(define (problem multirobot_47_2_c4)
 (:domain multirobot)
 (:objects
  v0 r28
  v1 r130
  v2 r59
  v3 r84
  v4 r114
  v5 r115
  v6 r37
  v7 r118
  v8 r43
  v9 r46
  v10 r160
  v11 r81
  v12 r153
  v13 r49
  v14 r48
  v15 r112
  v16 r56
  v17 r137
  v18 r159
  v19 r156
  v20 r75
  v21 r111
  v22 r117
  v23 r148
  v24 r21
  v25 r5
  v26 r136
  v27 r2
  v28 r63
  v29 r72
  v30 r23
  v31 r77
  v32 r155
  v33 r36
  v34 r132
  v35 r152
  v36 r106
  v37 r135
  v38 r150
  v39 r61
  v40 r145
  v41 r54
  v42 r94
  v43 r18
  v44 r58
  v45 r45
  v46 r79
  v47 r62
  v48 r128
  v49 r124
  v50 r64
  v51 r123
  v52 r66
  v53 r91
  v54 r146
  v55 r131
  v56 r97
  v57 r93
  v58 r162
  v59 r19
  v60 r116
  v61 r52
  v62 r39
  v63 r87
  v64 r143
  v65 r80
  v66 r40
  v67 r101
  v68 r76
  v69 r113
  v70 r22
  v71 r121
  v72 r147
  v73 r30
  v74 r151
  v75 r109
  v76 r119
  v77 r11
  v78 r142
  v79 r70
  v80 r14
  v81 r107
  v82 r26
  v83 r78
  v84 r125
  v85 r9
  v86 r108
  v87 r134
  v88 r90
  v89 r15
  v90 r69
  v91 r129
  v92 r31
  v93 r126
  v94 r24
  v95 r141
  v96 r6
  v97 r73
  v98 r17
  v99 r110
  v100 r16
  v101 r34
  v102 r8
  v103 r105
  v104 r32
  v105 r88
  v106 r86
  v107 r161
  v108 r99
  v109 r51
  v110 r103
  v111 r96
  v112 r122
  v113 r27
  v114 r3
  v115 r44
  v116 r95
  v117 r149
  v118 r33
  v119 r144
  v120 r89
  v121 r67
  v122 r10
  v123 r120
  v124 r127
  v125 r60
  v126 r140
  v127 r4
  v128 r20
  v129 r71
  v130 r92
  v131 r164
  v132 r50
  v133 r57
  v134 r133
  v135 r68
  v136 r38
  v137 r102
  v138
  v139 r83
  v140 r158
  v141 r65
  v142 r25
  v143 r154
  v144 r35
  v145 r29
  v146 r13
  v147 r138
  v148 r53
  v149 r163
  v150 r98
  v151 r42
  v152 r74
  v153 r82
  v154 r55
  v155 r41
  v156 r139
  v157 r47
  v158 r157
  v159 r104
  v160 r7
  v161 r100
  v162 r85
  v163
  v164 r12
 )
 (:init
  (at r28 v0)
  (at r130 v1)
  (at r59 v2)
  (at r84 v3)
  (at r114 v4)
  (at r115 v5)
  (at r37 v6)
  (at r118 v7)
  (at r43 v8)
  (at r46 v9)
  (at r160 v10)
  (at r81 v11)
  (at r153 v12)
  (at r49 v13)
  (at r48 v14)
  (at r112 v15)
  (at r56 v16)
  (at r137 v17)
  (at r159 v18)
  (at r156 v19)
  (at r75 v20)
  (at r111 v21)
  (at r117 v22)
  (at r148 v23)
  (at r21 v24)
  (at r5 v25)
  (at r136 v26)
  (at r2 v27)
  (at r63 v28)
  (at r72 v29)
  (at r23 v30)
  (at r77 v31)
  (at r155 v32)
  (at r36 v33)
  (at r132 v34)
  (at r152 v35)
  (at r106 v36)
  (at r135 v37)
  (at r150 v38)
  (at r61 v39)
  (at r145 v40)
  (at r54 v41)
  (at r94 v42)
  (at r18 v43)
  (at r58 v44)
  (at r45 v45)
  (at r79 v46)
  (at r62 v47)
  (at r128 v48)
  (at r124 v49)
  (at r64 v50)
  (at r123 v51)
  (at r66 v52)
  (at r91 v53)
  (at r146 v54)
  (at r131 v55)
  (at r97 v56)
  (at r93 v57)
  (at r162 v58)
  (at r19 v59)
  (at r116 v60)
  (at r52 v61)
  (at r39 v62)
  (at r87 v63)
  (at r143 v64)
  (at r80 v65)
  (at r40 v66)
  (at r101 v67)
  (at r76 v68)
  (at r113 v69)
  (at r22 v70)
  (at r121 v71)
  (at r147 v72)
  (at r30 v73)
  (at r151 v74)
  (at r109 v75)
  (at r119 v76)
  (at r11 v77)
  (at r142 v78)
  (at r70 v79)
  (at r14 v80)
  (at r107 v81)
  (at r26 v82)
  (at r78 v83)
  (at r125 v84)
  (at r9 v85)
  (at r108 v86)
  (at r134 v87)
  (at r90 v88)
  (at r15 v89)
  (at r69 v90)
  (at r129 v91)
  (at r31 v92)
  (at r126 v93)
  (at r24 v94)
  (at r141 v95)
  (at r6 v96)
  (at r73 v97)
  (at r17 v98)
  (at r110 v99)
  (at r16 v100)
  (at r34 v101)
  (at r8 v102)
