)
  (at r45 v153)
  (free v154)
  (at r87 v155)
  (at r21 v156)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v12)
  (adjacent v0 v20)
  (adjacent v0 v32)
  (adjacent v0 v102)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v52)
  (adjacent v3 v4)
  (adjacent v3 v26)
  (adjacent v3 v45)
  (adjacent v4 v21)
  (adjacent v4 v129)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v22)
  (adjacent v5 v43)
  (adjacent v6 v44)
  (adjacent v6 v76)
  (adjacent v6 v98)
  (adjacent v7 v8)
  (adjacent v7 v47)
  (adjacent v7 v90)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v25)
  (adjacent v10 v11)
  (adjacent v10 v28)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v11 v22)
  (adjacent v13 v14)
  (adjacent v13 v23)
  (adjacent v14 v15)
  (adjacent v14 v102)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v31)
  (adjacent v16 v45)
  (adjacent v16 v73)
  (adjacent v16 v141)
  (adjacent v17 v18)
  (adjacent v17 v101)
  (adjacent v18 v19)
  (adjacent v18 v36)
  (adjacent v19 v108)
  (adjacent v20 v21)
  (adjacent v20 v27)
  (adjacent v21 v125)
  (adjacent v21 v126)
  (adjacent v23 v24)
  (adjacent v23 v51)
  (adjacent v24 v25)
  (adjacent v24 v71)
  (adjacent v24 v110)
  (adjacent v24 v118)
  (adjacent v26 v27)
  (adjacent v27 v89)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v70)
  (adjacent v30 v31)
  (adjacent v30 v35)
  (adjacent v30 v46)
  (adjacent v31 v42)
  (adjacent v31 v46)
  (adjacent v31 v97)
  (adjacent v32 v33)
  (adjacent v32 v83)
  (adjacent v33 v34)
  (adjacent v33 v120)
  (adjacent v34 v35)
  (adjacent v34 v53)
  (adjacent v34 v67)
  (adjacent v34 v142)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v60)
  (adjacent v40 v72)
  (adjacent v41 v42)
  (adjacent v41 v135)
  (adjacent v42 v124)
  (adjacent v42 v148)
  (adjacent v43 v44)
  (adjacent v43 v68)
  (adjacent v44 v149)
  (adjacent v46 v61)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v71)
  (adjacent v51 v72)
  (adjacent v51 v118)
  (adjacent v52 v53)
  (adjacent v52 v54)
  (adjacent v53 v88)
  (adjacent v53 v109)
  (adjacent v53 v115)
  (adjacent v54 v55)
  (adjacent v54 v82)
  (adjacent v54 v109)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v114)
  (adjacent v60 v96)
  (adjacent v60 v140)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v155)
  (adjacent v66 v67)
  (adjacent v67 v89)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v75)
  (adjacent v70 v123)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v103)
  (adjacent v76 v77)
  (adjacent v76 v126)
  (adjacent v77 v78)
  (adjacent v77 v127)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v97)
  (adjacent v80 v81)
  (adjacent v80 v119)
  (adjacent v81 v82)
  (adjacent v81 v148)
  (adjacent v82 v117)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v120)
  (adjacent v85 v86)
  (adjacent v85 v147)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v134)
  (adjacent v95 v96)
  (adjacent v96 v119)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v103 v104)
  (adjacent v103 v121)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v144)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v130)
  (adjacent v119 v143)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v136 v156)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v141 v156)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
 )
 (:goal
  (and
  (at r141 v0)
  (at r87 v1)
  (at r67 v2)
  (at r95 v3)
  (at r122 v4)
  (at r136 v5)
  (at r44 v6)
  (at r7 v7)
  (at r71 v8)
  (at r104 v9)
  (at r19 v10)
  (at r60 v11)
  (at r56 v12)
  (at r146 v13)
  (at r144 v14)
  (at r18 v15)
  (at r21 v16)
  (at r69 v17)
  (at r89 v18)
  (at r28 v19)
  (at r30 v20)
  (at r48 v21)
  (at r137 v22)
  (at r53 v23)
  (at r113 v24)
  (at r94 v25)
  (at r29 v26)
  (at r50 v27)
  (at r42 v28)
  (at r40 v29)
  (at r52 v30)
  (at r85 v31)
  (at r84 v32)
  (at r59 v33)
  (at r5 v34)
  (at r121 v35)
  (at r101 v36)
  (at r63 v37)
  (at r124 v38)
  (at r151 v39)
  (at r35 v40)
  (at r127 v41)
  (at r97 v42)
  (at r133 v43)
  (at r11 v44)
  (at r107 v45)
  (at r36 v46)
  (at r150 v47)
  (at r65 v48)
  (at r33 v49)
  (at r57 v50)
  (at r47 v51)
  (at r135 v52)
  (at r82 v53)
  (at r154 v54)
  (at r10 v55)
  (at r103 v56)
  (at r51 v57)
  (at r22 v58)
  (at r38 v59)
  (at r145 v60)
  (at r23 v61)
  (at r86 v62)
  (at r139 v63)
  (at r55 v64)
  (at r93 v65)
  (at r73 v66)
  (at r43 v67)
  (at r134 v68)
  (at r25 v69)
  (at r15 v70)
  (at r12 v71)
  (at r96 v72)
  (at r81 v73)
  (at r68 v74)
  (at r120 v75)
  (at r152 v76)
  (at r108 v77)
  (at r14 v78)
  (at r90 v79)
  (at r34 v80)
  (at r115 v81)
  (at r37 v82)
  (at r83 v83)
  (at r2 v84)
  (at r105 v85)
  (at r156 v86)
  (at r4 v87)
  (at r143 v88)
  (at r80 v89)
  (at r13 v90)
  (at r110 v91)
  (at r61 v92)
  (at r45 v93)
  (at r155 v94)
  (at r126 v95)
  (at r106 v96)
  (at r123 v97)
  (at r75 v98)
  (at r8 v99)
  (at r16 v100)
  (at r119 v101)
  (at r91 v102)
  (at r58 v103)
  (at r111 v104)
  (at r27 v105)
  (at r20 v106)
  (at r70 v107)
  (at r128 v108)
  (at r6 v109)
  (at r102 v110)
  (at r147 v111)
  (at r74 v112)
  (at r17 v113)
  (at r138 v114)
  (at r66 v115)
  (at r112 v116)
  (free v117)
  (at r140 v118)
  (at r129 v119)
  (at r153 v120)
  (at r72 v121)
  (at r125 v122)
  (free v123)
  (at r62 v124)
  (at r117 v125)
  (at r39 v126)
  (at r31 v127)
  (at r41 v128)
  (at r118 v129)
  (at r32 v130)
  (at r114 v131)
  (at r132 v132)
  (at r92 v133)
  (at r130 v134)
  (at r149 v135)
  (at r78 v136)
  (at r99 v137)
  (at r49 v138)
  (at r76 v139)
  (at r3 v140)
  (at r109 v141)
  (at r79 v142)
  (at r9 v143)
  (at r142 v144)
  (at r88 v145)
  (at r24 v146)
  (at r26 v147)
  (at r148 v148)
  (at r77 v149)
  (at r64 v150)
  (at r100 v151)
  (at r116 v152)
  (at r46 v153)
  (at r131 v154)
  (at r54 v155)
  (at r98 v156)
  )
 )
)