(define (problem multirobot_49_2_c7)
 (:domain multirobot)
 (:objects
  v0 r22
  v1 r16
  v2 r81
  v3 r155
  v4 r122
  v5 r71
  v6 r132
  v7 r44
  v8 r53
  v9 r145
  v10 r165
  v11 r8
  v12 r20
  v13 r97
  v14 r170
  v15 r38
  v16 r92
  v17 r127
  v18 r136
  v19 r90
  v20 r47
  v21 r77
  v22 r104
  v23 r133
  v24 r78
  v25 r168
  v26
  v27 r100
  v28 r72
  v29 r39
  v30 r3
  v31 r42
  v32 r103
  v33 r21
  v34 r18
  v35 r23
  v36 r25
  v37 r91
  v38 r156
  v39 r114
  v40 r6
  v41 r14
  v42 r82
  v43 r142
  v44 r139
  v45 r149
  v46 r169
  v47 r164
  v48 r2
  v49 r94
  v50 r108
  v51 r102
  v52 r48
  v53 r111
  v54 r54
  v55 r110
  v56 r147
  v57 r45
  v58 r109
  v59 r141
  v60 r166
  v61 r115
  v62 r112
  v63 r37
  v64 r68
  v65 r152
  v66 r10
  v67 r17
  v68 r51
  v69 r30
  v70
  v71 r89
  v72 r98
  v73 r83
  v74 r93
  v75 r55
  v76 r34
  v77 r157
  v78 r126
  v79 r140
  v80 r58
  v81 r120
  v82 r172
  v83 r121
  v84 r57
  v85 r9
  v86 r99
  v87 r15
  v88 r28
  v89 r75
  v90 r106
  v91 r65
  v92 r63
  v93 r161
  v94 r13
  v95 r74
  v96 r60
  v97 r24
  v98 r40
  v99 r35
  v100 r70
  v101 r119
  v102 r167
  v103 r32
  v104 r69
  v105 r56
  v106 r76
  v107 r31
  v108 r162
  v109 r49
  v110 r12
  v111 r5
  v112 r36
  v113 r26
  v114 r130
  v115 r50
  v116 r61
  v117 r146
  v118 r19
  v119 r117
  v120 r144
  v121 r101
  v122 r163
  v123 r148
  v124 r27
  v125 r153
  v126 r29
  v127 r7
  v128 r135
  v129 r43
  v130 r143
  v131 r95
  v132 r160
  v133 r84
  v134 r85
  v135 r59
  v136 r107
  v137 r129
  v138 r128
  v139 r159
  v140 r171
  v141 r96
  v142 r131
  v143 r116
  v144 r123
  v145 r137
  v146 r154
  v147 r134
  v148 r4
  v149 r125
  v150 r66
  v151 r62
  v152 r150
  v153 r86
  v154 r33
  v155 r138
  v156 r41
  v157 r52
  v158 r105
  v159 r118
  v160 r79
  v161 r113
  v162 r87
  v163 r64
  v164 r11
  v165 r88
  v166 r46
  v167 r158
  v168 r80
  v169 r151
  v170 r124
  v171 r73
  v172 r67
 )
 (:init
  (at r22 v0)
  (at r16 v1)
  (at r81 v2)
  (at r155 v3)
  (at r122 v4)
  (at r71 v5)
  (at r132 v6)
  (at r44 v7)
  (at r53 v8)
  (at r145 v9)
  (at r165 v10)
  (at r8 v11)
  (at r20 v12)
  (at r97 v13)
  (at r170 v14)
  (at r38 v15)
  (at r92 v16)
  (at r127 v17)
  (at r136 v18)
  (at r90 v19)
  (at r47 v20)
  (at r77 v21)
  (at r104 v22)
  (at r133 v23)
  (at r78 v24)
  (at r168 v25)
  (free v26)
  (at r100 v27)
  (at r72 v28)
  (at r39 v29)
  (at r3 v30)
  (at r42 v31)
  (at r103 v32)
  (at r21 v33)
  (at r18 v34)
  (at r23 v35)
  (at r25 v36)
  (at r91 v37)
  (at r156 v38)
  (at r114 v39)
  (at r6 v40)
  (at r14 v41)
  (at r82 v42)
  (at r142 v43)
  (at r139 v44)
  (at r149 v45)
  (at r169 v46)
  (at r164 v47)
  (at r2 v48)
  (at r94 v49)
  (at r108 v50)
  (at r102 v51)
  (at r48 v52)
  (at r111 v53)
  (at r54 v54)
  (at r110 v55)
  (at r147 v56)
  (at r45 v57)
  (at r109 v58)
  (at r141 v59)
  (at r166 v60)
  (at r115 v61)
  (at r112 v62)
  (at r37 v63)
  (at r68 v64)
  (at r152 v65)
  (at r10 v66)
  (at r17 v67)
  (at r51 v68)
  (at r30 v69)
  (free v70)
  (at r89 v71)
  (at r98 v72)
  (at r83 v73)
  (at r93 v74)
  (at r55 v75)
  (at r34 v76)
  (at r157 v77)
  (at r126 v78)
  (at r140 v79)
  (at r58 v80)
  (at r120 v81)
  (at r172 v82)
  (at r121 v83)
  (at r57 v84)
  (at r9 v85)
  (at r99 v86)
  (at r15 v87)
  (at r28 v88)
  (at r75 v89)
  (at r106 v90)
  (at r65 v91)
  (at r63 v92)
  (at r161 v93)
  (at r13 v94)
  (at r74 v95)
  (at r60 v96)
  (at r24 v97)
  (at r40 v98)
  (at r35 v99)
  (at r70 v100)
  (at r119 v101)
  (at r167 v102)
  (at r32 v103)
  (at r69 v104)
  (at r56 v105)
  (at r76 v106)
  (at r31 v107)
