(define (problem multirobot_50_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r175
  v1 r111
  v2 r177
  v3 r29
  v4 r130
  v5 r128
  v6 r26
  v7 r33
  v8 r131
  v9 r52
  v10 r34
  v11 r126
  v12 r46
  v13 r47
  v14 r73
  v15 r155
  v16 r40
  v17 r70
  v18 r35
  v19 r105
  v20 r17
  v21
  v22 r27
  v23 r50
  v24 r171
  v25 r65
  v26 r78
  v27 r129
  v28 r86
  v29 r172
  v30 r184
  v31
  v32 r59
  v33 r84
  v34 r30
  v35 r61
  v36
  v37
  v38 r51
  v39 r99
  v40 r178
  v41 r103
  v42 r174
  v43 r181
  v44 r37
  v45
  v46
  v47 r173
  v48
  v49 r154
  v50 r66
  v51 r62
  v52 r158
  v53 r53
  v54 r183
  v55 r31
  v56 r77
  v57 r127
  v58 r39
  v59 r49
  v60 r163
  v61 r118
  v62 r166
  v63 r141
  v64 r146
  v65 r88
  v66 r143
  v67 r96
  v68 r120
  v69 r64
  v70 r57
  v71 r54
  v72 r48
  v73
  v74 r153
  v75 r58
  v76 r161
  v77
  v78 r186
  v79 r60
  v80 r110
  v81 r28
  v82 r87
  v83 r41
  v84 r109
  v85
  v86 r72
  v87
  v88 r145
  v89 r100
  v90 r83
  v91
  v92 r79
  v93 r101
  v94 r20
  v95 r148
  v96 r42
  v97
  v98 r138
  v99 r119
  v100 r149
  v101 r19
  v102 r68
  v103 r170
  v104 r102
  v105 r157
  v106 r104
  v107 r97
  v108 r89
  v109 r140
  v110 r23
  v111 r144
  v112 r122
  v113 r114
  v114 r164
  v115 r106
  v116 r24
  v117 r136
  v118 r25
  v119 r112
  v120 r137
  v121 r18
  v122 r45
  v123 r182
  v124 r160
  v125 r134
  v126 r81
  v127 r108
  v128 r92
  v129 r142
  v130 r117
  v131 r67
  v132 r179
  v133 r150
  v134 r98
  v135 r165
  v136 r169
  v137 r168
  v138 r85
  v139 r180
  v140 r115
  v141 r63
  v142 r69
  v143 r113
  v144
  v145 r125
  v146 r36
  v147 r147
  v148 r132
  v149 r133
  v150 r121
  v151 r80
  v152 r151
  v153
  v154 r43
  v155 r167
  v156 r71
  v157 r94
  v158 r139
  v159 r124
  v160 r91
  v161 r159
  v162 r82
  v163 r74
  v164 r135
  v165 r162
  v166 r76
  v167 r55
  v168 r21
  v169 r56
  v170 r38
  v171
  v172 r90
  v173 r176
  v174 r107
  v175 r93
  v176 r152
  v177
  v178 r156
  v179 r22
  v180 r95
  v181 r75
  v182 r185
  v183 r123
  v184 r32
  v185 r44
  v186 r116
 )
 (:init
  (at r175 v0)
  (at r111 v1)
  (at r177 v2)
  (at r29 v3)
  (at r130 v4)
  (at r128 v5)
  (at r26 v6)
  (at r33 v7)
  (at r131 v8)
  (at r52 v9)
  (at r34 v10)
  (at r126 v11)
  (at r46 v12)
  (at r47 v13)
  (at r73 v14)
  (at r155 v15)
  (at r40 v16)
  (at r70 v17)
  (at r35 v18)
  (at r105 v19)
  (at r17 v20)
  (free v21)
  (at r27 v22)
  (at r50 v23)
  (at r171 v24)
  (at r65 v25)
  (at r78 v26)
  (at r129 v27)
  (at r86 v28)
  (at r172 v29)
  (at r184 v30)
  (free v31)
  (at r59 v32)
  (at r84 v33)
  (at r30 v34)
  (at r61 v35)
  (free v36)
  (free v37)
  (at r51 v38)
  (at r99 v39)
  (at r178 v40)
  (at r103 v41)
  (at r174 v42)
  (at r181 v43)
  (at r37 v44)
  (free v45)
  (free v46)
  (at r173 v47)
  (free v48)
  (at r154 v49)
  (at r66 v50)
  (at r62 v51)
  (at r158 v52)
  (at r53 v53)
  (at r183 v54)
  (at r31 v55)
  (at r77 v56)
  (at r127 v57)
