(define (problem multirobot_48_2_c6)
 (:domain multirobot)
 (:objects
  v0 r72
  v1 r92
  v2 r94
  v3 r83
  v4 r27
  v5 r8
  v6 r30
  v7 r114
  v8 r115
  v9 r154
  v10 r7
  v11 r140
  v12 r74
  v13 r21
  v14 r144
  v15 r5
  v16 r121
  v17 r24
  v18 r135
  v19 r119
  v20 r26
  v21 r108
  v22 r31
  v23 r161
  v24 r128
  v25 r66
  v26 r49
  v27 r16
  v28 r149
  v29 r141
  v30 r111
  v31 r162
  v32 r85
  v33 r17
  v34 r113
  v35 r82
  v36 r145
  v37 r153
  v38
  v39 r35
  v40 r70
  v41 r64
  v42 r123
  v43 r158
  v44 r76
  v45 r89
  v46 r29
  v47 r84
  v48 r138
  v49 r65
  v50 r77
  v51 r90
  v52 r136
  v53 r147
  v54 r34
  v55 r67
  v56 r103
  v57 r109
  v58 r75
  v59 r81
  v60 r71
  v61 r48
  v62 r88
  v63 r80
  v64 r102
  v65 r146
  v66 r39
  v67 r60
  v68 r23
  v69 r28
  v70 r165
  v71 r4
  v72 r69
  v73 r134
  v74 r110
  v75 r47
  v76 r57
  v77 r104
  v78 r163
  v79 r59
  v80 r120
  v81 r18
  v82 r95
  v83 r122
  v84 r25
  v85 r53
  v86 r9
  v87 r52
  v88 r130
  v89 r116
  v90 r142
  v91 r86
  v92 r166
  v93 r151
  v94 r127
  v95 r164
  v96 r125
  v97 r11
  v98 r56
  v99 r126
  v100 r42
  v101 r160
  v102 r44
  v103 r73
  v104 r45
  v105 r117
  v106 r97
  v107 r105
  v108 r62
  v109 r143
  v110 r159
  v111 r38
  v112 r150
  v113 r101
  v114 r33
  v115 r55
  v116 r99
  v117 r132
  v118 r148
  v119 r51
  v120 r54
  v121 r98
  v122 r156
  v123 r107
  v124 r79
  v125 r41
  v126 r6
  v127 r14
  v128 r157
  v129 r96
  v130 r152
  v131 r100
  v132 r63
  v133 r20
  v134 r15
  v135 r46
  v136 r50
  v137 r112
  v138 r137
  v139 r58
  v140 r139
  v141 r32
  v142 r61
  v143 r40
  v144 r91
  v145 r106
  v146 r22
  v147 r36
  v148 r87
  v149 r12
  v150 r124
  v151 r133
  v152 r3
  v153 r131
  v154 r68
  v155 r43
  v156 r78
  v157 r118
  v158 r155
  v159 r129
  v160 r2
  v161
  v162 r19
  v163 r10
  v164 r93
  v165 r37
  v166 r13
 )
 (:init
  (at r72 v0)
  (at r92 v1)
  (at r94 v2)
  (at r83 v3)
  (at r27 v4)
  (at r8 v5)
  (at r30 v6)
  (at r114 v7)
  (at r115 v8)
  (at r154 v9)
  (at r7 v10)
  (at r140 v11)
  (at r74 v12)
  (at r21 v13)
  (at r144 v14)
  (at r5 v15)
  (at r121 v16)
  (at r24 v17)
  (at r135 v18)
  (at r119 v19)
  (at r26 v20)
  (at r108 v21)
  (at r31 v22)
  (at r161 v23)
  (at r128 v24)
  (at r66 v25)
  (at r49 v26)
  (at r16 v27)
  (at r149 v28)
  (at r141 v29)
  (at r111 v30)
  (at r162 v31)
  (at r85 v32)
  (at r17 v33)
  (at r113 v34)
  (at r82 v35)
  (at r145 v36)
  (at r153 v37)
  (free v38)
  (at r35 v39)
  (at r70 v40)
  (at r64 v41)
  (at r123 v42)
  (at r158 v43)
  (at r76 v44)
  (at r89 v45)
  (at r29 v46)
  (at r84 v47)
  (at r138 v48)
  (at r65 v49)
  (at r77 v50)
  (at r90 v51)
  (at r136 v52)
  (at r147 v53)
  (at r34 v54)
  (at r67 v55)
  (at r103 v56)
  (at r109 v57)
  (at r75 v58)
  (at r81 v59)
  (at r71 v60)
  (at r48 v61)
  (at r88 v62)
  (at r80 v63)
  (at r102 v64)
  (at r146 v65)
  (at r39 v66)
  (at r60 v67)
  (at r23 v68)
  (at r28 v69)
  (at r165 v70)
  (at r4 v71)
  (at r69 v72)
  (at r134 v73)
  (at r110 v74)
  (at r47 v75)
  (at r57 v76)
  (at r104 v77)
  (at r163 v78)
  (at r59 v79)
  (at r120 v80)
  (at r18 v81)
  (at r95 v82)
  (at r122 v83)
  (at r25 v84)
  (at r53 v85)
  (at r9 v86)
  (at r52 v87)
  (at r130 v88)
  (at r116 v89)
  (at r142 v90)
  (at r86 v91)
  (at r166 v92)
  (at r151 v93)
  (at r127 v94)
  (at r164 v95)
  (at r125 v96)
  (at r11 v97)
  (at r56 v98)
  (at r126 v99)
  (at r42 v100)
  (at r160 v101)
  (at r44 v102)
  (at r73 v103)
  (at r45 v104)
  (at r117 v105)
  (at r97 v106)
  (at r105 v107)
  (at r62 v108)
  (at r143 v109)
