(define (problem multirobot_49_2_c2)
 (:domain multirobot)
 (:objects
  v0 r143
  v1 r108
  v2 r127
  v3 r169
  v4 r68
  v5 r15
  v6 r158
  v7 r166
  v8 r54
  v9 r145
  v10 r111
  v11 r78
  v12 r27
  v13 r106
  v14 r141
  v15 r36
  v16 r142
  v17 r81
  v18 r153
  v19 r61
  v20 r90
  v21 r92
  v22 r35
  v23 r39
  v24 r19
  v25 r10
  v26 r34
  v27 r38
  v28 r37
  v29 r53
  v30 r99
  v31 r8
  v32 r116
  v33 r113
  v34 r12
  v35 r42
  v36 r138
  v37 r144
  v38 r79
  v39 r105
  v40 r46
  v41 r149
  v42 r48
  v43 r86
  v44 r5
  v45 r104
  v46 r98
  v47 r74
  v48 r137
  v49 r44
  v50 r70
  v51 r129
  v52 r24
  v53
  v54 r102
  v55 r164
  v56 r140
  v57 r168
  v58 r139
  v59 r75
  v60 r121
  v61 r136
  v62 r109
  v63 r148
  v64 r87
  v65 r76
  v66 r112
  v67 r89
  v68 r43
  v69 r65
  v70 r9
  v71 r124
  v72 r55
  v73 r50
  v74 r73
  v75 r101
  v76 r51
  v77 r67
  v78 r56
  v79 r6
  v80 r62
  v81 r14
  v82 r94
  v83 r57
  v84 r59
  v85 r58
  v86 r63
  v87 r31
  v88 r118
  v89 r132
  v90
  v91 r155
  v92 r131
  v93 r52
  v94 r152
  v95 r125
  v96 r110
  v97 r3
  v98 r88
  v99 r84
  v100 r11
  v101 r13
  v102 r47
  v103 r157
  v104 r26
  v105 r80
  v106 r18
  v107 r135
  v108 r146
  v109 r33
  v110 r123
  v111 r69
  v112 r114
  v113 r103
  v114 r154
  v115 r71
  v116 r93
  v117 r133
  v118 r122
  v119 r30
  v120 r160
  v121 r128
  v122 r25
  v123 r161
  v124 r60
  v125 r159
  v126 r130
  v127 r20
  v128 r40
  v129 r100
  v130 r23
  v131 r151
  v132 r119
  v133 r16
  v134 r4
  v135 r64
  v136 r120
  v137 r72
  v138 r85
  v139 r7
  v140 r49
  v141 r17
  v142 r45
  v143 r96
  v144 r115
  v145 r2
  v146 r83
  v147 r170
  v148 r32
  v149 r162
  v150 r147
  v151 r167
  v152 r107
  v153 r22
  v154 r82
  v155 r117
  v156 r77
  v157 r156
  v158 r134
  v159 r163
  v160 r97
  v161 r28
  v162 r21
  v163 r165
  v164 r41
  v165 r150
  v166 r29
  v167 r126
  v168 r95
  v169 r66
  v170 r91
 )
 (:init
  (at r143 v0)
  (at r108 v1)
  (at r127 v2)
  (at r169 v3)
  (at r68 v4)
  (at r15 v5)
  (at r158 v6)
  (at r166 v7)
  (at r54 v8)
  (at r145 v9)
  (at r111 v10)
  (at r78 v11)
  (at r27 v12)
  (at r106 v13)
  (at r141 v14)
  (at r36 v15)
  (at r142 v16)
  (at r81 v17)
  (at r153 v18)
  (at r61 v19)
  (at r90 v20)
  (at r92 v21)
  (at r35 v22)
  (at r39 v23)
  (at r19 v24)
  (at r10 v25)
  (at r34 v26)
  (at r38 v27)
  (at r37 v28)
  (at r53 v29)
  (at r99 v30)
  (at r8 v31)
  (at r116 v32)
  (at r113 v33)
  (at r12 v34)
  (at r42 v35)
  (at r138 v36)
  (at r144 v37)
  (at r79 v38)
  (at r105 v39)
  (at r46 v40)
  (at r149 v41)
  (at r48 v42)
  (at r86 v43)
  (at r5 v44)
  (at r104 v45)
  (at r98 v46)
  (at r74 v47)
  (at r137 v48)
  (at r44 v49)
  (at r70 v50)
  (at r129 v51)