  (at r162 v108)
  (at r49 v109)
  (at r12 v110)
  (at r5 v111)
  (at r36 v112)
  (at r26 v113)
  (at r130 v114)
  (at r50 v115)
  (at r61 v116)
  (at r146 v117)
  (at r19 v118)
  (at r117 v119)
  (at r144 v120)
  (at r101 v121)
  (at r163 v122)
  (at r148 v123)
  (at r27 v124)
  (at r153 v125)
  (at r29 v126)
  (at r7 v127)
  (at r135 v128)
  (at r43 v129)
  (at r143 v130)
  (at r95 v131)
  (at r160 v132)
  (at r84 v133)
  (at r85 v134)
  (at r59 v135)
  (at r107 v136)
  (at r129 v137)
  (at r128 v138)
  (at r159 v139)
  (at r171 v140)
  (at r96 v141)
  (at r131 v142)
  (at r116 v143)
  (at r123 v144)
  (at r137 v145)
  (at r154 v146)
  (at r134 v147)
  (at r4 v148)
  (at r125 v149)
  (at r66 v150)
  (at r62 v151)
  (at r150 v152)
  (at r86 v153)
  (at r33 v154)
  (at r138 v155)
  (at r41 v156)
  (at r52 v157)
  (at r105 v158)
  (at r118 v159)
  (at r79 v160)
  (at r113 v161)
  (at r87 v162)
  (at r64 v163)
  (at r11 v164)
  (at r88 v165)
  (at r46 v166)
  (at r158 v167)
  (at r80 v168)
  (at r151 v169)
  (at r124 v170)
  (at r73 v171)
  (at r67 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v11)
  (adjacent v0 v29)
  (adjacent v0 v64)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v7)
  (adjacent v1 v75)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v17)
  (adjacent v2 v42)
  (adjacent v2 v48)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v3 v16)
  (adjacent v3 v24)
  (adjacent v3 v142)
  (adjacent v4 v6)
  (adjacent v4 v9)
  (adjacent v5 v8)
  (adjacent v5 v31)
  (adjacent v5 v85)
  (adjacent v5 v89)
  (adjacent v5 v128)
  (adjacent v6 v35)
  (adjacent v6 v132)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v8 v111)
  (adjacent v9 v10)
  (adjacent v9 v28)
  (adjacent v9 v53)
  (adjacent v10 v41)
  (adjacent v10 v72)
  (adjacent v10 v117)
  (adjacent v10 v162)
  (adjacent v11 v12)
  (adjacent v11 v131)
  (adjacent v12 v13)
  (adjacent v12 v34)
  (adjacent v12 v52)
  (adjacent v12 v63)
  (adjacent v12 v122)
  (adjacent v13 v14)
  (adjacent v13 v23)
  (adjacent v13 v73)
  (adjacent v14 v15)
  (adjacent v14 v62)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v151)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v56)
  (adjacent v18 v107)
  (adjacent v18 v163)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v106)
  (adjacent v21 v22)
  (adjacent v21 v140)
  (adjacent v22 v23)
  (adjacent v22 v112)
  (adjacent v22 v123)
  (adjacent v24 v25)
  (adjacent v24 v32)
  (adjacent v24 v86)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v77)
  (adjacent v27 v28)
  (adjacent v28 v76)
  (adjacent v28 v152)
  (adjacent v29 v30)
  (adjacent v29 v43)
  (adjacent v30 v31)
  (adjacent v31 v88)
  (adjacent v32 v33)
  (adjacent v32 v80)
  (adjacent v32 v100)
  (adjacent v33 v34)
  (adjacent v33 v47)
  (adjacent v33 v143)
  (adjacent v34 v42)
  (adjacent v34 v96)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v81)
  (adjacent v37 v38)
  (adjacent v37 v92)
  (adjacent v37 v157)
  (adjacent v38 v39)
  (adjacent v38 v63)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v142)
  (adjacent v41 v76)
  (adjacent v42 v81)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v97)
  (adjacent v45 v46)
  (adjacent v45 v99)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v48 v57)
  (adjacent v49 v50)
  (adjacent v49 v141)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v149)
  (adjacent v53 v54)
  (adjacent v53 v156)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v146)
  (adjacent v55 v172)
  (adjacent v57 v58)
  (adjacent v57 v111)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v65)
