(define (problem multirobot_51_2_c7)
 (:domain multirobot)
 (:objects
  v0 r46
  v1 r22
  v2 r88
  v3 r15
  v4 r126
  v5 r136
  v6 r104
  v7 r6
  v8 r62
  v9 r5
  v10 r94
  v11 r23
  v12 r51
  v13 r48
  v14 r162
  v15 r64
  v16 r91
  v17 r44
  v18 r37
  v19 r81
  v20 r123
  v21 r76
  v22 r87
  v23 r28
  v24 r40
  v25 r135
  v26 r69
  v27 r119
  v28 r80
  v29 r53
  v30 r61
  v31 r133
  v32 r82
  v33 r54
  v34 r156
  v35 r16
  v36 r24
  v37 r93
  v38 r75
  v39 r50
  v40 r55
  v41 r63
  v42 r70
  v43 r17
  v44 r132
  v45 r99
  v46 r108
  v47 r43
  v48 r78
  v49 r39
  v50 r4
  v51 r33
  v52 r122
  v53 r38
  v54 r11
  v55 r153
  v56 r128
  v57 r114
  v58 r154
  v59 r8
  v60 r95
  v61 r117
  v62 r109
  v63 r3
  v64 r146
  v65 r107
  v66 r101
  v67 r52
  v68 r127
  v69 r159
  v70 r83
  v71 r129
  v72 r31
  v73 r115
  v74 r32
  v75 r155
  v76 r140
  v77 r58
  v78 r73
  v79 r139
  v80 r90
  v81 r164
  v82 r68
  v83 r160
  v84 r147
  v85 r20
  v86 r13
  v87 r145
  v88 r137
  v89 r79
  v90 r111
  v91 r2
  v92 r10
  v93 r100
  v94 r72
  v95 r113
  v96 r29
  v97 r86
  v98 r158
  v99 r134
  v100 r71
  v101 r103
  v102 r150
  v103 r138
  v104 r42
  v105 r74
  v106 r77
  v107 r30
  v108 r131
  v109 r102
  v110 r9
  v111 r124
  v112 r45
  v113 r151
  v114 r125
  v115 r116
  v116 r27
  v117
  v118 r57
  v119 r106
  v120 r110
  v121 r18
  v122 r98
  v123 r144
  v124 r25
  v125 r19
  v126 r49
  v127 r47
  v128 r120
  v129 r35
  v130 r59
  v131 r97
  v132 r26
  v133 r121
  v134 r152
  v135 r65
  v136 r84
  v137
  v138 r41
  v139 r118
  v140 r141
  v141 r56
  v142 r34
  v143 r157
  v144 r12
  v145 r60
  v146 r96
  v147 r112
  v148 r105
  v149 r130
  v150 r89
  v151 r163
  v152 r14
  v153 r161
  v154 r66
  v155 r143
  v156 r142
  v157 r92
  v158 r36
  v159 r21
  v160 r148
  v161 r149
  v162 r7
  v163 r67
  v164 r85
 )
 (:init
  (at r46 v0)
  (at r22 v1)
  (at r88 v2)
  (at r15 v3)
  (at r126 v4)
  (at r136 v5)
  (at r104 v6)
  (at r6 v7)
  (at r62 v8)
  (at r5 v9)
  (at r94 v10)
  (at r23 v11)
  (at r51 v12)
  (at r48 v13)
  (at r162 v14)
  (at r64 v15)
  (at r91 v16)
  (at r44 v17)
  (at r37 v18)
  (at r81 v19)
  (at r123 v20)
  (at r76 v21)
  (at r87 v22)
  (at r28 v23)
  (at r40 v24)
  (at r135 v25)
  (at r69 v26)
  (at r119 v27)
  (at r80 v28)
  (at r53 v29)
  (at r61 v30)
  (at r133 v31)
  (at r82 v32)
  (at r54 v33)
  (at r156 v34)
  (at r16 v35)
  (at r24 v36)
  (at r93 v37)
  (at r75 v38)
  (at r50 v39)
  (at r55 v40)
  (at r63 v41)
  (at r70 v42)
  (at r17 v43)
  (at r132 v44)
  (at r99 v45)
  (at r108 v46)
  (at r43 v47)
  (at r78 v48)
  (at r39 v49)
  (at r4 v50)
  (at r33 v51)
  (at r122 v52)
  (at r38 v53)
  (at r11 v54)
  (at r153 v55)
  (at r128 v56)
  (at r114 v57)
  (at r154 v58)
  (at r8 v59)
  (at r95 v60)
  (at r117 v61)
  (at r109 v62)
  (at r3 v63)
  (at r146 v64)
  (at r107 v65)
  (at r101 v66)
  (at r52 v67)
  (at r127 v68)
  (at r159 v69)
  (at r83 v70)
  (at r129 v71)
  (at r31 v72)
  (at r115 v73)
  (at r32 v74)
  (at r155 v75)
  (at r140 v76)
  (at r58 v77)
  (at r73 v78)
  (at r139 v79)
  (at r90 v80)
  (at r164 v81)
  (at r68 v82)
  (at r160 v83)
  (at r147 v84)
  (at r20 v85)
  (at r13 v86)
  (at r145 v87)
  (at r137 v88)
  (at r79 v89)
  (at r111 v90)
  (at r2 v91)
  (at r10 v92)
  (at r100 v93)
  (at r72 v94)
  (at r113 v95)
  (at r29 v96)
  (at r86 v97)
  (at r158 v98)
  (at r134 v99)
  (at r71 v100)
  (at r103 v101)
  (at r150 v102)
  (at r138 v103)
  (at r42 v104)
  (at r74 v105)
  (at r77 v106)
  (at r30 v107)
