(define (problem multirobot_47_2_c7)
 (:domain multirobot)
 (:objects
  v0 r28
  v1 r153
  v2 r168
  v3 r142
  v4 r11
  v5 r131
  v6 r71
  v7 r143
  v8 r7
  v9 r120
  v10 r38
  v11 r12
  v12 r145
  v13 r46
  v14 r176
  v15 r2
  v16 r48
  v17 r94
  v18 r123
  v19 r3
  v20 r124
  v21 r111
  v22 r86
  v23 r24
  v24 r79
  v25 r125
  v26 r129
  v27 r107
  v28 r43
  v29 r118
  v30 r160
  v31 r91
  v32 r35
  v33 r34
  v34 r25
  v35 r161
  v36 r37
  v37 r13
  v38 r110
  v39 r175
  v40 r97
  v41 r108
  v42 r95
  v43 r45
  v44 r22
  v45 r89
  v46 r4
  v47 r98
  v48 r165
  v49 r104
  v50 r59
  v51 r60
  v52 r5
  v53 r156
  v54 r75
  v55 r167
  v56 r23
  v57 r90
  v58 r96
  v59 r26
  v60 r148
  v61 r149
  v62 r113
  v63 r101
  v64 r137
  v65 r178
  v66 r130
  v67 r15
  v68 r80
  v69 r14
  v70 r72
  v71 r139
  v72 r77
  v73 r9
  v74 r54
  v75 r82
  v76 r133
  v77 r150
  v78 r158
  v79 r8
  v80 r39
  v81 r147
  v82 r85
  v83
  v84 r140
  v85 r173
  v86 r69
  v87
  v88 r169
  v89 r163
  v90 r56
  v91 r117
  v92 r136
  v93 r49
  v94 r157
  v95 r10
  v96 r92
  v97 r174
  v98 r55
  v99 r119
  v100 r83
  v101 r29
  v102 r33
  v103 r73
  v104 r57
  v105 r146
  v106 r144
  v107 r62
  v108 r52
  v109 r40
  v110 r87
  v111 r114
  v112 r44
  v113 r42
  v114 r47
  v115 r128
  v116 r19
  v117 r121
  v118 r68
  v119 r154
  v120 r51
  v121 r53
  v122 r50
  v123 r116
  v124 r126
  v125 r31
  v126 r61
  v127 r84
  v128 r67
  v129 r81
  v130 r151
  v131 r112
  v132 r63
  v133 r164
  v134 r88
  v135 r171
  v136 r16
  v137 r105
  v138 r27
  v139 r20
  v140 r70
  v141 r106
  v142 r135
  v143 r78
  v144 r65
  v145 r170
  v146 r152
  v147 r32
  v148 r102
  v149 r162
  v150 r66
  v151 r138
  v152 r64
  v153 r17
  v154 r166
  v155 r141
  v156 r18
  v157 r58
  v158 r159
  v159 r155
  v160 r30
  v161 r99
  v162 r41
  v163 r21
  v164 r36
  v165 r103
  v166 r100
  v167 r172
  v168 r134
  v169 r76
  v170 r109
  v171 r115
  v172 r93
  v173 r74
  v174 r132
  v175 r177
  v176 r6
  v177 r127
  v178 r122
 )
 (:init
  (at r28 v0)
  (at r153 v1)
  (at r168 v2)
  (at r142 v3)
  (at r11 v4)
  (at r131 v5)
  (at r71 v6)
  (at r143 v7)
  (at r7 v8)
  (at r120 v9)
  (at r38 v10)
  (at r12 v11)
  (at r145 v12)
  (at r46 v13)
  (at r176 v14)
  (at r2 v15)
  (at r48 v16)
  (at r94 v17)
  (at r123 v18)
  (at r3 v19)
  (at r124 v20)
  (at r111 v21)
  (at r86 v22)
  (at r24 v23)
  (at r79 v24)
  (at r125 v25)
  (at r129 v26)
  (at r107 v27)
  (at r43 v28)
  (at r118 v29)
  (at r160 v30)
  (at r91 v31)
  (at r35 v32)
  (at r34 v33)
  (at r25 v34)
  (at r161 v35)
  (at r37 v36)
  (at r13 v37)
  (at r110 v38)
  (at r175 v39)
  (at r97 v40)
  (at r108 v41)
  (at r95 v42)
  (at r45 v43)
  (at r22 v44)
  (at r89 v45)
  (at r4 v46)
  (at r98 v47)
  (at r165 v48)
  (at r104 v49)
