(define (problem multirobot_47_2_c1)
 (:domain multirobot)
 (:objects
  v0 r126
  v1 r118
  v2 r111
  v3 r134
  v4 r44
  v5 r108
  v6 r107
  v7 r148
  v8 r45
  v9 r100
  v10 r130
  v11 r165
  v12 r128
  v13 r117
  v14 r103
  v15 r25
  v16 r113
  v17 r91
  v18 r34
  v19 r104
  v20 r4
  v21 r133
  v22 r149
  v23 r146
  v24 r52
  v25 r32
  v26 r24
  v27 r164
  v28
  v29 r30
  v30 r57
  v31 r8
  v32 r139
  v33 r90
  v34 r138
  v35 r84
  v36 r35
  v37 r155
  v38 r163
  v39
  v40 r21
  v41 r11
  v42 r9
  v43 r10
  v44 r64
  v45 r51
  v46 r33
  v47 r80
  v48 r101
  v49 r97
  v50 r49
  v51 r18
  v52 r145
  v53 r29
  v54 r129
  v55 r40
  v56 r132
  v57 r152
  v58 r70
  v59 r71
  v60 r38
  v61 r87
  v62 r120
  v63 r83
  v64 r60
  v65 r119
  v66 r151
  v67 r56
  v68 r26
  v69 r170
  v70 r144
  v71 r160
  v72 r98
  v73 r169
  v74 r81
  v75 r37
  v76 r140
  v77 r102
  v78 r112
  v79 r54
  v80 r27
  v81 r67
  v82 r92
  v83 r150
  v84 r62
  v85 r82
  v86 r109
  v87 r2
  v88 r88
  v89 r136
  v90 r123
  v91 r75
  v92 r65
  v93 r142
  v94 r99
  v95 r28
  v96 r115
  v97 r96
  v98 r55
  v99 r77
  v100 r159
  v101 r125
  v102 r141
  v103 r19
  v104 r74
  v105 r72
  v106 r121
  v107 r61
  v108 r89
  v109 r122
  v110 r58
  v111 r79
  v112 r110
  v113 r3
  v114 r6
  v115 r154
  v116 r63
  v117 r105
  v118 r116
  v119 r17
  v120 r124
  v121 r157
  v122 r43
  v123 r5
  v124 r76
  v125 r167
  v126 r39
  v127 r168
  v128 r78
  v129 r162
  v130 r156
  v131 r46
  v132 r53
  v133 r106
  v134 r131
  v135 r15
  v136 r36
  v137 r20
  v138 r48
  v139 r50
  v140 r135
  v141 r86
  v142 r153
  v143 r13
  v144 r161
  v145 r59
  v146 r16
  v147 r137
  v148 r7
  v149 r73
  v150 r22
  v151 r42
  v152 r93
  v153 r94
  v154 r41
  v155 r66
  v156 r14
  v157 r69
  v158 r158
  v159 r147
  v160 r68
  v161 r23
  v162 r114
  v163 r47
  v164 r166
  v165 r85
  v166 r12
  v167 r127
  v168 r31
  v169 r95
  v170 r143
 )
 (:init
  (at r126 v0)
  (at r118 v1)
  (at r111 v2)
  (at r134 v3)
  (at r44 v4)
  (at r108 v5)
  (at r107 v6)
  (at r148 v7)
  (at r45 v8)
  (at r100 v9)
  (at r130 v10)
  (at r165 v11)
  (at r128 v12)
  (at r117 v13)
  (at r103 v14)
  (at r25 v15)
  (at r113 v16)
  (at r91 v17)
  (at r34 v18)
  (at r104 v19)
  (at r4 v20)
  (at r133 v21)
  (at r149 v22)
  (at r146 v23)
  (at r52 v24)
  (at r32 v25)
  (at r24 v26)
  (at r164 v27)
  (free v28)
  (at r30 v29)
  (at r57 v30)
  (at r8 v31)
  (at r139 v32)
  (at r90 v33)
  (at r138 v34)
  (at r84 v35)
  (at r35 v36)
  (at r155 v37)
  (at r163 v38)
  (free v39)
  (at r21 v40)
  (at r11 v41)
  (at r9 v42)
  (at r10 v43)
  (at r64 v44)
  (at r51 v45)
  (at r33 v46)
  (at r80 v47)
  (at r101 v48)
  (at r97 v49)
  (at r49 v50)
  (at r18 v51)
  (at r145 v52)
  (at r29 v53)
  (at r129 v54)
  (at r40 v55)
  (at r132 v56)
  (at r152 v57)
  (at r70 v58)
  (at r71 v59)
  (at r38 v60)
  (at r87 v61)
  (at r120 v62)
  (at r83 v63)
  (at r60 v64)
  (at r119 v65)
  (at r151 v66)
  (at r56 v67)
  (at r26 v68)
  (at r170 v69)
  (at r144 v70)
  (at r160 v71)
  (at r98 v72)
  (at r169 v73)
  (at r81 v74)
  (at r37 v75)
  (at r140 v76)
  (at r102 v77)
  (at r112 v78)
  (at r54 v79)
  (at r27 v80)
  (at r67 v81)
  (at r92 v82)
  (at r150 v83)
  (at r62 v84)
  (at r82 v85)
  (at r109 v86)
  (at r2 v87)
  (at r88 v88)
  (at r136 v89)
  (at r123 v90)
  (at r75 v91)
  (at r65 v92)
  (at r142 v93)
  (at r99 v94)
  (at r28 v95)
  (at r115 v96)
  (at r96 v97)
  (at r55 v98)
  (at r77 v99)
  (at r159 v100)
  (at r125 v101)
  (at r141 v102)
  (at r19 v103)