  (at r131 v108)
  (at r102 v109)
  (at r9 v110)
  (at r124 v111)
  (at r45 v112)
  (at r151 v113)
  (at r125 v114)
  (at r116 v115)
  (at r27 v116)
  (free v117)
  (at r57 v118)
  (at r106 v119)
  (at r110 v120)
  (at r18 v121)
  (at r98 v122)
  (at r144 v123)
  (at r25 v124)
  (at r19 v125)
  (at r49 v126)
  (at r47 v127)
  (at r120 v128)
  (at r35 v129)
  (at r59 v130)
  (at r97 v131)
  (at r26 v132)
  (at r121 v133)
  (at r152 v134)
  (at r65 v135)
  (at r84 v136)
  (free v137)
  (at r41 v138)
  (at r118 v139)
  (at r141 v140)
  (at r56 v141)
  (at r34 v142)
  (at r157 v143)
  (at r12 v144)
  (at r60 v145)
  (at r96 v146)
  (at r112 v147)
  (at r105 v148)
  (at r130 v149)
  (at r89 v150)
  (at r163 v151)
  (at r14 v152)
  (at r161 v153)
  (at r66 v154)
  (at r143 v155)
  (at r142 v156)
  (at r92 v157)
  (at r36 v158)
  (at r21 v159)
  (at r148 v160)
  (at r149 v161)
  (at r7 v162)
  (at r67 v163)
  (at r85 v164)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v124)
  (adjacent v0 v154)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v9)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v6)
  (adjacent v2 v8)
  (adjacent v2 v74)
  (adjacent v2 v113)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v4 v14)
  (adjacent v4 v28)
  (adjacent v4 v106)
  (adjacent v5 v163)
  (adjacent v6 v22)
  (adjacent v6 v26)
  (adjacent v6 v62)
  (adjacent v7 v8)
  (adjacent v7 v49)
  (adjacent v7 v136)
  (adjacent v8 v15)
  (adjacent v9 v10)
  (adjacent v9 v30)
  (adjacent v9 v115)
  (adjacent v10 v11)
  (adjacent v10 v31)
  (adjacent v10 v46)
  (adjacent v11 v12)
  (adjacent v11 v29)
  (adjacent v11 v152)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v102)
  (adjacent v14 v21)
  (adjacent v14 v138)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v25)
  (adjacent v16 v38)
  (adjacent v17 v18)
  (adjacent v17 v142)
  (adjacent v18 v19)
  (adjacent v18 v36)
  (adjacent v18 v97)
  (adjacent v19 v20)
  (adjacent v19 v47)
  (adjacent v19 v142)
  (adjacent v20 v21)
  (adjacent v20 v27)
  (adjacent v20 v62)
  (adjacent v21 v26)
  (adjacent v22 v23)
  (adjacent v22 v96)
  (adjacent v22 v149)
  (adjacent v23 v24)
  (adjacent v23 v63)
  (adjacent v24 v25)
  (adjacent v25 v63)
  (adjacent v25 v122)
  (adjacent v26 v29)
  (adjacent v26 v66)
  (adjacent v27 v28)
  (adjacent v27 v30)
  (adjacent v27 v44)
  (adjacent v28 v47)
  (adjacent v28 v50)
  (adjacent v29 v56)
  (adjacent v30 v37)
  (adjacent v30 v65)
  (adjacent v30 v116)
  (adjacent v31 v32)
  (adjacent v31 v48)
  (adjacent v31 v79)
  (adjacent v32 v33)
  (adjacent v32 v37)
  (adjacent v32 v57)
  (adjacent v33 v34)
  (adjacent v33 v61)
  (adjacent v33 v119)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v139)
  (adjacent v36 v49)
  (adjacent v36 v107)
  (adjacent v36 v148)
  (adjacent v37 v45)
  (adjacent v37 v67)
  (adjacent v38 v39)
  (adjacent v38 v48)
  (adjacent v38 v127)
  (adjacent v38 v130)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v66)
  (adjacent v47 v114)
  (adjacent v47 v120)
  (adjacent v48 v80)
  (adjacent v50 v51)
  (adjacent v50 v92)
  (adjacent v51 v52)
  (adjacent v51 v67)
  (adjacent v51 v68)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v64)
  (adjacent v53 v103)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v57 v86)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v137)
  (adjacent v60 v61)
  (adjacent v62 v107)
  (adjacent v62 v121)
  (adjacent v64 v65)
  (adjacent v64 v73)
  (adjacent v65 v164)
  (adjacent v66 v162)
  (adjacent v68 v69)