  (adjacent v61 v170)
  (adjacent v64 v65)
  (adjacent v64 v134)
  (adjacent v64 v146)
  (adjacent v65 v66)
  (adjacent v65 v169)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v91)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v73 v82)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v89 v141)
  (adjacent v90 v91)
  (adjacent v90 v129)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v110)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v135)
  (adjacent v107 v108)
  (adjacent v107 v118)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v147)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v145)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v150)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v129 v150)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v132 v151)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r43 v0)
  (at r151 v1)
  (at r48 v2)
  (at r38 v3)
  (at r143 v4)
  (at r37 v5)
  (at r67 v6)
  (at r15 v7)
  (at r8 v8)
  (at r110 v9)
  (at r35 v10)
  (at r16 v11)
  (at r88 v12)
  (at r121 v13)
  (at r28 v14)
  (at r7 v15)
  (at r109 v16)
  (at r26 v17)
  (at r62 v18)
  (at r96 v19)
  (at r126 v20)
  (at r3 v21)
  (at r69 v22)
  (at r101 v23)
  (at r12 v24)
  (at r78 v25)
  (at r34 v26)
  (at r46 v27)
  (at r131 v28)
  (at r2 v29)
  (at r24 v30)
  (at r166 v31)
  (at r142 v32)
  (at r155 v33)
  (at r160 v34)
  (at r159 v35)
  (at r90 v36)
  (at r139 v37)
  (at r161 v38)
  (at r31 v39)
  (at r56 v40)
  (at r36 v41)
  (at r9 v42)
  (at r133 v43)
  (at r58 v44)
  (at r112 v45)
  (at r14 v46)
  (at r81 v47)
  (at r94 v48)
  (at r116 v49)
  (at r141 v50)
  (at r42 v51)
  (at r147 v52)
  (at r22 v53)
  (at r23 v54)
  (at r153 v55)
  (at r27 v56)
  (at r45 v57)
  (at r50 v58)
  (at r60 v59)
  (at r106 v60)
  (at r89 v61)
  (at r30 v62)
  (at r127 v63)
  (at r57 v64)
  (at r169 v65)
  (at r102 v66)
  (at r98 v67)
  (at r6 v68)
  (at r146 v69)
  (at r157 v70)
  (at r47 v71)
  (at r84 v72)
  (at r148 v73)
  (at r124 v74)
  (at r144 v75)
  (at r140 v76)
  (at r32 v77)
  (at r122 v78)
  (at r19 v79)
  (at r29 v80)
  (at r132 v81)
  (at r82 v82)
  (at r152 v83)
  (at r59 v84)
  (at r123 v85)
  (at r51 v86)
  (at r164 v87)
  (at r65 v88)
  (at r86 v89)
  (at r77 v90)
  (at r105 v91)
  (at r53 v92)
  (at r163 v93)
  (at r138 v94)
  (at r40 v95)
  (at r74 v96)
  (at r13 v97)
  (at r111 v98)
  (at r113 v99)
  (at r18 v100)
  (at r154 v101)
  (at r130 v102)
  (at r162 v103)
  (at r114 v104)
  (at r11 v105)
  (at r70 v106)
  (at r61 v107)
  (at r99 v108)
  (at r103 v109)
  (at r75 v110)
  (at r33 v111)
  (at r97 v112)
  (at r100 v113)
  (at r95 v114)
  (at r44 v115)
  (at r156 v116)
  (at r150 v117)
  (at r5 v118)
  (at r171 v119)
  (at r115 v120)
  (at r64 v121)
  (at r149 v122)
  (at r167 v123)
  (at r118 v124)
  (at r93 v125)
  (at r54 v126)
  (at r129 v127)
  (at r52 v128)
  (at r87 v129)
  (at r128 v130)
  (at r68 v131)
  (at r72 v132)
  (at r108 v133)
  (free v134)
  (free v135)
  (at r71 v136)
  (at r39 v137)
  (at r91 v138)
  (at r21 v139)
  (at r25 v140)
  (at r168 v141)
  (at r41 v142)
  (at r120 v143)
  (at r49 v144)
  (at r55 v145)
  (at r85 v146)
  (at r165 v147)
  (at r66 v148)
  (at r80 v149)
  (at r158 v150)
  (at r17 v151)
  (at r145 v152)
  (at r135 v153)
  (at r134 v154)
  (at r136 v155)
  (at r79 v156)
  (at r20 v157)
  (at r83 v158)
  (at r4 v159)
  (at r170 v160)
  (at r107 v161)
  (at r63 v162)
  (at r92 v163)
  (at r117 v164)
  (at r137 v165)
  (at r125 v166)
  (at r119 v167)
  (at r10 v168)
  (at r76 v169)
  (at r73 v170)
  (at r104 v171)
  (at r172 v172)
  )
 )
)