(define (problem multirobot_52_2_c7)
 (:domain multirobot)
 (:objects
  v0 r7
  v1 r123
  v2 r152
  v3 r140
  v4 r22
  v5 r92
  v6 r57
  v7 r153
  v8 r97
  v9 r148
  v10 r12
  v11 r89
  v12 r61
  v13 r27
  v14 r3
  v15 r164
  v16 r6
  v17 r117
  v18 r19
  v19 r146
  v20 r130
  v21 r46
  v22 r10
  v23 r28
  v24 r138
  v25 r76
  v26 r159
  v27 r39
  v28 r2
  v29 r122
  v30 r53
  v31 r112
  v32 r98
  v33 r134
  v34 r66
  v35 r59
  v36 r52
  v37 r149
  v38 r151
  v39 r23
  v40 r50
  v41
  v42 r135
  v43 r83
  v44 r30
  v45 r128
  v46 r31
  v47 r81
  v48 r15
  v49 r34
  v50 r141
  v51 r124
  v52 r17
  v53 r9
  v54 r87
  v55 r48
  v56 r80
  v57 r35
  v58 r108
  v59 r137
  v60 r154
  v61 r29
  v62 r96
  v63 r25
  v64 r158
  v65 r40
  v66 r136
  v67 r166
  v68 r63
  v69 r38
  v70 r43
  v71 r121
  v72 r99
  v73 r91
  v74 r24
  v75 r68
  v76 r90
  v77 r102
  v78 r55
  v79 r42
  v80 r77
  v81 r139
  v82 r70
  v83 r73
  v84 r47
  v85 r85
  v86 r88
  v87 r103
  v88 r18
  v89 r51
  v90 r33
  v91 r150
  v92 r157
  v93 r118
  v94 r82
  v95 r78
  v96 r62
  v97 r156
  v98 r71
  v99 r101
  v100 r100
  v101 r75
  v102 r26
  v103 r60
  v104 r126
  v105 r120
  v106 r163
  v107 r114
  v108 r116
  v109 r113
  v110 r155
  v111 r160
  v112 r4
  v113 r145
  v114 r36
  v115 r41
  v116 r37
  v117 r107
  v118 r20
  v119 r69
  v120 r147
  v121 r162
  v122 r32
  v123 r72
  v124 r110
  v125 r143
  v126 r109
  v127 r84
  v128 r142
  v129 r131
  v130
  v131 r49
  v132 r56
  v133 r129
  v134 r95
  v135 r16
  v136 r54
  v137 r165
  v138 r94
  v139 r86
  v140 r14
  v141 r144
  v142 r58
  v143 r125
  v144 r93
  v145 r132
  v146 r11
  v147 r104
  v148 r74
  v149 r64
  v150 r45
  v151 r21
  v152 r5
  v153 r106
  v154 r44
  v155 r65
  v156 r105
  v157 r13
  v158 r115
  v159 r127
  v160 r161
  v161 r79
  v162 r119
  v163 r133
  v164 r8
  v165 r111
  v166 r67
 )
 (:init
  (at r7 v0)
  (at r123 v1)
  (at r152 v2)
  (at r140 v3)
  (at r22 v4)
  (at r92 v5)
  (at r57 v6)
  (at r153 v7)
  (at r97 v8)
  (at r148 v9)
  (at r12 v10)
  (at r89 v11)
  (at r61 v12)
  (at r27 v13)
  (at r3 v14)
  (at r164 v15)
  (at r6 v16)
  (at r117 v17)
  (at r19 v18)
  (at r146 v19)
  (at r130 v20)
  (at r46 v21)
  (at r10 v22)
  (at r28 v23)
  (at r138 v24)
  (at r76 v25)
  (at r159 v26)
  (at r39 v27)
  (at r2 v28)
  (at r122 v29)
  (at r53 v30)
  (at r112 v31)
  (at r98 v32)
  (at r134 v33)
  (at r66 v34)
  (at r59 v35)
  (at r52 v36)
  (at r149 v37)
  (at r151 v38)
  (at r23 v39)
  (at r50 v40)
  (free v41)
  (at r135 v42)
  (at r83 v43)
  (at r30 v44)
  (at r128 v45)
  (at r31 v46)
  (at r81 v47)
  (at r15 v48)
  (at r34 v49)
  (at r141 v50)
  (at r124 v51)
  (at r17 v52)
  (at r9 v53)
  (at r87 v54)
  (at r48 v55)
  (at r80 v56)
  (at r35 v57)