  (at r39 v58)
  (at r49 v59)
  (at r163 v60)
  (at r118 v61)
  (at r166 v62)
  (at r141 v63)
  (at r146 v64)
  (at r88 v65)
  (at r143 v66)
  (at r96 v67)
  (at r120 v68)
  (at r64 v69)
  (at r57 v70)
  (at r54 v71)
  (at r48 v72)
  (free v73)
  (at r153 v74)
  (at r58 v75)
  (at r161 v76)
  (free v77)
  (at r186 v78)
  (at r60 v79)
  (at r110 v80)
  (at r28 v81)
  (at r87 v82)
  (at r41 v83)
  (at r109 v84)
  (free v85)
  (at r72 v86)
  (free v87)
  (at r145 v88)
  (at r100 v89)
  (at r83 v90)
  (free v91)
  (at r79 v92)
  (at r101 v93)
  (at r20 v94)
  (at r148 v95)
  (at r42 v96)
  (free v97)
  (at r138 v98)
  (at r119 v99)
  (at r149 v100)
  (at r19 v101)
  (at r68 v102)
  (at r170 v103)
  (at r102 v104)
  (at r157 v105)
  (at r104 v106)
  (at r97 v107)
  (at r89 v108)
  (at r140 v109)
  (at r23 v110)
  (at r144 v111)
  (at r122 v112)
  (at r114 v113)
  (at r164 v114)
  (at r106 v115)
  (at r24 v116)
  (at r136 v117)
  (at r25 v118)
  (at r112 v119)
  (at r137 v120)
  (at r18 v121)
  (at r45 v122)
  (at r182 v123)
  (at r160 v124)
  (at r134 v125)
  (at r81 v126)
  (at r108 v127)
  (at r92 v128)
  (at r142 v129)
  (at r117 v130)
  (at r67 v131)
  (at r179 v132)
  (at r150 v133)
  (at r98 v134)
  (at r165 v135)
  (at r169 v136)
  (at r168 v137)
  (at r85 v138)
  (at r180 v139)
  (at r115 v140)
  (at r63 v141)
  (at r69 v142)
  (at r113 v143)
  (free v144)
  (at r125 v145)
  (at r36 v146)
  (at r147 v147)
  (at r132 v148)
  (at r133 v149)
  (at r121 v150)
  (at r80 v151)
  (at r151 v152)
  (free v153)
  (at r43 v154)
  (at r167 v155)
  (at r71 v156)
  (at r94 v157)
  (at r139 v158)
  (at r124 v159)
  (at r91 v160)
  (at r159 v161)
  (at r82 v162)
  (at r74 v163)
  (at r135 v164)
  (at r162 v165)
  (at r76 v166)
  (at r55 v167)
  (at r21 v168)
  (at r56 v169)
  (at r38 v170)
  (free v171)
  (at r90 v172)
  (at r176 v173)
  (at r107 v174)
  (at r93 v175)
  (at r152 v176)
  (free v177)
  (at r156 v178)
  (at r22 v179)
  (at r95 v180)
  (at r75 v181)
  (at r185 v182)
  (at r123 v183)
  (at r32 v184)
  (at r44 v185)
  (at r116 v186)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v14)
  (adjacent v0 v29)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v11)
  (adjacent v1 v29)
  (adjacent v1 v120)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v4 v20)
  (adjacent v5 v22)
  (adjacent v5 v41)
  (adjacent v5 v49)
  (adjacent v5 v73)
  (adjacent v6 v7)
  (adjacent v6 v47)
  (adjacent v6 v122)
  (adjacent v6 v164)
  (adjacent v7 v8)
  (adjacent v7 v40)
  (adjacent v7 v42)
  (adjacent v8 v9)
  (adjacent v8 v34)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v11 v13)
  (adjacent v11 v21)
  (adjacent v12 v13)
  (adjacent v13 v28)
  (adjacent v13 v65)
  (adjacent v13 v88)
  (adjacent v14 v15)
  (adjacent v14 v35)
  (adjacent v15 v16)
  (adjacent v15 v117)
  (adjacent v15 v186)
  (adjacent v16 v17)
  (adjacent v16 v21)
  (adjacent v17 v18)
  (adjacent v17 v172)
  (adjacent v18 v19)