  (at r59 v50)
  (at r60 v51)
  (at r5 v52)
  (at r156 v53)
  (at r75 v54)
  (at r167 v55)
  (at r23 v56)
  (at r90 v57)
  (at r96 v58)
  (at r26 v59)
  (at r148 v60)
  (at r149 v61)
  (at r113 v62)
  (at r101 v63)
  (at r137 v64)
  (at r178 v65)
  (at r130 v66)
  (at r15 v67)
  (at r80 v68)
  (at r14 v69)
  (at r72 v70)
  (at r139 v71)
  (at r77 v72)
  (at r9 v73)
  (at r54 v74)
  (at r82 v75)
  (at r133 v76)
  (at r150 v77)
  (at r158 v78)
  (at r8 v79)
  (at r39 v80)
  (at r147 v81)
  (at r85 v82)
  (free v83)
  (at r140 v84)
  (at r173 v85)
  (at r69 v86)
  (free v87)
  (at r169 v88)
  (at r163 v89)
  (at r56 v90)
  (at r117 v91)
  (at r136 v92)
  (at r49 v93)
  (at r157 v94)
  (at r10 v95)
  (at r92 v96)
  (at r174 v97)
  (at r55 v98)
  (at r119 v99)
  (at r83 v100)
  (at r29 v101)
  (at r33 v102)
  (at r73 v103)
  (at r57 v104)
  (at r146 v105)
  (at r144 v106)
  (at r62 v107)
  (at r52 v108)
  (at r40 v109)
  (at r87 v110)
  (at r114 v111)
  (at r44 v112)
  (at r42 v113)
  (at r47 v114)
  (at r128 v115)
  (at r19 v116)
  (at r121 v117)
  (at r68 v118)
  (at r154 v119)
  (at r51 v120)
  (at r53 v121)
  (at r50 v122)
  (at r116 v123)
  (at r126 v124)
  (at r31 v125)
  (at r61 v126)
  (at r84 v127)
  (at r67 v128)
  (at r81 v129)
  (at r151 v130)
  (at r112 v131)
  (at r63 v132)
  (at r164 v133)
  (at r88 v134)
  (at r171 v135)
  (at r16 v136)
  (at r105 v137)
  (at r27 v138)
  (at r20 v139)
  (at r70 v140)
  (at r106 v141)
  (at r135 v142)
  (at r78 v143)
  (at r65 v144)
  (at r170 v145)
  (at r152 v146)
  (at r32 v147)
  (at r102 v148)
  (at r162 v149)
  (at r66 v150)
  (at r138 v151)
  (at r64 v152)
  (at r17 v153)
  (at r166 v154)
  (at r141 v155)
  (at r18 v156)
  (at r58 v157)
  (at r159 v158)
  (at r155 v159)
  (at r30 v160)
  (at r99 v161)
  (at r41 v162)
  (at r21 v163)
  (at r36 v164)
  (at r103 v165)
  (at r100 v166)
  (at r172 v167)
  (at r134 v168)
  (at r76 v169)
  (at r109 v170)
  (at r115 v171)
  (at r93 v172)
  (at r74 v173)
  (at r132 v174)
  (at r177 v175)
  (at r6 v176)
  (at r127 v177)
  (at r122 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v36)
  (adjacent v0 v102)
  (adjacent v1 v2)
  (adjacent v1 v44)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v35)
  (adjacent v2 v78)
  (adjacent v2 v111)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v42)
  (adjacent v3 v43)
  (adjacent v3 v110)
  (adjacent v4 v9)
  (adjacent v4 v48)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v95)
  (adjacent v5 v150)
  (adjacent v6 v7)
  (adjacent v6 v24)
  (adjacent v6 v115)
  (adjacent v7 v8)
  (adjacent v7 v70)
  (adjacent v8 v9)
  (adjacent v8 v65)
  (adjacent v9 v11)
  (adjacent v10 v11)
  (adjacent v10 v18)
  (adjacent v10 v19)
  (adjacent v10 v37)
  (adjacent v11 v26)
  (adjacent v11 v73)
