(define (problem multirobot_51_10%_c3)
 (:domain multirobot)
 (:objects
  v0 r33
  v1 r146
  v2 r39
  v3 r165
  v4 r108
  v5 r40
  v6 r72
  v7 r45
  v8 r85
  v9
  v10 r47
  v11 r87
  v12 r140
  v13 r130
  v14 r106
  v15 r147
  v16 r168
  v17 r141
  v18
  v19 r76
  v20
  v21 r128
  v22 r178
  v23 r125
  v24 r29
  v25 r122
  v26 r69
  v27 r35
  v28 r51
  v29 r111
  v30 r22
  v31 r68
  v32 r89
  v33 r119
  v34 r44
  v35 r23
  v36
  v37 r166
  v38 r99
  v39 r48
  v40 r79
  v41 r150
  v42 r114
  v43 r52
  v44 r21
  v45 r102
  v46
  v47 r24
  v48 r84
  v49 r54
  v50 r116
  v51 r55
  v52 r110
  v53 r173
  v54 r132
  v55 r162
  v56 r160
  v57 r42
  v58 r161
  v59 r64
  v60 r58
  v61 r53
  v62 r134
  v63 r91
  v64
  v65 r107
  v66 r57
  v67 r157
  v68 r70
  v69 r129
  v70 r50
  v71 r164
  v72 r139
  v73 r171
  v74 r75
  v75 r88
  v76 r95
  v77 r118
  v78 r120
  v79 r138
  v80 r113
  v81 r56
  v82 r144
  v83
  v84 r152
  v85 r167
  v86 r158
  v87 r142
  v88 r143
  v89
  v90 r28
  v91 r176
  v92 r60
  v93 r63
  v94 r104
  v95 r149
  v96 r154
  v97 r31
  v98 r30
  v99 r78
  v100
  v101 r177
  v102 r81
  v103 r98
  v104 r43
  v105 r101
  v106 r170
  v107 r94
  v108
  v109 r148
  v110 r19
  v111 r67
  v112 r77
  v113 r27
  v114 r65
  v115 r156
  v116 r93
  v117 r61
  v118 r163
  v119 r83
  v120 r174
  v121 r46
  v122
  v123 r34
  v124 r133
  v125 r97
  v126
  v127 r71
  v128 r92
  v129 r18
  v130 r175
  v131 r112
  v132 r49
  v133 r169
  v134 r117
  v135 r80
  v136 r155
  v137 r131
  v138 r159
  v139 r59
  v140 r37
  v141 r20
  v142 r115
  v143 r172
  v144
  v145 r135
  v146 r137
  v147 r153
  v148
  v149 r105
  v150 r90
  v151 r74
  v152 r32
  v153
  v154 r82
  v155 r121
  v156 r36
  v157 r100
  v158 r73
  v159 r151
  v160 r41
  v161 r96
  v162
  v163 r136
  v164 r38
  v165 r145
  v166 r66
  v167
  v168 r62
  v169 r86
  v170 r25
  v171 r103
  v172 r109
  v173 r26
  v174
  v175 r126
  v176 r123
  v177 r124
  v178 r127
 )
 (:init
  (at r33 v0)
  (at r146 v1)
  (at r39 v2)
  (at r165 v3)
  (at r108 v4)
  (at r40 v5)
  (at r72 v6)
  (at r45 v7)
  (at r85 v8)
  (free v9)
  (at r47 v10)
  (at r87 v11)
  (at r140 v12)
  (at r130 v13)
  (at r106 v14)
  (at r147 v15)
  (at r168 v16)
  (at r141 v17)
  (free v18)
  (at r76 v19)
  (free v20)
  (at r128 v21)
  (at r178 v22)
  (at r125 v23)
  (at r29 v24)
  (at r122 v25)
  (at r69 v26)
  (at r35 v27)
  (at r51 v28)
  (at r111 v29)
  (at r22 v30)
  (at r68 v31)
  (at r89 v32)
  (at r119 v33)
  (at r44 v34)
  (at r23 v35)
  (free v36)
  (at r166 v37)
  (at r99 v38)
  (at r48 v39)
  (at r79 v40)
  (at r150 v41)
  (at r114 v42)
  (at r52 v43)
  (at r21 v44)
  (at r102 v45)
  (free v46)
  (at r24 v47)
  (at r84 v48)
  (at r54 v49)
  (at r116 v50)
  (at r55 v51)
  (at r110 v52)
  (at r173 v53)
  (at r132 v54)
  (at r162 v55)
  (at r160 v56)
  (at r42 v57)
  (at r161 v58)
  (at r64 v59)
  (at r58 v60)
  (at r53 v61)
  (at r134 v62)
  (at r91 v63)
  (free v64)
  (at r107 v65)
  (at r57 v66)
  (at r157 v67)
  (at r70 v68)
  (at r129 v69)
  (at r50 v70)
  (at r164 v71)
  (at r139 v72)
  (at r171 v73)
  (at r75 v74)
  (at r88 v75)
  (at r95 v76)
  (at r118 v77)
  (at r120 v78)
  (at r138 v79)
  (at r113 v80)
  (at r56 v81)
  (at r144 v82)
  (free v83)
  (at r152 v84)
  (at r167 v85)
  (at r158 v86)
  (at r142 v87)
  (at r143 v88)
  (free v89)
  (at r28 v90)