  (at r74 v104)
  (at r72 v105)
  (at r121 v106)
  (at r61 v107)
  (at r89 v108)
  (at r122 v109)
  (at r58 v110)
  (at r79 v111)
  (at r110 v112)
  (at r3 v113)
  (at r6 v114)
  (at r154 v115)
  (at r63 v116)
  (at r105 v117)
  (at r116 v118)
  (at r17 v119)
  (at r124 v120)
  (at r157 v121)
  (at r43 v122)
  (at r5 v123)
  (at r76 v124)
  (at r167 v125)
  (at r39 v126)
  (at r168 v127)
  (at r78 v128)
  (at r162 v129)
  (at r156 v130)
  (at r46 v131)
  (at r53 v132)
  (at r106 v133)
  (at r131 v134)
  (at r15 v135)
  (at r36 v136)
  (at r20 v137)
  (at r48 v138)
  (at r50 v139)
  (at r135 v140)
  (at r86 v141)
  (at r153 v142)
  (at r13 v143)
  (at r161 v144)
  (at r59 v145)
  (at r16 v146)
  (at r137 v147)
  (at r7 v148)
  (at r73 v149)
  (at r22 v150)
  (at r42 v151)
  (at r93 v152)
  (at r94 v153)
  (at r41 v154)
  (at r66 v155)
  (at r14 v156)
  (at r69 v157)
  (at r158 v158)
  (at r147 v159)
  (at r68 v160)
  (at r23 v161)
  (at r114 v162)
  (at r47 v163)
  (at r166 v164)
  (at r85 v165)
  (at r12 v166)
  (at r127 v167)
  (at r31 v168)
  (at r95 v169)
  (at r143 v170)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v42)
  (adjacent v1 v2)
  (adjacent v1 v34)
  (adjacent v1 v120)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v74)
  (adjacent v2 v75)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v12)
  (adjacent v3 v36)
  (adjacent v3 v74)
  (adjacent v4 v5)
  (adjacent v4 v21)
  (adjacent v4 v150)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v13)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v18)
  (adjacent v7 v24)
  (adjacent v7 v76)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v10 v21)
  (adjacent v11 v14)
  (adjacent v11 v20)
  (adjacent v13 v88)
  (adjacent v13 v142)
  (adjacent v14 v15)
  (adjacent v14 v35)
  (adjacent v14 v37)
  (adjacent v14 v41)
  (adjacent v14 v43)
  (adjacent v14 v68)
  (adjacent v15 v16)
  (adjacent v15 v47)
  (adjacent v16 v17)
  (adjacent v16 v96)
  (adjacent v18 v19)
  (adjacent v18 v37)
  (adjacent v19 v20)
  (adjacent v19 v22)
  (adjacent v19 v25)
  (adjacent v20 v98)
  (adjacent v21 v123)
  (adjacent v21 v130)
  (adjacent v22 v23)
  (adjacent v22 v30)
  (adjacent v22 v38)
  (adjacent v22 v129)
  (adjacent v23 v24)
  (adjacent v24 v29)
  (adjacent v24 v99)
  (adjacent v24 v108)
  (adjacent v25 v26)
  (adjacent v25 v81)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v30 v53)
  (adjacent v30 v60)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v97)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v36 v59)
  (adjacent v36 v129)
  (adjacent v37 v82)
  (adjacent v37 v165)
  (adjacent v38 v39)
  (adjacent v38 v44)
  (adjacent v39 v40)
  (adjacent v39 v106)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v42 v48)
  (adjacent v43 v54)
  (adjacent v43 v87)
  (adjacent v43 v98)
  (adjacent v44 v45)
  (adjacent v44 v107)
  (adjacent v44 v111)
  (adjacent v44 v112)
  (adjacent v45 v46)
  (adjacent v45 v60)
  (adjacent v45 v67)
  (adjacent v45 v92)
  (adjacent v46 v47)
  (adjacent v46 v73)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v61)
  (adjacent v53 v156)
  (adjacent v54 v55)
  (adjacent v54 v106)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v122)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v97)
  (adjacent v60 v155)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v75)
  (adjacent v62 v135)
  (adjacent v63 v64)
  (adjacent v63 v147)
  (adjacent v63 v167)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v134)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v93)