  (adjacent v11 v106)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v132)
  (adjacent v15 v16)
  (adjacent v15 v47)
  (adjacent v16 v17)
  (adjacent v16 v53)
  (adjacent v17 v18)
  (adjacent v17 v30)
  (adjacent v19 v20)
  (adjacent v19 v167)
  (adjacent v20 v21)
  (adjacent v20 v31)
  (adjacent v21 v22)
  (adjacent v21 v25)
  (adjacent v21 v34)
  (adjacent v22 v23)
  (adjacent v22 v25)
  (adjacent v22 v45)
  (adjacent v23 v24)
  (adjacent v24 v141)
  (adjacent v24 v142)
  (adjacent v25 v59)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v149)
  (adjacent v28 v29)
  (adjacent v28 v119)
  (adjacent v28 v138)
  (adjacent v29 v30)
  (adjacent v29 v170)
  (adjacent v31 v32)
  (adjacent v31 v111)
  (adjacent v32 v33)
  (adjacent v32 v62)
  (adjacent v33 v34)
  (adjacent v33 v175)
  (adjacent v33 v176)
  (adjacent v34 v128)
  (adjacent v35 v36)
  (adjacent v36 v54)
  (adjacent v37 v38)
  (adjacent v37 v58)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v94)
  (adjacent v41 v42)
  (adjacent v41 v114)
  (adjacent v42 v61)
  (adjacent v42 v64)
  (adjacent v43 v44)
  (adjacent v43 v71)
  (adjacent v43 v103)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v166)
  (adjacent v47 v85)
  (adjacent v48 v49)
  (adjacent v48 v158)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v118)
  (adjacent v50 v178)
  (adjacent v51 v52)
  (adjacent v51 v171)
  (adjacent v52 v53)
  (adjacent v52 v90)
  (adjacent v54 v55)
  (adjacent v54 v79)
  (adjacent v55 v56)
  (adjacent v55 v102)
  (adjacent v55 v122)
  (adjacent v56 v57)
  (adjacent v56 v129)
  (adjacent v57 v58)
  (adjacent v57 v86)
  (adjacent v57 v92)
  (adjacent v58 v110)
  (adjacent v58 v159)
  (adjacent v59 v60)
  (adjacent v59 v112)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v62 v74)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v117)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v131)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v158)
  (adjacent v76 v77)
  (adjacent v76 v113)
  (adjacent v77 v78)
  (adjacent v77 v101)
  (adjacent v77 v123)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v93)
  (adjacent v82 v137)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v86 v148)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v91)
  (adjacent v88 v105)
  (adjacent v89 v90)
  (adjacent v89 v151)
  (adjacent v89 v163)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v112)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v109)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v137)
  (adjacent v108 v109)
  (adjacent v109 v157)
  (adjacent v112 v136)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v142 v164)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (at r133 v0)
  (at r20 v1)
  (at r100 v2)
  (at r173 v3)