  (at r176 v91)
  (at r60 v92)
  (at r63 v93)
  (at r104 v94)
  (at r149 v95)
  (at r154 v96)
  (at r31 v97)
  (at r30 v98)
  (at r78 v99)
  (free v100)
  (at r177 v101)
  (at r81 v102)
  (at r98 v103)
  (at r43 v104)
  (at r101 v105)
  (at r170 v106)
  (at r94 v107)
  (free v108)
  (at r148 v109)
  (at r19 v110)
  (at r67 v111)
  (at r77 v112)
  (at r27 v113)
  (at r65 v114)
  (at r156 v115)
  (at r93 v116)
  (at r61 v117)
  (at r163 v118)
  (at r83 v119)
  (at r174 v120)
  (at r46 v121)
  (free v122)
  (at r34 v123)
  (at r133 v124)
  (at r97 v125)
  (free v126)
  (at r71 v127)
  (at r92 v128)
  (at r18 v129)
  (at r175 v130)
  (at r112 v131)
  (at r49 v132)
  (at r169 v133)
  (at r117 v134)
  (at r80 v135)
  (at r155 v136)
  (at r131 v137)
  (at r159 v138)
  (at r59 v139)
  (at r37 v140)
  (at r20 v141)
  (at r115 v142)
  (at r172 v143)
  (free v144)
  (at r135 v145)
  (at r137 v146)
  (at r153 v147)
  (free v148)
  (at r105 v149)
  (at r90 v150)
  (at r74 v151)
  (at r32 v152)
  (free v153)
  (at r82 v154)
  (at r121 v155)
  (at r36 v156)
  (at r100 v157)
  (at r73 v158)
  (at r151 v159)
  (at r41 v160)
  (at r96 v161)
  (free v162)
  (at r136 v163)
  (at r38 v164)
  (at r145 v165)
  (at r66 v166)
  (free v167)
  (at r62 v168)
  (at r86 v169)
  (at r25 v170)
  (at r103 v171)
  (at r109 v172)
  (at r26 v173)
  (free v174)
  (at r126 v175)
  (at r123 v176)
  (at r124 v177)
  (at r127 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v79)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v12)
  (adjacent v1 v17)
  (adjacent v1 v22)
  (adjacent v1 v94)
  (adjacent v1 v173)
  (adjacent v2 v3)
  (adjacent v2 v156)
  (adjacent v3 v4)
  (adjacent v3 v18)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v6 v71)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v33)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v30)
  (adjacent v9 v23)
  (adjacent v10 v59)
  (adjacent v10 v61)
  (adjacent v11 v12)
  (adjacent v11 v13)
  (adjacent v11 v54)
  (adjacent v11 v99)
  (adjacent v12 v47)
  (adjacent v13 v14)
  (adjacent v13 v26)
  (adjacent v13 v128)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v46)
  (adjacent v15 v152)
  (adjacent v16 v17)
  (adjacent v16 v36)
  (adjacent v16 v57)
  (adjacent v17 v41)
  (adjacent v17 v60)
  (adjacent v18 v19)
  (adjacent v18 v27)
  (adjacent v18 v129)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v32)
  (adjacent v20 v76)
  (adjacent v20 v132)
  (adjacent v21 v22)
  (adjacent v21 v104)
  (adjacent v23 v24)
  (adjacent v23 v68)
  (adjacent v23 v72)
  (adjacent v24 v25)
  (adjacent v24 v77)
  (adjacent v25 v26)
  (adjacent v25 v157)
  (adjacent v26 v67)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v27 v88)
  (adjacent v27 v103)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v31)
  (adjacent v30 v35)
  (adjacent v30 v60)
  (adjacent v30 v98)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v78)
  (adjacent v34 v83)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v119)
  (adjacent v39 v40)
  (adjacent v39 v149)
  (adjacent v40 v41)
  (adjacent v40 v68)
  (adjacent v40 v98)
  (adjacent v40 v111)
  (adjacent v40 v121)
  (adjacent v41 v69)
  (adjacent v41 v89)
  (adjacent v42 v43)
  (adjacent v42 v53)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v123)
  (adjacent v45 v46)
  (adjacent v46 v80)