  (at r105 v103)
  (at r32 v104)
  (at r88 v105)
  (at r86 v106)
  (at r161 v107)
  (at r99 v108)
  (at r51 v109)
  (at r103 v110)
  (at r96 v111)
  (at r122 v112)
  (at r27 v113)
  (at r3 v114)
  (at r44 v115)
  (at r95 v116)
  (at r149 v117)
  (at r33 v118)
  (at r144 v119)
  (at r89 v120)
  (at r67 v121)
  (at r10 v122)
  (at r120 v123)
  (at r127 v124)
  (at r60 v125)
  (at r140 v126)
  (at r4 v127)
  (at r20 v128)
  (at r71 v129)
  (at r92 v130)
  (at r164 v131)
  (at r50 v132)
  (at r57 v133)
  (at r133 v134)
  (at r68 v135)
  (at r38 v136)
  (at r102 v137)
  (free v138)
  (at r83 v139)
  (at r158 v140)
  (at r65 v141)
  (at r25 v142)
  (at r154 v143)
  (at r35 v144)
  (at r29 v145)
  (at r13 v146)
  (at r138 v147)
  (at r53 v148)
  (at r163 v149)
  (at r98 v150)
  (at r42 v151)
  (at r74 v152)
  (at r82 v153)
  (at r55 v154)
  (at r41 v155)
  (at r139 v156)
  (at r47 v157)
  (at r157 v158)
  (at r104 v159)
  (at r7 v160)
  (at r100 v161)
  (at r85 v162)
  (free v163)
  (at r12 v164)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v9)
  (adjacent v0 v13)
  (adjacent v0 v26)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v13)
  (adjacent v1 v25)
  (adjacent v1 v58)
  (adjacent v2 v3)
  (adjacent v2 v112)
  (adjacent v2 v116)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v7)
  (adjacent v3 v8)
  (adjacent v3 v9)
  (adjacent v3 v18)
  (adjacent v3 v28)
  (adjacent v4 v12)
  (adjacent v4 v34)
  (adjacent v5 v6)
  (adjacent v5 v17)
  (adjacent v5 v21)
  (adjacent v5 v42)
  (adjacent v5 v82)
  (adjacent v6 v16)
  (adjacent v6 v20)
  (adjacent v6 v43)
  (adjacent v6 v157)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v14)
  (adjacent v7 v25)
  (adjacent v8 v17)
  (adjacent v8 v66)
  (adjacent v9 v31)
  (adjacent v9 v34)
  (adjacent v9 v46)
  (adjacent v10 v11)
  (adjacent v10 v33)
  (adjacent v10 v47)
  (adjacent v10 v141)
  (adjacent v11 v12)
  (adjacent v12 v113)
  (adjacent v12 v157)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v24)
  (adjacent v16 v41)
  (adjacent v17 v72)
  (adjacent v18 v19)
  (adjacent v18 v35)
  (adjacent v19 v20)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v29)
  (adjacent v23 v24)
  (adjacent v23 v105)
  (adjacent v23 v126)
  (adjacent v24 v30)
  (adjacent v26 v27)
  (adjacent v26 v74)
  (adjacent v26 v96)
  (adjacent v26 v119)
  (adjacent v27 v28)
  (adjacent v28 v32)
  (adjacent v28 v90)
  (adjacent v29 v30)
  (adjacent v29 v33)
  (adjacent v30 v118)
  (adjacent v31 v32)
  (adjacent v31 v54)
  (adjacent v31 v84)
  (adjacent v32 v53)
  (adjacent v35 v36)
  (adjacent v35 v60)
  (adjacent v36 v37)
  (adjacent v36 v42)
  (adjacent v36 v81)
  (adjacent v37 v38)
  (adjacent v37 v57)
  (adjacent v37 v145)
  (adjacent v38 v39)
  (adjacent v38 v106)
  (adjacent v39 v40)
  (adjacent v39 v132)
  (adjacent v40 v41)
  (adjacent v40 v91)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v73)
  (adjacent v45 v135)
  (adjacent v45 v156)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v105)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v75)
  (adjacent v51 v52)
  (adjacent v51 v61)
  (adjacent v51 v115)
  (adjacent v52 v53)
  (adjacent v52 v94)
  (adjacent v53 v67)
  (adjacent v54 v55)
  (adjacent v54 v131)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v114)
  (adjacent v60 v147)
  (adjacent v61 v62)
  (adjacent v61 v85)
  (adjacent v62 v63)
  (adjacent v62 v98)
  (adjacent v63 v64)
