(define (problem multirobot_51_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r139
  v1 r171
  v2 r130
  v3 r108
  v4 r197
  v5 r24
  v6 r55
  v7 r163
  v8
  v9 r85
  v10 r77
  v11 r35
  v12 r194
  v13
  v14 r86
  v15 r137
  v16
  v17
  v18 r118
  v19 r145
  v20 r135
  v21 r123
  v22 r129
  v23 r165
  v24 r125
  v25 r18
  v26 r100
  v27
  v28 r147
  v29 r196
  v30
  v31 r124
  v32 r164
  v33 r122
  v34
  v35 r82
  v36 r190
  v37 r119
  v38 r60
  v39 r110
  v40 r23
  v41 r54
  v42 r99
  v43 r56
  v44 r31
  v45 r39
  v46 r134
  v47 r50
  v48 r186
  v49
  v50 r160
  v51 r157
  v52 r19
  v53 r47
  v54 r73
  v55 r109
  v56 r64
  v57 r175
  v58 r172
  v59 r113
  v60 r117
  v61 r177
  v62 r62
  v63 r34
  v64
  v65 r36
  v66 r156
  v67 r45
  v68 r81
  v69
  v70
  v71 r136
  v72 r74
  v73
  v74 r89
  v75 r49
  v76 r144
  v77 r150
  v78 r193
  v79 r111
  v80 r187
  v81 r29
  v82
  v83 r148
  v84 r79
  v85 r38
  v86 r63
  v87 r185
  v88 r151
  v89 r70
  v90 r51
  v91 r26
  v92 r106
  v93 r25
  v94 r149
  v95
  v96 r67
  v97 r69
  v98 r21
  v99 r155
  v100 r192
  v101 r37
  v102 r126
  v103 r166
  v104 r183
  v105 r159
  v106 r146
  v107 r127
  v108 r140
  v109 r115
  v110 r141
  v111
  v112 r80
  v113 r57
  v114
  v115 r91
  v116 r178
  v117 r94
  v118 r48
  v119 r189
  v120 r181
  v121 r184
  v122 r43
  v123 r61
  v124 r167
  v125 r188
  v126 r142
  v127 r58
  v128 r22
  v129 r131
  v130 r84
  v131 r143
  v132 r52
  v133 r132
  v134 r103
  v135 r83
  v136 r71
  v137 r76
  v138 r68
  v139 r174
  v140 r32
  v141 r168
  v142 r102
  v143 r41
  v144 r95
  v145 r97
  v146 r161
  v147 r195
  v148 r87
  v149 r42
  v150 r128
  v151 r179
  v152 r78
  v153 r88
  v154 r66
  v155 r30
  v156 r53
  v157 r20
  v158 r93
  v159 r169
  v160 r46
  v161 r158
  v162 r112
  v163 r180
  v164 r153
  v165 r104
  v166 r173
  v167 r90
  v168 r27
  v169 r154
  v170 r176
  v171 r191
  v172 r114
  v173 r182
  v174 r121
  v175
  v176 r152
  v177 r40
  v178 r92
  v179 r17
  v180 r101
  v181 r72
  v182 r105
  v183 r162
  v184 r44
  v185 r75
  v186 r133
  v187 r65
  v188 r98
  v189 r28
  v190 r59
  v191 r170
  v192 r33
  v193 r120
  v194 r116
  v195 r138
  v196 r96
  v197 r107
 )
 (:init
  (at r139 v0)
  (at r171 v1)
  (at r130 v2)
  (at r108 v3)
  (at r197 v4)
  (at r24 v5)
  (at r55 v6)
  (at r163 v7)
  (free v8)
  (at r85 v9)
  (at r77 v10)
  (at r35 v11)
  (at r194 v12)
  (free v13)
  (at r86 v14)
  (at r137 v15)
  (free v16)
  (free v17)
  (at r118 v18)
  (at r145 v19)
  (at r135 v20)
  (at r123 v21)
  (at r129 v22)
  (at r165 v23)
  (at r125 v24)
  (at r18 v25)
  (at r100 v26)
  (free v27)
  (at r147 v28)
  (at r196 v29)
  (free v30)
  (at r124 v31)
  (at r164 v32)
  (at r122 v33)
  (free v34)
  (at r82 v35)
  (at r190 v36)
  (at r119 v37)
  (at r60 v38)
  (at r110 v39)
  (at r23 v40)
  (at r54 v41)
  (at r99 v42)
  (at r56 v43)
  (at r31 v44)
  (at r39 v45)
  (at r134 v46)
  (at r50 v47)
  (at r186 v48)
  (free v49)
  (at r160 v50)
  (at r157 v51)
  (at r19 v52)
  (at r47 v53)
  (at r73 v54)
  (at r109 v55)
  (at r64 v56)
  (at r175 v57)
  (at r172 v58)
  (at r113 v59)