  (adjacent v68 v78)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v129)
  (adjacent v76 v77)
  (adjacent v76 v87)
  (adjacent v76 v153)
  (adjacent v77 v78)
  (adjacent v77 v79)
  (adjacent v77 v128)
  (adjacent v80 v81)
  (adjacent v80 v93)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v125)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v91 v156)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v97 v162)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v141)
  (adjacent v101 v102)
  (adjacent v102 v108)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v143)
  (adjacent v125 v126)
  (adjacent v125 v155)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v137 v138)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v161)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v150 v155)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v163 v164)
 )
 (:goal
  (and
  (at r38 v0)
  (at r15 v1)
  (at r9 v2)
  (at r139 v3)
  (at r56 v4)
  (at r128 v5)
  (at r12 v6)
  (at r151 v7)
  (at r51 v8)
  (at r70 v9)
  (at r123 v10)
  (at r4 v11)
  (at r25 v12)
  (at r87 v13)
  (at r111 v14)
  (at r93 v15)
  (at r99 v16)
  (at r30 v17)
  (at r120 v18)
  (at r40 v19)
  (at r16 v20)
  (at r43 v21)
  (at r90 v22)
  (at r142 v23)
  (at r62 v24)
  (at r52 v25)
  (at r130 v26)
  (at r102 v27)
  (at r58 v28)
  (at r92 v29)
  (at r37 v30)
  (at r85 v31)
  (at r46 v32)
  (at r47 v33)
  (at r69 v34)
  (at r28 v35)
  (at r114 v36)
  (at r45 v37)
  (at r118 v38)
  (at r24 v39)
  (at r137 v40)
  (at r89 v41)
  (at r20 v42)
  (at r5 v43)
  (at r72 v44)
  (at r68 v45)
  (at r10 v46)
  (at r141 v47)
  (at r153 v48)
  (free v49)
  (at r163 v50)
  (at r26 v51)
  (at r2 v52)
  (at r95 v53)
  (at r27 v54)
  (at r108 v55)
  (at r63 v56)
  (at r144 v57)
  (at r112 v58)
  (at r21 v59)
  (at r138 v60)
  (at r55 v61)
  (at r86 v62)
  (at r121 v63)
  (at r82 v64)
  (at r101 v65)
  (at r83 v66)
  (at r76 v67)
  (at r79 v68)
  (at r115 v69)
  (at r78 v70)
  (at r8 v71)
  (at r145 v72)
  (at r67 v73)
  (at r154 v74)
  (at r84 v75)
  (at r7 v76)
  (at r143 v77)
  (at r71 v78)
  (at r77 v79)
  (at r60 v80)
  (at r150 v81)
  (at r17 v82)
  (at r61 v83)
  (at r65 v84)
  (at r34 v85)
  (at r33 v86)
  (at r3 v87)
  (at r50 v88)
  (at r156 v89)
  (at r107 v90)
  (at r44 v91)
  (at r132 v92)
  (free v93)
  (at r14 v94)
  (at r88 v95)
  (at r97 v96)
  (at r100 v97)
  (at r140 v98)
  (at r23 v99)
  (at r18 v100)
  (at r105 v101)
  (at r66 v102)
  (at r127 v103)
  (at r13 v104)
  (at r148 v105)
  (at r91 v106)
  (at r117 v107)
  (at r29 v108)
  (at r94 v109)
  (at r133 v110)
  (at r54 v111)
  (at r57 v112)
  (at r162 v113)
  (at r11 v114)
  (at r64 v115)
  (at r19 v116)
  (at r53 v117)
  (at r39 v118)
  (at r164 v119)
  (at r80 v120)
  (at r122 v121)
  (at r73 v122)
  (at r152 v123)
  (at r6 v124)
  (at r75 v125)
  (at r96 v126)
  (at r147 v127)
  (at r59 v128)
  (at r157 v129)
  (at r160 v130)
  (at r49 v131)
  (at r124 v132)
  (at r42 v133)
  (at r158 v134)
  (at r36 v135)
  (at r125 v136)
  (at r155 v137)
  (at r116 v138)
  (at r161 v139)
  (at r22 v140)
  (at r131 v141)
  (at r31 v142)
  (at r81 v143)
  (at r32 v144)
  (at r129 v145)
  (at r134 v146)
  (at r35 v147)
  (at r119 v148)
  (at r109 v149)
  (at r41 v150)
  (at r159 v151)
  (at r126 v152)
  (at r48 v153)
  (at r113 v154)
  (at r104 v155)
  (at r110 v156)
  (at r136 v157)
  (at r74 v158)
  (at r149 v159)
  (at r106 v160)
  (at r146 v161)
  (at r135 v162)
  (at r103 v163)
  (at r98 v164)
  )
 )
)