  (adjacent v18 v50)
  (adjacent v18 v88)
  (adjacent v18 v109)
  (adjacent v19 v20)
  (adjacent v19 v158)
  (adjacent v20 v75)
  (adjacent v21 v41)
  (adjacent v22 v23)
  (adjacent v22 v73)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v30)
  (adjacent v25 v72)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v58)
  (adjacent v27 v87)
  (adjacent v30 v31)
  (adjacent v30 v74)
  (adjacent v30 v144)
  (adjacent v31 v32)
  (adjacent v31 v75)
  (adjacent v32 v33)
  (adjacent v32 v82)
  (adjacent v32 v143)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v35 v112)
  (adjacent v36 v37)
  (adjacent v36 v57)
  (adjacent v36 v62)
  (adjacent v36 v83)
  (adjacent v37 v38)
  (adjacent v37 v51)
  (adjacent v38 v39)
  (adjacent v38 v85)
  (adjacent v39 v40)
  (adjacent v39 v50)
  (adjacent v40 v64)
  (adjacent v40 v74)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v83)
  (adjacent v48 v106)
  (adjacent v50 v138)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v72)
  (adjacent v52 v99)
  (adjacent v52 v150)
  (adjacent v53 v54)
  (adjacent v53 v181)
  (adjacent v54 v55)
  (adjacent v54 v61)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v76)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v145)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v84)
  (adjacent v64 v71)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v183)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v127)
  (adjacent v74 v165)
  (adjacent v76 v77)
  (adjacent v76 v98)
  (adjacent v77 v78)
  (adjacent v77 v96)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v118)
  (adjacent v79 v180)
  (adjacent v80 v81)
  (adjacent v80 v86)
  (adjacent v81 v82)
  (adjacent v81 v121)
  (adjacent v83 v95)
  (adjacent v84 v85)
  (adjacent v84 v89)
  (adjacent v84 v174)
  (adjacent v85 v128)
  (adjacent v86 v87)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v121)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v105)
  (adjacent v92 v131)
  (adjacent v93 v94)
  (adjacent v93 v151)
  (adjacent v94 v95)
  (adjacent v95 v130)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v99 v137)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v108)
  (adjacent v106 v107)
  (adjacent v106 v113)
  (adjacent v107 v108)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v157)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v118 v119)
  (adjacent v118 v182)
  (adjacent v119 v120)
  (adjacent v120 v185)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v144)
  (adjacent v127 v142)
  (adjacent v127 v143)
  (adjacent v127 v169)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v170)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v148 v173)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v165 v171)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v170 v186)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v183 v184)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (at r153 v0)