  (at r108 v58)
  (at r137 v59)
  (at r154 v60)
  (at r29 v61)
  (at r96 v62)
  (at r25 v63)
  (at r158 v64)
  (at r40 v65)
  (at r136 v66)
  (at r166 v67)
  (at r63 v68)
  (at r38 v69)
  (at r43 v70)
  (at r121 v71)
  (at r99 v72)
  (at r91 v73)
  (at r24 v74)
  (at r68 v75)
  (at r90 v76)
  (at r102 v77)
  (at r55 v78)
  (at r42 v79)
  (at r77 v80)
  (at r139 v81)
  (at r70 v82)
  (at r73 v83)
  (at r47 v84)
  (at r85 v85)
  (at r88 v86)
  (at r103 v87)
  (at r18 v88)
  (at r51 v89)
  (at r33 v90)
  (at r150 v91)
  (at r157 v92)
  (at r118 v93)
  (at r82 v94)
  (at r78 v95)
  (at r62 v96)
  (at r156 v97)
  (at r71 v98)
  (at r101 v99)
  (at r100 v100)
  (at r75 v101)
  (at r26 v102)
  (at r60 v103)
  (at r126 v104)
  (at r120 v105)
  (at r163 v106)
  (at r114 v107)
  (at r116 v108)
  (at r113 v109)
  (at r155 v110)
  (at r160 v111)
  (at r4 v112)
  (at r145 v113)
  (at r36 v114)
  (at r41 v115)
  (at r37 v116)
  (at r107 v117)
  (at r20 v118)
  (at r69 v119)
  (at r147 v120)
  (at r162 v121)
  (at r32 v122)
  (at r72 v123)
  (at r110 v124)
  (at r143 v125)
  (at r109 v126)
  (at r84 v127)
  (at r142 v128)
  (at r131 v129)
  (free v130)
  (at r49 v131)
  (at r56 v132)
  (at r129 v133)
  (at r95 v134)
  (at r16 v135)
  (at r54 v136)
  (at r165 v137)
  (at r94 v138)
  (at r86 v139)
  (at r14 v140)
  (at r144 v141)
  (at r58 v142)
  (at r125 v143)
  (at r93 v144)
  (at r132 v145)
  (at r11 v146)
  (at r104 v147)
  (at r74 v148)
  (at r64 v149)
  (at r45 v150)
  (at r21 v151)
  (at r5 v152)
  (at r106 v153)
  (at r44 v154)
  (at r65 v155)
  (at r105 v156)
  (at r13 v157)
  (at r115 v158)
  (at r127 v159)
  (at r161 v160)
  (at r79 v161)
  (at r119 v162)
  (at r133 v163)
  (at r8 v164)
  (at r111 v165)
  (at r67 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v47)
  (adjacent v0 v51)
  (adjacent v0 v81)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v9)
  (adjacent v1 v43)
  (adjacent v2 v3)
  (adjacent v2 v27)
  (adjacent v2 v85)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v8)
  (adjacent v4 v10)
  (adjacent v4 v70)
  (adjacent v5 v6)
  (adjacent v5 v16)
  (adjacent v5 v49)
  (adjacent v5 v131)
  (adjacent v6 v7)
  (adjacent v6 v38)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v8 v23)
  (adjacent v8 v91)
  (adjacent v9 v144)
  (adjacent v10 v11)
  (adjacent v10 v93)
  (adjacent v10 v153)
  (adjacent v11 v12)
  (adjacent v11 v17)
  (adjacent v11 v39)
  (adjacent v12 v13)
  (adjacent v12 v95)
  (adjacent v12 v113)
  (adjacent v12 v120)
  (adjacent v13 v14)
  (adjacent v13 v75)
  (adjacent v14 v15)
  (adjacent v14 v41)
  (adjacent v15 v16)
  (adjacent v15 v31)
  (adjacent v16 v56)
  (adjacent v17 v18)
  (adjacent v17 v24)
  (adjacent v17 v28)