  (at r159 v110)
  (at r38 v111)
  (at r150 v112)
  (at r101 v113)
  (at r33 v114)
  (at r55 v115)
  (at r99 v116)
  (at r132 v117)
  (at r148 v118)
  (at r51 v119)
  (at r54 v120)
  (at r98 v121)
  (at r156 v122)
  (at r107 v123)
  (at r79 v124)
  (at r41 v125)
  (at r6 v126)
  (at r14 v127)
  (at r157 v128)
  (at r96 v129)
  (at r152 v130)
  (at r100 v131)
  (at r63 v132)
  (at r20 v133)
  (at r15 v134)
  (at r46 v135)
  (at r50 v136)
  (at r112 v137)
  (at r137 v138)
  (at r58 v139)
  (at r139 v140)
  (at r32 v141)
  (at r61 v142)
  (at r40 v143)
  (at r91 v144)
  (at r106 v145)
  (at r22 v146)
  (at r36 v147)
  (at r87 v148)
  (at r12 v149)
  (at r124 v150)
  (at r133 v151)
  (at r3 v152)
  (at r131 v153)
  (at r68 v154)
  (at r43 v155)
  (at r78 v156)
  (at r118 v157)
  (at r155 v158)
  (at r129 v159)
  (at r2 v160)
  (free v161)
  (at r19 v162)
  (at r10 v163)
  (at r93 v164)
  (at r37 v165)
  (at r13 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v27)
  (adjacent v0 v38)
  (adjacent v0 v73)
  (adjacent v0 v159)
  (adjacent v1 v2)
  (adjacent v1 v20)
  (adjacent v1 v101)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v2 v100)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v56)
  (adjacent v4 v5)
  (adjacent v4 v43)
  (adjacent v4 v55)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v28)
  (adjacent v6 v81)
  (adjacent v7 v8)
  (adjacent v7 v159)
  (adjacent v8 v9)
  (adjacent v8 v96)
  (adjacent v8 v116)
  (adjacent v8 v166)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v9 v84)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v10 v50)
  (adjacent v10 v106)
  (adjacent v11 v17)
  (adjacent v11 v39)
  (adjacent v11 v49)
  (adjacent v11 v117)
  (adjacent v12 v13)
  (adjacent v12 v80)
  (adjacent v12 v124)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v85)
  (adjacent v16 v51)
  (adjacent v17 v18)
  (adjacent v17 v134)
  (adjacent v18 v19)
  (adjacent v18 v44)
  (adjacent v18 v48)
  (adjacent v19 v20)
  (adjacent v20 v32)
  (adjacent v21 v22)
  (adjacent v21 v45)
  (adjacent v21 v66)
  (adjacent v21 v145)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v23 v24)
  (adjacent v23 v71)
  (adjacent v23 v133)
  (adjacent v24 v25)
  (adjacent v24 v65)
  (adjacent v25 v26)
  (adjacent v25 v84)
  (adjacent v26 v27)
  (adjacent v26 v44)
  (adjacent v26 v86)
  (adjacent v27 v78)
  (adjacent v28 v29)
  (adjacent v28 v47)
  (adjacent v29 v30)
  (adjacent v29 v72)
  (adjacent v30 v31)
  (adjacent v30 v37)
  (adjacent v30 v151)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v64)
  (adjacent v34 v35)
  (adjacent v34 v62)
  (adjacent v35 v36)
  (adjacent v35 v110)
  (adjacent v36 v37)
  (adjacent v36 v38)
  (adjacent v36 v151)
  (adjacent v38 v155)
  (adjacent v39 v40)
  (adjacent v39 v48)
  (adjacent v39 v140)
  (adjacent v40 v41)
  (adjacent v40 v136)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v44 v112)
  (adjacent v44 v121)
  (adjacent v45 v46)
  (adjacent v45 v87)
  (adjacent v46 v47)
  (adjacent v47 v124)
  (adjacent v48 v125)
  (adjacent v48 v140)
  (adjacent v49 v50)
  (adjacent v50 v65)
  (adjacent v51 v52)
  (adjacent v51 v123)
  (adjacent v51 v131)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v82)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v72)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v90)
  (adjacent v59 v60)
  (adjacent v59 v63)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v83)
  (adjacent v63 v64)
  (adjacent v63 v79)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v89)