  (at r117 v60)
  (at r177 v61)
  (at r62 v62)
  (at r34 v63)
  (free v64)
  (at r36 v65)
  (at r156 v66)
  (at r45 v67)
  (at r81 v68)
  (free v69)
  (free v70)
  (at r136 v71)
  (at r74 v72)
  (free v73)
  (at r89 v74)
  (at r49 v75)
  (at r144 v76)
  (at r150 v77)
  (at r193 v78)
  (at r111 v79)
  (at r187 v80)
  (at r29 v81)
  (free v82)
  (at r148 v83)
  (at r79 v84)
  (at r38 v85)
  (at r63 v86)
  (at r185 v87)
  (at r151 v88)
  (at r70 v89)
  (at r51 v90)
  (at r26 v91)
  (at r106 v92)
  (at r25 v93)
  (at r149 v94)
  (free v95)
  (at r67 v96)
  (at r69 v97)
  (at r21 v98)
  (at r155 v99)
  (at r192 v100)
  (at r37 v101)
  (at r126 v102)
  (at r166 v103)
  (at r183 v104)
  (at r159 v105)
  (at r146 v106)
  (at r127 v107)
  (at r140 v108)
  (at r115 v109)
  (at r141 v110)
  (free v111)
  (at r80 v112)
  (at r57 v113)
  (free v114)
  (at r91 v115)
  (at r178 v116)
  (at r94 v117)
  (at r48 v118)
  (at r189 v119)
  (at r181 v120)
  (at r184 v121)
  (at r43 v122)
  (at r61 v123)
  (at r167 v124)
  (at r188 v125)
  (at r142 v126)
  (at r58 v127)
  (at r22 v128)
  (at r131 v129)
  (at r84 v130)
  (at r143 v131)
  (at r52 v132)
  (at r132 v133)
  (at r103 v134)
  (at r83 v135)
  (at r71 v136)
  (at r76 v137)
  (at r68 v138)
  (at r174 v139)
  (at r32 v140)
  (at r168 v141)
  (at r102 v142)
  (at r41 v143)
  (at r95 v144)
  (at r97 v145)
  (at r161 v146)
  (at r195 v147)
  (at r87 v148)
  (at r42 v149)
  (at r128 v150)
  (at r179 v151)
  (at r78 v152)
  (at r88 v153)
  (at r66 v154)
  (at r30 v155)
  (at r53 v156)
  (at r20 v157)
  (at r93 v158)
  (at r169 v159)
  (at r46 v160)
  (at r158 v161)
  (at r112 v162)
  (at r180 v163)
  (at r153 v164)
  (at r104 v165)
  (at r173 v166)
  (at r90 v167)
  (at r27 v168)
  (at r154 v169)
  (at r176 v170)
  (at r191 v171)
  (at r114 v172)
  (at r182 v173)
  (at r121 v174)
  (free v175)
  (at r152 v176)
  (at r40 v177)
  (at r92 v178)
  (at r17 v179)
  (at r101 v180)
  (at r72 v181)
  (at r105 v182)
  (at r162 v183)
  (at r44 v184)
  (at r75 v185)
  (at r133 v186)
  (at r65 v187)
  (at r98 v188)
  (at r28 v189)
  (at r59 v190)
  (at r170 v191)
  (at r33 v192)
  (at r120 v193)
  (at r116 v194)
  (at r138 v195)
  (at r96 v196)
  (at r107 v197)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v27)
  (adjacent v0 v37)
  (adjacent v0 v80)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v167)
  (adjacent v2 v3)
  (adjacent v2 v88)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v14)
  (adjacent v3 v16)
  (adjacent v3 v17)
  (adjacent v3 v38)
  (adjacent v4 v13)
  (adjacent v5 v15)
  (adjacent v5 v18)
  (adjacent v5 v58)
  (adjacent v6 v7)
  (adjacent v6 v57)
  (adjacent v6 v197)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v8 v9)
  (adjacent v8 v29)
  (adjacent v9 v10)
  (adjacent v10 v19)
  (adjacent v10 v36)
  (adjacent v10 v88)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v11 v23)
  (adjacent v11 v92)
  (adjacent v12 v13)
  (adjacent v12 v21)
  (adjacent v12 v49)
  (adjacent v13 v24)
  (adjacent v13 v56)
  (adjacent v13 v93)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v68)