  (at r67 v4)
  (at r3 v5)
  (at r93 v6)
  (at r167 v7)
  (at r29 v8)
  (at r152 v9)
  (at r81 v10)
  (at r75 v11)
  (at r72 v12)
  (at r79 v13)
  (at r87 v14)
  (at r157 v15)
  (at r12 v16)
  (at r158 v17)
  (at r5 v18)
  (at r120 v19)
  (at r143 v20)
  (at r17 v21)
  (at r7 v22)
  (at r140 v23)
  (at r177 v24)
  (at r94 v25)
  (at r164 v26)
  (at r153 v27)
  (at r42 v28)
  (at r18 v29)
  (at r91 v30)
  (at r57 v31)
  (at r53 v32)
  (at r122 v33)
  (at r102 v34)
  (at r150 v35)
  (at r162 v36)
  (at r117 v37)
  (at r63 v38)
  (at r22 v39)
  (at r74 v40)
  (free v41)
  (at r115 v42)
  (at r47 v43)
  (at r104 v44)
  (at r132 v45)
  (at r41 v46)
  (at r131 v47)
  (at r54 v48)
  (at r163 v49)
  (at r50 v50)
  (at r144 v51)
  (at r65 v52)
  (at r151 v53)
  (at r25 v54)
  (at r170 v55)
  (at r147 v56)
  (at r35 v57)
  (at r106 v58)
  (at r129 v59)
  (at r9 v60)
  (at r96 v61)
  (at r77 v62)
  (at r159 v63)
  (at r11 v64)
  (at r161 v65)
  (at r127 v66)
  (at r40 v67)
  (at r15 v68)
  (at r55 v69)
  (at r175 v70)
  (at r45 v71)
  (at r68 v72)
  (at r134 v73)
  (at r107 v74)
  (at r160 v75)
  (at r51 v76)
  (at r66 v77)
  (at r174 v78)
  (at r165 v79)
  (at r135 v80)
  (at r58 v81)
  (at r43 v82)
  (at r36 v83)
  (at r80 v84)
  (at r61 v85)
  (at r90 v86)
  (at r83 v87)
  (at r146 v88)
  (at r136 v89)
  (at r60 v90)
  (at r26 v91)
  (at r113 v92)
  (at r110 v93)
  (at r126 v94)
  (at r86 v95)
  (at r139 v96)
  (at r97 v97)
  (at r92 v98)
  (at r128 v99)
  (at r172 v100)
  (at r101 v101)
  (at r88 v102)
  (at r176 v103)
  (at r38 v104)
  (at r141 v105)
  (at r28 v106)
  (at r105 v107)
  (at r23 v108)
  (at r121 v109)
  (at r123 v110)
  (at r6 v111)
  (at r2 v112)
  (at r118 v113)
  (at r125 v114)
  (at r33 v115)
  (at r16 v116)
  (at r155 v117)
  (at r84 v118)
  (at r98 v119)
  (at r112 v120)
  (at r69 v121)
  (at r137 v122)
  (at r34 v123)
  (at r21 v124)
  (at r71 v125)
  (at r62 v126)
  (at r14 v127)
  (at r99 v128)
  (at r138 v129)
  (at r109 v130)
  (at r166 v131)
  (at r48 v132)
  (at r64 v133)
  (at r27 v134)
  (at r32 v135)
  (at r171 v136)
  (at r149 v137)
  (at r19 v138)
  (at r108 v139)
  (at r78 v140)
  (at r148 v141)
  (at r82 v142)
  (at r70 v143)
  (at r31 v144)
  (free v145)
  (at r142 v146)
  (at r89 v147)
  (at r10 v148)
  (at r103 v149)
  (at r52 v150)
  (at r130 v151)
  (at r59 v152)
  (at r116 v153)
  (at r56 v154)
  (at r95 v155)
  (at r13 v156)
  (at r30 v157)
  (at r145 v158)
  (at r85 v159)
  (at r156 v160)
  (at r24 v161)
  (at r124 v162)
  (at r46 v163)
  (at r44 v164)
  (at r49 v165)
  (at r73 v166)
  (at r8 v167)
  (at r37 v168)
  (at r39 v169)
  (at r154 v170)
  (at r4 v171)
  (at r119 v172)
  (at r178 v173)
  (at r114 v174)
  (at r169 v175)
  (at r111 v176)
  (at r76 v177)
  (at r168 v178)
  )
 )
)