  (adjacent v68 v122)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v73 v113)
  (adjacent v73 v158)
  (adjacent v74 v75)
  (adjacent v74 v154)
  (adjacent v75 v76)
  (adjacent v75 v132)
  (adjacent v75 v135)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v157)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v81 v83)
  (adjacent v81 v109)
  (adjacent v82 v97)
  (adjacent v83 v150)
  (adjacent v85 v86)
  (adjacent v85 v141)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v105)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v108)
  (adjacent v93 v94)
  (adjacent v93 v111)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v152)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v139)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v144)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v160)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v145 v156)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
 )
 (:goal
  (and
  (at r35 v0)
  (at r152 v1)
  (at r39 v2)
  (at r154 v3)
  (at r148 v4)
  (at r149 v5)
  (at r66 v6)
  (at r28 v7)
  (at r121 v8)
  (at r95 v9)
  (free v10)
  (at r41 v11)
  (at r130 v12)
  (at r25 v13)
  (at r128 v14)
  (at r164 v15)
  (at r60 v16)
  (at r153 v17)
  (at r160 v18)
  (at r61 v19)
  (at r78 v20)
  (at r17 v21)
  (at r103 v22)
  (at r2 v23)
  (at r106 v24)
  (at r46 v25)
  (at r116 v26)
  (at r30 v27)
  (at r165 v28)
  (at r109 v29)
  (at r4 v30)
  (at r90 v31)
  (at r125 v32)
  (at r7 v33)
  (at r131 v34)
  (at r36 v35)
  (at r97 v36)
  (at r81 v37)
  (at r84 v38)
  (at r13 v39)
  (at r58 v40)
  (at r111 v41)
  (at r38 v42)
  (at r99 v43)
  (at r50 v44)
  (at r11 v45)
  (at r21 v46)
  (at r56 v47)
  (at r147 v48)
  (at r71 v49)
  (at r94 v50)
  (at r115 v51)
  (at r127 v52)
  (at r156 v53)
  (at r10 v54)
  (at r19 v55)
  (at r155 v56)
  (at r23 v57)
  (at r122 v58)
  (at r89 v59)
  (at r123 v60)
  (at r146 v61)
  (at r85 v62)
  (at r20 v63)
  (at r166 v64)
  (at r27 v65)
  (at r79 v66)
  (at r118 v67)
  (at r40 v68)
  (at r134 v69)
  (at r100 v70)
  (at r143 v71)
  (at r77 v72)
  (at r65 v73)
  (at r144 v74)
  (at r18 v75)
  (at r114 v76)
  (at r91 v77)
  (at r108 v78)
  (at r73 v79)
  (at r113 v80)
  (at r16 v81)
  (at r117 v82)
  (at r74 v83)
  (at r48 v84)
  (at r129 v85)
  (at r163 v86)
  (at r43 v87)
  (at r15 v88)
  (at r150 v89)
  (free v90)
  (at r145 v91)
  (at r110 v92)
  (at r92 v93)
  (at r80 v94)
  (at r52 v95)
  (at r64 v96)
  (at r96 v97)
  (at r140 v98)
  (at r45 v99)
  (at r133 v100)
  (at r161 v101)
  (at r32 v102)
  (at r51 v103)
  (at r135 v104)
  (at r132 v105)
  (at r29 v106)
  (at r54 v107)
  (at r8 v108)
  (at r72 v109)
  (at r126 v110)
  (at r157 v111)
  (at r53 v112)
  (at r107 v113)
  (at r55 v114)
  (at r31 v115)
  (at r139 v116)
  (at r120 v117)
  (at r88 v118)
  (at r33 v119)
  (at r112 v120)
  (at r6 v121)
  (at r68 v122)
  (at r162 v123)
  (at r42 v124)
  (at r57 v125)
  (at r158 v126)
  (at r87 v127)
  (at r3 v128)
  (at r105 v129)
  (at r70 v130)
  (at r104 v131)
  (at r83 v132)
  (at r98 v133)
  (at r67 v134)
  (at r63 v135)
  (at r119 v136)
  (at r24 v137)
  (at r101 v138)
  (at r136 v139)
  (at r9 v140)
  (at r59 v141)
  (at r159 v142)
  (at r75 v143)
  (at r12 v144)
  (at r62 v145)
  (at r93 v146)
  (at r142 v147)
  (at r86 v148)
  (at r14 v149)
  (at r137 v150)
  (at r26 v151)
  (at r151 v152)
  (at r141 v153)
  (at r138 v154)
  (at r5 v155)
  (at r44 v156)
  (at r124 v157)
  (at r49 v158)
  (at r82 v159)
  (at r76 v160)
  (at r102 v161)
  (at r69 v162)
  (at r47 v163)
  (at r34 v164)
  (at r37 v165)
  (at r22 v166)
  )
 )
)