  (adjacent v16 v163)
  (adjacent v17 v18)
  (adjacent v18 v26)
  (adjacent v19 v20)
  (adjacent v19 v44)
  (adjacent v19 v79)
  (adjacent v19 v97)
  (adjacent v20 v30)
  (adjacent v21 v22)
  (adjacent v21 v48)
  (adjacent v21 v49)
  (adjacent v22 v23)
  (adjacent v22 v113)
  (adjacent v23 v67)
  (adjacent v24 v25)
  (adjacent v24 v30)
  (adjacent v24 v57)
  (adjacent v24 v71)
  (adjacent v25 v26)
  (adjacent v25 v121)
  (adjacent v25 v122)
  (adjacent v26 v132)
  (adjacent v27 v28)
  (adjacent v27 v60)
  (adjacent v28 v29)
  (adjacent v28 v43)
  (adjacent v29 v31)
  (adjacent v30 v181)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v50)
  (adjacent v32 v104)
  (adjacent v32 v129)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v37)
  (adjacent v35 v36)
  (adjacent v35 v110)
  (adjacent v35 v180)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v63)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v113)
  (adjacent v41 v128)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v78)
  (adjacent v47 v48)
  (adjacent v47 v81)
  (adjacent v48 v174)
  (adjacent v49 v188)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v168)
  (adjacent v54 v55)
  (adjacent v54 v64)
  (adjacent v54 v72)
  (adjacent v55 v56)
  (adjacent v55 v131)
  (adjacent v56 v59)
  (adjacent v56 v143)
  (adjacent v58 v59)
  (adjacent v59 v193)
  (adjacent v60 v61)
  (adjacent v60 v89)
  (adjacent v60 v93)
  (adjacent v60 v148)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v105)
  (adjacent v62 v114)
  (adjacent v64 v65)
  (adjacent v64 v98)
  (adjacent v64 v142)
  (adjacent v64 v149)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v87)
  (adjacent v68 v69)
  (adjacent v68 v112)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v117)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v79 v94)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v134)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v187)
  (adjacent v88 v111)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v94 v95)
  (adjacent v94 v168)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v137)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v169)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v116)
  (adjacent v106 v138)
  (adjacent v107 v108)
  (adjacent v107 v187)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v162)
  (adjacent v111 v112)
  (adjacent v111 v156)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v120 v186)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v175)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v132 v135)
  (adjacent v133 v134)
  (adjacent v134 v194)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v146 v155)
  (adjacent v147 v148)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (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 v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v188 v189)
  (adjacent v189 v190)
  (adjacent v190 v191)
  (adjacent v191 v192)
  (adjacent v192 v193)
  (adjacent v194 v195)
  (adjacent v195 v196)
  (adjacent v196 v197)
 )
 (:goal
  (and
  (at r34 v0)
  (at r187 v1)
  (at r69 v2)