  (at r24 v52)
  (free v53)
  (at r102 v54)
  (at r164 v55)
  (at r140 v56)
  (at r168 v57)
  (at r139 v58)
  (at r75 v59)
  (at r121 v60)
  (at r136 v61)
  (at r109 v62)
  (at r148 v63)
  (at r87 v64)
  (at r76 v65)
  (at r112 v66)
  (at r89 v67)
  (at r43 v68)
  (at r65 v69)
  (at r9 v70)
  (at r124 v71)
  (at r55 v72)
  (at r50 v73)
  (at r73 v74)
  (at r101 v75)
  (at r51 v76)
  (at r67 v77)
  (at r56 v78)
  (at r6 v79)
  (at r62 v80)
  (at r14 v81)
  (at r94 v82)
  (at r57 v83)
  (at r59 v84)
  (at r58 v85)
  (at r63 v86)
  (at r31 v87)
  (at r118 v88)
  (at r132 v89)
  (free v90)
  (at r155 v91)
  (at r131 v92)
  (at r52 v93)
  (at r152 v94)
  (at r125 v95)
  (at r110 v96)
  (at r3 v97)
  (at r88 v98)
  (at r84 v99)
  (at r11 v100)
  (at r13 v101)
  (at r47 v102)
  (at r157 v103)
  (at r26 v104)
  (at r80 v105)
  (at r18 v106)
  (at r135 v107)
  (at r146 v108)
  (at r33 v109)
  (at r123 v110)
  (at r69 v111)
  (at r114 v112)
  (at r103 v113)
  (at r154 v114)
  (at r71 v115)
  (at r93 v116)
  (at r133 v117)
  (at r122 v118)
  (at r30 v119)
  (at r160 v120)
  (at r128 v121)
  (at r25 v122)
  (at r161 v123)
  (at r60 v124)
  (at r159 v125)
  (at r130 v126)
  (at r20 v127)
  (at r40 v128)
  (at r100 v129)
  (at r23 v130)
  (at r151 v131)
  (at r119 v132)
  (at r16 v133)
  (at r4 v134)
  (at r64 v135)
  (at r120 v136)
  (at r72 v137)
  (at r85 v138)
  (at r7 v139)
  (at r49 v140)
  (at r17 v141)
  (at r45 v142)
  (at r96 v143)
  (at r115 v144)
  (at r2 v145)
  (at r83 v146)
  (at r170 v147)
  (at r32 v148)
  (at r162 v149)
  (at r147 v150)
  (at r167 v151)
  (at r107 v152)
  (at r22 v153)
  (at r82 v154)
  (at r117 v155)
  (at r77 v156)
  (at r156 v157)
  (at r134 v158)
  (at r163 v159)
  (at r97 v160)
  (at r28 v161)
  (at r21 v162)
  (at r165 v163)
  (at r41 v164)
  (at r150 v165)
  (at r29 v166)
  (at r126 v167)
  (at r95 v168)
  (at r66 v169)
  (at r91 v170)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v1 v2)
  (adjacent v1 v22)
  (adjacent v1 v26)
  (adjacent v1 v52)
  (adjacent v2 v3)
  (adjacent v2 v84)
  (adjacent v2 v106)
  (adjacent v3 v4)
  (adjacent v3 v18)
  (adjacent v3 v46)
  (adjacent v3 v64)
  (adjacent v3 v87)
  (adjacent v3 v139)
  (adjacent v4 v5)
  (adjacent v4 v23)
  (adjacent v4 v112)
  (adjacent v4 v158)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v108)
  (adjacent v6 v7)
  (adjacent v6 v29)
  (adjacent v6 v101)
  (adjacent v6 v151)
  (adjacent v7 v8)
  (adjacent v7 v91)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v19)
  (adjacent v10 v11)
  (adjacent v10 v93)
  (adjacent v11 v85)
  (adjacent v12 v13)
  (adjacent v12 v38)
  (adjacent v12 v51)
  (adjacent v12 v87)
  (adjacent v13 v14)
  (adjacent v13 v27)