  (at r45 v1)
  (free v2)
  (at r51 v3)
  (at r177 v4)
  (at r54 v5)
  (at r175 v6)
  (at r68 v7)
  (at r182 v8)
  (at r159 v9)
  (at r178 v10)
  (free v11)
  (at r127 v12)
  (at r118 v13)
  (at r171 v14)
  (at r163 v15)
  (at r120 v16)
  (at r56 v17)
  (at r93 v18)
  (at r180 v19)
  (at r73 v20)
  (at r109 v21)
  (at r25 v22)
  (at r149 v23)
  (at r131 v24)
  (at r26 v25)
  (at r135 v26)
  (at r19 v27)
  (at r121 v28)
  (at r112 v29)
  (at r78 v30)
  (at r61 v31)
  (free v32)
  (at r186 v33)
  (at r145 v34)
  (at r74 v35)
  (at r62 v36)
  (free v37)
  (at r168 v38)
  (at r147 v39)
  (at r183 v40)
  (at r125 v41)
  (at r49 v42)
  (at r155 v43)
  (at r22 v44)
  (at r29 v45)
  (at r108 v46)
  (free v47)
  (at r30 v48)
  (at r81 v49)
  (at r48 v50)
  (at r67 v51)
  (at r35 v52)
  (at r77 v53)
  (at r24 v54)
  (at r119 v55)
  (at r116 v56)
  (free v57)
  (at r158 v58)
  (free v59)
  (at r143 v60)
  (at r86 v61)
  (at r32 v62)
  (at r83 v63)
  (at r91 v64)
  (at r161 v65)
  (at r165 v66)
  (at r129 v67)
  (at r103 v68)
  (at r72 v69)
  (at r28 v70)
  (free v71)
  (at r184 v72)
  (at r111 v73)
  (at r87 v74)
  (at r133 v75)
  (at r27 v76)
  (at r43 v77)
  (at r102 v78)
  (at r174 v79)
  (at r84 v80)
  (at r69 v81)
  (free v82)
  (at r55 v83)
  (at r181 v84)
  (at r59 v85)
  (at r115 v86)
  (at r60 v87)
  (at r65 v88)
  (at r36 v89)
  (at r170 v90)
  (at r46 v91)
  (at r124 v92)
  (at r75 v93)
  (at r82 v94)
  (at r95 v95)
  (at r37 v96)
  (at r92 v97)
  (at r166 v98)
  (at r47 v99)
  (at r154 v100)
  (at r90 v101)
  (at r150 v102)
  (at r52 v103)
  (at r144 v104)
  (at r164 v105)
  (at r31 v106)
  (at r110 v107)
  (at r70 v108)
  (at r176 v109)
  (at r142 v110)
  (at r134 v111)
  (free v112)
  (free v113)
  (at r88 v114)
  (at r53 v115)
  (at r157 v116)
  (at r173 v117)
  (at r34 v118)
  (at r71 v119)
  (at r97 v120)
  (at r167 v121)
  (at r185 v122)
  (at r160 v123)
  (at r136 v124)
  (at r33 v125)
  (at r179 v126)
  (at r20 v127)
  (free v128)
  (free v129)
  (at r96 v130)
  (at r126 v131)
  (at r99 v132)
  (at r66 v133)
  (at r40 v134)
  (at r128 v135)
  (at r89 v136)
  (at r132 v137)
  (at r172 v138)
  (at r23 v139)
  (at r151 v140)
  (at r156 v141)
  (at r162 v142)
  (at r152 v143)
  (at r104 v144)
  (at r117 v145)
  (at r79 v146)
  (free v147)
  (at r98 v148)
  (at r114 v149)
  (at r64 v150)
  (at r38 v151)
  (at r41 v152)
  (at r169 v153)
  (at r57 v154)
  (at r123 v155)
  (at r141 v156)
  (at r80 v157)
  (at r42 v158)
  (at r106 v159)
  (at r107 v160)
  (free v161)
  (at r21 v162)
  (at r113 v163)
  (at r39 v164)
  (at r138 v165)
  (at r100 v166)
  (at r137 v167)
  (free v168)
  (at r94 v169)
  (at r105 v170)
  (at r101 v171)
  (at r63 v172)
  (at r85 v173)
  (at r50 v174)
  (free v175)
  (at r122 v176)
  (at r148 v177)
  (at r18 v178)
  (at r58 v179)
  (at r146 v180)
  (at r139 v181)
  (at r44 v182)
  (at r140 v183)
  (at r130 v184)
  (at r17 v185)
  (at r76 v186)
  )
 )
)