  (at r155 v3)
  (at r81 v4)
  (at r141 v5)
  (at r189 v6)
  (at r80 v7)
  (at r191 v8)
  (at r137 v9)
  (at r171 v10)
  (at r96 v11)
  (at r148 v12)
  (at r131 v13)
  (at r68 v14)
  (at r139 v15)
  (at r33 v16)
  (at r114 v17)
  (at r22 v18)
  (at r25 v19)
  (at r29 v20)
  (at r168 v21)
  (at r66 v22)
  (at r117 v23)
  (at r153 v24)
  (at r36 v25)
  (at r75 v26)
  (at r122 v27)
  (at r76 v28)
  (at r164 v29)
  (at r53 v30)
  (at r94 v31)
  (at r147 v32)
  (at r51 v33)
  (at r169 v34)
  (at r158 v35)
  (at r27 v36)
  (at r156 v37)
  (at r179 v38)
  (at r52 v39)
  (at r50 v40)
  (at r93 v41)
  (free v42)
  (at r160 v43)
  (free v44)
  (at r194 v45)
  (at r59 v46)
  (at r54 v47)
  (at r39 v48)
  (at r125 v49)
  (at r70 v50)
  (at r193 v51)
  (at r86 v52)
  (at r172 v53)
  (at r89 v54)
  (at r188 v55)
  (at r24 v56)
  (at r98 v57)
  (at r110 v58)
  (at r62 v59)
  (at r26 v60)
  (at r101 v61)
  (at r132 v62)
  (at r103 v63)
  (at r48 v64)
  (at r18 v65)
  (free v66)
  (at r71 v67)
  (at r113 v68)
  (at r129 v69)
  (at r72 v70)
  (free v71)
  (free v72)
  (at r78 v73)
  (at r49 v74)
  (at r154 v75)
  (at r28 v76)
  (at r175 v77)
  (at r108 v78)
  (at r121 v79)
  (at r126 v80)
  (at r65 v81)
  (at r140 v82)
  (at r74 v83)
  (at r123 v84)
  (at r142 v85)
  (at r84 v86)
  (at r178 v87)
  (at r35 v88)
  (free v89)
  (at r170 v90)
  (at r136 v91)
  (at r47 v92)
  (at r185 v93)
  (at r104 v94)
  (at r163 v95)
  (at r150 v96)
  (at r92 v97)
  (at r45 v98)
  (free v99)
  (at r85 v100)
  (at r91 v101)
  (at r192 v102)
  (at r151 v103)
  (at r37 v104)
  (at r120 v105)
  (at r32 v106)
  (at r77 v107)
  (at r161 v108)
  (at r99 v109)
  (at r157 v110)
  (at r159 v111)
  (at r195 v112)
  (at r55 v113)
  (at r119 v114)
  (at r146 v115)
  (at r109 v116)
  (at r87 v117)
  (at r90 v118)
  (free v119)
  (at r95 v120)
  (at r63 v121)
  (at r180 v122)
  (at r44 v123)
  (at r111 v124)
  (at r43 v125)
  (at r102 v126)
  (at r177 v127)
  (at r56 v128)
  (at r83 v129)
  (at r46 v130)
  (at r190 v131)
  (free v132)
  (at r184 v133)
  (at r100 v134)
  (at r115 v135)
  (at r181 v136)
  (at r144 v137)
  (at r197 v138)
  (at r42 v139)
  (at r134 v140)
  (at r127 v141)
  (at r106 v142)
  (at r31 v143)
  (at r135 v144)
  (at r112 v145)
  (at r176 v146)
  (at r196 v147)
  (free v148)
  (at r38 v149)
  (at r149 v150)
  (at r17 v151)
  (at r183 v152)
  (at r82 v153)
  (at r182 v154)
  (free v155)
  (free v156)
  (at r118 v157)
  (at r130 v158)
  (at r67 v159)
  (at r61 v160)
  (at r88 v161)
  (at r60 v162)
  (at r116 v163)
  (at r145 v164)
  (at r167 v165)
  (free v166)
  (at r105 v167)
  (at r166 v168)
  (at r73 v169)
  (at r79 v170)
  (at r64 v171)
  (at r57 v172)
  (free v173)
  (at r152 v174)
  (at r19 v175)
  (at r128 v176)
  (at r174 v177)
  (free v178)
  (at r143 v179)
  (at r107 v180)
  (at r162 v181)
  (at r173 v182)
  (at r165 v183)
  (at r133 v184)
  (at r58 v185)
  (at r21 v186)
  (at r20 v187)
  (at r186 v188)
  (at r97 v189)
  (at r124 v190)
  (free v191)
  (at r30 v192)
  (at r23 v193)
  (at r138 v194)
  (at r40 v195)
  (free v196)
  (at r41 v197)
  )
 )
)