  (adjacent v72 v159)
  (adjacent v75 v116)
  (adjacent v76 v77)
  (adjacent v76 v105)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v117)
  (adjacent v82 v83)
  (adjacent v82 v141)
  (adjacent v83 v84)
  (adjacent v83 v148)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v98 v160)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v128)
  (adjacent v111 v122)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v121)
  (adjacent v117 v118)
  (adjacent v117 v149)
  (adjacent v117 v160)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v166)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v166)
  (adjacent v134 v170)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v143 v161)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
 )
 (:goal
  (and
  (at r149 v0)
  (at r23 v1)
  (at r42 v2)
  (at r26 v3)
  (at r140 v4)
  (at r43 v5)
  (at r75 v6)
  (at r82 v7)
  (at r18 v8)
  (at r80 v9)
  (at r116 v10)
  (free v11)
  (at r147 v12)
  (at r131 v13)
  (at r162 v14)
  (at r24 v15)
  (at r92 v16)
  (at r29 v17)
  (at r152 v18)
  (at r94 v19)
  (at r57 v20)
  (at r121 v21)
  (at r16 v22)
  (at r123 v23)
  (at r30 v24)
  (at r151 v25)
  (at r62 v26)
  (at r96 v27)
  (at r161 v28)
  (at r19 v29)
  (at r106 v30)
  (at r2 v31)
  (at r27 v32)
  (at r170 v33)
  (at r88 v34)
  (at r6 v35)
  (at r127 v36)
  (at r112 v37)
  (at r70 v38)
  (at r8 v39)
  (at r50 v40)
  (at r73 v41)
  (at r124 v42)
  (at r130 v43)
  (at r36 v44)
  (at r48 v45)
  (at r37 v46)
  (at r97 v47)
  (at r45 v48)
  (at r46 v49)
  (at r85 v50)
  (at r41 v51)
  (at r13 v52)
  (at r39 v53)
  (at r169 v54)
  (at r5 v55)
  (at r7 v56)
  (at r28 v57)
  (at r51 v58)
  (at r115 v59)
  (at r159 v60)
  (at r99 v61)
  (at r64 v62)
  (at r100 v63)
  (at r155 v64)
  (at r61 v65)
  (at r11 v66)
  (at r133 v67)
  (at r95 v68)
  (at r4 v69)
  (at r137 v70)
  (at r87 v71)
  (at r129 v72)
  (at r103 v73)
  (at r163 v74)
  (at r77 v75)
  (at r10 v76)
  (at r138 v77)
  (at r21 v78)
  (at r59 v79)
  (at r102 v80)
  (at r117 v81)
  (free v82)
  (at r107 v83)
  (at r154 v84)
  (at r72 v85)
  (at r34 v86)
  (at r63 v87)
  (at r55 v88)
  (at r136 v89)
  (at r81 v90)
  (at r15 v91)
  (at r56 v92)
  (at r164 v93)
  (at r49 v94)
  (at r35 v95)
  (at r157 v96)
  (at r122 v97)
  (at r69 v98)
  (at r119 v99)
  (at r84 v100)
  (at r60 v101)
  (at r76 v102)
  (at r156 v103)
  (at r144 v104)
  (at r128 v105)
  (at r111 v106)
  (at r91 v107)
  (at r66 v108)
  (at r108 v109)
  (at r134 v110)
  (at r12 v111)
  (at r98 v112)
  (at r53 v113)
  (at r104 v114)
  (at r105 v115)
  (at r153 v116)
  (at r14 v117)
  (at r118 v118)
  (at r142 v119)
  (at r146 v120)
  (at r135 v121)
  (at r17 v122)
  (at r165 v123)
  (at r52 v124)
  (at r125 v125)
  (at r167 v126)
  (at r74 v127)
  (at r79 v128)
  (at r110 v129)
  (at r9 v130)
  (at r141 v131)
  (at r150 v132)
  (at r47 v133)
  (at r68 v134)
  (at r58 v135)
  (at r31 v136)
  (at r93 v137)
  (at r158 v138)
  (at r139 v139)
  (at r22 v140)
  (at r90 v141)
  (at r20 v142)
  (at r114 v143)
  (at r65 v144)
  (at r166 v145)
  (at r44 v146)
  (at r132 v147)
  (at r113 v148)
  (at r83 v149)
  (at r160 v150)
  (at r33 v151)
  (at r86 v152)
  (at r40 v153)
  (at r67 v154)
  (at r25 v155)
  (at r32 v156)
  (at r126 v157)
  (at r78 v158)
  (at r120 v159)
  (at r168 v160)
  (at r148 v161)
  (at r3 v162)
  (at r89 v163)
  (at r109 v164)
  (at r145 v165)
  (at r71 v166)
  (at r143 v167)
  (at r101 v168)
  (at r38 v169)
  (at r54 v170)
  )
 )
)