  (adjacent v63 v125)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v104)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v113)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v78 v97)
  (adjacent v79 v80)
  (adjacent v79 v97)
  (adjacent v80 v81)
  (adjacent v80 v150)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v95)
  (adjacent v83 v158)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v140)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v136)
  (adjacent v95 v96)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v144)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v149)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v119 v146)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v152 v164)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
 )
 (:goal
  (and
  (at r152 v0)
  (at r66 v1)
  (at r149 v2)
  (at r7 v3)
  (at r144 v4)
  (at r101 v5)
  (at r92 v6)
  (at r147 v7)
  (at r78 v8)
  (at r36 v9)
  (at r115 v10)
  (at r48 v11)
  (at r52 v12)
  (at r44 v13)
  (at r84 v14)
  (at r158 v15)
  (at r117 v16)
  (at r93 v17)
  (at r130 v18)
  (at r77 v19)
  (at r102 v20)
  (at r68 v21)
  (at r108 v22)
  (at r42 v23)
  (at r28 v24)
  (at r6 v25)
  (at r146 v26)
  (at r86 v27)
  (at r46 v28)
  (at r21 v29)
  (at r160 v30)
  (at r109 v31)
  (at r9 v32)
  (at r14 v33)
  (at r19 v34)
  (at r59 v35)
  (at r119 v36)
  (at r162 v37)
  (at r143 v38)
  (at r18 v39)
  (at r159 v40)
  (at r45 v41)
  (at r35 v42)
  (at r41 v43)
  (at r94 v44)
  (at r40 v45)
  (at r105 v46)
  (at r161 v47)
  (at r136 v48)
  (at r57 v49)
  (at r23 v50)
  (at r85 v51)
  (at r126 v52)
  (at r25 v53)
  (at r82 v54)
  (at r55 v55)
  (at r112 v56)
  (at r96 v57)
  (at r150 v58)
  (at r37 v59)
  (at r134 v60)
  (at r65 v61)
  (at r26 v62)
  (at r127 v63)
  (at r116 v64)
  (at r54 v65)
  (at r8 v66)
  (at r74 v67)
  (free v68)
  (at r60 v69)
  (at r125 v70)
  (at r142 v71)
  (at r139 v72)
  (at r11 v73)
  (at r70 v74)
  (at r121 v75)
  (at r76 v76)
  (at r61 v77)
  (at r49 v78)
  (at r81 v79)
  (at r120 v80)
  (at r69 v81)
  (at r62 v82)
  (at r5 v83)
  (at r153 v84)
  (at r133 v85)
  (at r155 v86)
  (at r75 v87)
  (at r33 v88)
  (at r83 v89)
  (at r137 v90)
  (at r140 v91)
  (at r163 v92)
  (at r2 v93)
  (at r91 v94)
  (at r95 v95)
  (at r151 v96)
  (at r141 v97)
  (at r131 v98)
  (at r58 v99)
  (at r47 v100)
  (at r97 v101)
  (at r29 v102)
  (at r164 v103)
  (at r63 v104)
  (at r123 v105)
  (at r4 v106)
  (at r53 v107)
  (at r73 v108)
  (at r89 v109)
  (at r15 v110)
  (at r99 v111)
  (at r138 v112)
  (at r16 v113)
  (at r50 v114)
  (at r114 v115)
  (at r27 v116)
  (at r39 v117)
  (at r100 v118)
  (at r129 v119)
  (at r110 v120)
  (at r12 v121)
  (at r51 v122)
  (at r72 v123)
  (free v124)
  (at r43 v125)
  (at r103 v126)
  (at r107 v127)
  (at r13 v128)
  (at r24 v129)
  (at r128 v130)
  (at r106 v131)
  (at r64 v132)
  (at r124 v133)
  (at r98 v134)
  (at r145 v135)
  (at r156 v136)
  (at r3 v137)
  (at r157 v138)
  (at r122 v139)
  (at r30 v140)
  (at r32 v141)
  (at r17 v142)
  (at r132 v143)
  (at r111 v144)
  (at r38 v145)
  (at r154 v146)
  (at r10 v147)
  (at r56 v148)
  (at r80 v149)
  (at r113 v150)
  (at r71 v151)
  (at r67 v152)
  (at r88 v153)
  (at r118 v154)
  (at r20 v155)
  (at r148 v156)
  (at r34 v157)
  (at r79 v158)
  (at r87 v159)
  (at r104 v160)
  (at r90 v161)
  (at r135 v162)
  (at r22 v163)
  (at r31 v164)
  )
 )
)