  (adjacent v17 v121)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v164)
  (adjacent v20 v21)
  (adjacent v20 v81)
  (adjacent v21 v22)
  (adjacent v21 v37)
  (adjacent v21 v79)
  (adjacent v21 v106)
  (adjacent v22 v23)
  (adjacent v23 v40)
  (adjacent v23 v96)
  (adjacent v24 v25)
  (adjacent v24 v82)
  (adjacent v25 v26)
  (adjacent v25 v112)
  (adjacent v26 v27)
  (adjacent v26 v30)
  (adjacent v26 v80)
  (adjacent v26 v90)
  (adjacent v27 v39)
  (adjacent v27 v63)
  (adjacent v28 v29)
  (adjacent v28 v48)
  (adjacent v28 v163)
  (adjacent v29 v30)
  (adjacent v30 v143)
  (adjacent v31 v32)
  (adjacent v31 v80)
  (adjacent v32 v33)
  (adjacent v32 v64)
  (adjacent v33 v34)
  (adjacent v33 v44)
  (adjacent v34 v35)
  (adjacent v34 v48)
  (adjacent v34 v94)
  (adjacent v35 v36)
  (adjacent v35 v38)
  (adjacent v35 v92)
  (adjacent v36 v37)
  (adjacent v40 v102)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v52)
  (adjacent v42 v84)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v57)
  (adjacent v46 v47)
  (adjacent v49 v50)
  (adjacent v49 v65)
  (adjacent v49 v130)
  (adjacent v49 v147)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v100)
  (adjacent v54 v55)
  (adjacent v54 v119)
  (adjacent v54 v132)
  (adjacent v54 v142)
  (adjacent v55 v56)
  (adjacent v56 v135)
  (adjacent v57 v58)
  (adjacent v57 v64)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v98)
  (adjacent v61 v105)
  (adjacent v62 v63)
  (adjacent v63 v69)
  (adjacent v64 v74)
  (adjacent v65 v66)
  (adjacent v65 v147)
  (adjacent v66 v67)
  (adjacent v66 v95)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v154)
  (adjacent v69 v93)
  (adjacent v69 v122)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v151)
  (adjacent v73 v74)
  (adjacent v74 v94)
  (adjacent v74 v146)
  (adjacent v75 v76)
  (adjacent v75 v97)
  (adjacent v75 v125)
  (adjacent v76 v77)
  (adjacent v76 v152)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v138)
  (adjacent v82 v83)
  (adjacent v82 v103)
  (adjacent v83 v84)
  (adjacent v83 v152)
  (adjacent v84 v121)
  (adjacent v85 v86)
  (adjacent v85 v101)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v91 v164)
  (adjacent v94 v136)
  (adjacent v96 v97)
  (adjacent v96 v153)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v131)
  (adjacent v101 v102)
  (adjacent v102 v137)
  (adjacent v103 v104)
  (adjacent v103 v148)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v161)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v165)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v124)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v160)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v136 v145)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v147 v166)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v165 v166)