  (adjacent v14 v15)
  (adjacent v14 v73)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v60)
  (adjacent v17 v18)
  (adjacent v18 v32)
  (adjacent v18 v81)
  (adjacent v19 v20)
  (adjacent v19 v45)
  (adjacent v20 v21)
  (adjacent v20 v54)
  (adjacent v21 v22)
  (adjacent v21 v36)
  (adjacent v21 v88)
  (adjacent v22 v25)
  (adjacent v22 v31)
  (adjacent v23 v24)
  (adjacent v23 v28)
  (adjacent v24 v25)
  (adjacent v24 v43)
  (adjacent v24 v70)
  (adjacent v25 v28)
  (adjacent v25 v141)
  (adjacent v26 v27)
  (adjacent v26 v37)
  (adjacent v26 v63)
  (adjacent v26 v89)
  (adjacent v28 v126)
  (adjacent v29 v30)
  (adjacent v29 v39)
  (adjacent v30 v31)
  (adjacent v30 v42)
  (adjacent v31 v41)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v53)
  (adjacent v33 v92)
  (adjacent v34 v35)
  (adjacent v34 v153)
  (adjacent v34 v159)
  (adjacent v35 v36)
  (adjacent v35 v63)
  (adjacent v36 v83)
  (adjacent v37 v38)
  (adjacent v38 v109)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v129)
  (adjacent v42 v128)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v96)
  (adjacent v46 v47)
  (adjacent v46 v78)
  (adjacent v47 v48)
  (adjacent v47 v107)
  (adjacent v48 v49)
  (adjacent v48 v97)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v62)
  (adjacent v52 v53)
  (adjacent v53 v61)
  (adjacent v53 v69)
  (adjacent v53 v139)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v140)
  (adjacent v57 v58)
  (adjacent v57 v80)
  (adjacent v57 v129)
  (adjacent v58 v59)
  (adjacent v58 v86)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v84)
  (adjacent v62 v119)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v88)
  (adjacent v67 v68)
  (adjacent v67 v74)
  (adjacent v68 v69)
  (adjacent v68 v147)
  (adjacent v69 v77)
  (adjacent v69 v130)
  (adjacent v70 v71)
  (adjacent v70 v130)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v125)
  (adjacent v73 v131)
  (adjacent v74 v75)
  (adjacent v74 v113)
  (adjacent v74 v142)
  (adjacent v75 v76)
  (adjacent v75 v163)
  (adjacent v76 v77)
  (adjacent v76 v92)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v133)
  (adjacent v85 v86)
  (adjacent v85 v102)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v138)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v148)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v162)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v120)
  (adjacent v117 v164)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v120 v163)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v150)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v132)
  (adjacent v129 v170)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
 )
 (:goal
  (and