 )
 (:goal
  (and
  (at r80 v0)
  (at r4 v1)
  (at r120 v2)
  (at r12 v3)
  (at r93 v4)
  (at r62 v5)
  (at r151 v6)
  (at r150 v7)
  (at r45 v8)
  (at r152 v9)
  (at r39 v10)
  (at r97 v11)
  (at r134 v12)
  (at r48 v13)
  (at r55 v14)
  (at r146 v15)
  (at r145 v16)
  (at r105 v17)
  (at r156 v18)
  (at r54 v19)
  (at r158 v20)
  (at r107 v21)
  (at r31 v22)
  (at r51 v23)
  (at r124 v24)
  (at r100 v25)
  (at r166 v26)
  (at r123 v27)
  (at r41 v28)
  (at r27 v29)
  (at r102 v30)
  (at r47 v31)
  (at r32 v32)
  (at r49 v33)
  (at r90 v34)
  (at r53 v35)
  (at r60 v36)
  (at r110 v37)
  (at r70 v38)
  (at r85 v39)
  (at r76 v40)
  (at r155 v41)
  (at r101 v42)
  (at r26 v43)
  (at r6 v44)
  (at r59 v45)
  (at r96 v46)
  (at r130 v47)
  (at r128 v48)
  (free v49)
  (at r67 v50)
  (at r44 v51)
  (at r34 v52)
  (at r135 v53)
  (at r138 v54)
  (at r137 v55)
  (at r77 v56)
  (at r7 v57)
  (at r61 v58)
  (at r117 v59)
  (at r116 v60)
  (at r15 v61)
  (at r11 v62)
  (at r153 v63)
  (at r40 v64)
  (at r84 v65)
  (at r94 v66)
  (at r129 v67)
  (at r10 v68)
  (at r149 v69)
  (at r108 v70)
  (at r113 v71)
  (at r8 v72)
  (at r14 v73)
  (at r18 v74)
  (at r127 v75)
  (at r23 v76)
  (at r3 v77)
  (at r114 v78)
  (at r16 v79)
  (at r89 v80)
  (at r91 v81)
  (at r144 v82)
  (at r63 v83)
  (at r28 v84)
  (at r98 v85)
  (at r109 v86)
  (at r164 v87)
  (at r112 v88)
  (at r30 v89)
  (at r42 v90)
  (at r22 v91)
  (at r159 v92)
  (at r147 v93)
  (at r106 v94)
  (at r88 v95)
  (at r161 v96)
  (at r58 v97)
  (free v98)
  (at r103 v99)
  (at r82 v100)
  (at r122 v101)
  (at r142 v102)
  (at r139 v103)
  (at r79 v104)
  (at r2 v105)
  (at r20 v106)
  (at r24 v107)
  (at r141 v108)
  (at r131 v109)
  (at r21 v110)
  (at r33 v111)
  (at r17 v112)
  (at r36 v113)
  (at r119 v114)
  (at r9 v115)
  (at r19 v116)
  (at r133 v117)
  (at r143 v118)
  (at r104 v119)
  (at r75 v120)
  (at r136 v121)
  (at r5 v122)
  (at r165 v123)
  (at r162 v124)
  (at r69 v125)
  (at r125 v126)
  (at r111 v127)
  (at r57 v128)
  (at r74 v129)
  (at r99 v130)
  (at r126 v131)
  (at r115 v132)
  (at r66 v133)
  (at r56 v134)
  (at r68 v135)
  (at r86 v136)
  (at r29 v137)
  (at r132 v138)
  (at r140 v139)
  (at r163 v140)
  (at r81 v141)
  (at r95 v142)
  (at r38 v143)
  (at r71 v144)
  (at r73 v145)
  (at r50 v146)
  (at r148 v147)
  (at r43 v148)
  (at r25 v149)
  (at r78 v150)
  (at r118 v151)
  (at r157 v152)
  (at r87 v153)
  (at r121 v154)
  (at r72 v155)
  (at r64 v156)
  (at r37 v157)
  (at r160 v158)
  (at r52 v159)
  (at r83 v160)
  (at r92 v161)
  (at r13 v162)
  (at r65 v163)
  (at r154 v164)
  (at r35 v165)
  (at r46 v166)
  )
 )
)