  (at r100 v0)
  (at r49 v1)
  (at r41 v2)
  (at r32 v3)
  (at r69 v4)
  (at r108 v5)
  (at r143 v6)
  (at r165 v7)
  (at r112 v8)
  (at r89 v9)
  (at r86 v10)
  (at r128 v11)
  (at r129 v12)
  (at r109 v13)
  (at r80 v14)
  (at r67 v15)
  (free v16)
  (at r46 v17)
  (at r167 v18)
  (at r55 v19)
  (at r22 v20)
  (at r118 v21)
  (at r95 v22)
  (at r83 v23)
  (at r51 v24)
  (at r6 v25)
  (at r158 v26)
  (at r21 v27)
  (at r131 v28)
  (free v29)
  (at r31 v30)
  (at r160 v31)
  (at r99 v32)
  (at r147 v33)
  (at r142 v34)
  (at r106 v35)
  (at r96 v36)
  (at r39 v37)
  (at r162 v38)
  (at r168 v39)
  (at r122 v40)
  (at r54 v41)
  (at r8 v42)
  (at r23 v43)
  (at r88 v44)
  (at r58 v45)
  (at r76 v46)
  (at r156 v47)
  (at r42 v48)
  (at r82 v49)
  (at r45 v50)
  (at r66 v51)
  (at r60 v52)
  (at r28 v53)
  (at r20 v54)
  (at r74 v55)
  (at r134 v56)
  (at r29 v57)
  (at r139 v58)
  (at r37 v59)
  (at r136 v60)
  (at r87 v61)
  (at r85 v62)
  (at r107 v63)
  (at r93 v64)
  (at r48 v65)
  (at r98 v66)
  (at r130 v67)
  (at r73 v68)
  (at r11 v69)
  (at r65 v70)
  (at r18 v71)
  (at r5 v72)
  (at r34 v73)
  (at r53 v74)
  (at r97 v75)
  (at r79 v76)
  (at r135 v77)
  (at r164 v78)
  (at r166 v79)
  (at r30 v80)
  (at r71 v81)
  (at r10 v82)
  (at r52 v83)
  (at r19 v84)
  (at r121 v85)
  (at r115 v86)
  (at r124 v87)
  (at r111 v88)
  (at r38 v89)
  (at r50 v90)
  (at r56 v91)
  (at r169 v92)
  (at r72 v93)
  (at r103 v94)
  (at r94 v95)
  (at r140 v96)
  (at r70 v97)
  (at r40 v98)
  (at r145 v99)
  (at r91 v100)
  (at r148 v101)
  (at r7 v102)
  (at r125 v103)
  (at r133 v104)
  (at r14 v105)
  (at r150 v106)
  (at r4 v107)
  (at r157 v108)
  (at r137 v109)
  (at r123 v110)
  (at r159 v111)
  (at r132 v112)
  (at r163 v113)
  (at r170 v114)
  (at r59 v115)
  (at r62 v116)
  (at r68 v117)
  (at r27 v118)
  (at r154 v119)
  (at r78 v120)
  (at r92 v121)
  (at r152 v122)
  (at r57 v123)
  (at r75 v124)
  (at r77 v125)
  (at r61 v126)
  (at r35 v127)
  (at r114 v128)
  (at r119 v129)
  (at r26 v130)
  (at r47 v131)
  (at r44 v132)
  (at r151 v133)
  (at r102 v134)
  (at r43 v135)
  (at r141 v136)
  (at r84 v137)
  (at r2 v138)
  (at r33 v139)
  (at r64 v140)
  (at r63 v141)
  (at r116 v142)
  (at r146 v143)
  (at r12 v144)
  (at r36 v145)
  (at r117 v146)
  (at r153 v147)
  (at r13 v148)
  (at r25 v149)
  (at r16 v150)
  (at r81 v151)
  (at r104 v152)
  (at r90 v153)
  (at r138 v154)
  (at r149 v155)
  (at r110 v156)
  (at r101 v157)
  (at r3 v158)
  (at r144 v159)
  (at r113 v160)
  (at r126 v161)
  (at r155 v162)
  (at r127 v163)
  (at r24 v164)
  (at r9 v165)
  (at r120 v166)
  (at r161 v167)
  (at r105 v168)
  (at r17 v169)
  (at r15 v170)
  )
 )
)