  (adjacent v46 v147)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v96)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v84)
  (adjacent v50 v153)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v114)
  (adjacent v57 v58)
  (adjacent v57 v165)
  (adjacent v58 v59)
  (adjacent v58 v97)
  (adjacent v59 v105)
  (adjacent v59 v113)
  (adjacent v60 v81)
  (adjacent v60 v104)
  (adjacent v61 v62)
  (adjacent v61 v148)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v119)
  (adjacent v63 v159)
  (adjacent v63 v172)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v118)
  (adjacent v66 v67)
  (adjacent v67 v79)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v141)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v80)
  (adjacent v75 v167)
  (adjacent v77 v78)
  (adjacent v77 v97)
  (adjacent v80 v120)
  (adjacent v81 v82)
  (adjacent v81 v178)
  (adjacent v82 v83)
  (adjacent v82 v122)
  (adjacent v82 v157)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v158)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v95)
  (adjacent v88 v129)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v122)
  (adjacent v95 v96)
  (adjacent v99 v100)
  (adjacent v99 v131)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v112)
  (adjacent v103 v148)
  (adjacent v104 v158)
  (adjacent v105 v106)
  (adjacent v105 v138)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v140)
  (adjacent v109 v164)
  (adjacent v109 v168)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v130)
  (adjacent v120 v121)
  (adjacent v122 v137)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (at r56 v0)
  (free v1)
  (at r104 v2)
  (at r66 v3)
  (at r167 v4)
  (at r86 v5)
  (free v6)
  (at r175 v7)
  (at r18 v8)
  (at r177 v9)
  (free v10)
  (at r146 v11)
  (at r22 v12)
  (at r158 v13)
  (free v14)
  (at r121 v15)
  (at r95 v16)
  (at r49 v17)
  (at r147 v18)
  (at r112 v19)
  (free v20)
  (at r131 v21)
  (at r25 v22)
  (at r162 v23)
  (at r100 v24)
  (at r28 v25)
  (free v26)
  (at r142 v27)
  (at r31 v28)
  (at r91 v29)
  (at r107 v30)
  (at r27 v31)
  (at r58 v32)
  (at r125 v33)
  (at r83 v34)
  (at r120 v35)
  (at r57 v36)
  (free v37)
  (at r156 v38)
  (at r109 v39)
  (at r51 v40)
  (at r39 v41)
  (at r111 v42)
  (at r72 v43)
  (at r60 v44)
  (at r106 v45)
  (at r155 v46)
  (at r161 v47)
  (at r105 v48)
  (at r171 v49)
  (at r45 v50)
  (free v51)
  (at r78 v52)
  (at r55 v53)
  (at r84 v54)
  (at r110 v55)
  (free v56)
  (at r75 v57)
  (at r159 v58)
  (at r143 v59)
  (at r102 v60)
  (at r140 v61)
  (at r103 v62)
  (free v63)
  (at r118 v64)
  (at r76 v65)
  (at r24 v66)
  (at r124 v67)
  (free v68)
  (at r33 v69)
  (at r44 v70)
  (at r32 v71)
  (at r46 v72)
  (at r63 v73)
  (at r178 v74)
  (at r128 v75)
  (at r123 v76)
  (at r50 v77)
  (at r141 v78)
  (at r38 v79)
  (at r169 v80)
  (free v81)
  (at r108 v82)
  (at r136 v83)
  (at r35 v84)
  (at r70 v85)
  (at r173 v86)
  (at r145 v87)
  (at r99 v88)
  (at r93 v89)
  (at r132 v90)
  (at r133 v91)
  (free v92)
  (at r42 v93)
  (at r68 v94)
  (at r144 v95)
  (at r165 v96)
  (at r69 v97)
  (at r96 v98)
  (at r152 v99)
  (at r74 v100)
  (at r116 v101)
  (free v102)
  (at r62 v103)
  (free v104)
  (at r59 v105)
  (at r34 v106)
  (at r97 v107)
  (at r29 v108)
  (at r92 v109)
  (at r48 v110)
  (at r119 v111)
  (at r73 v112)
  (free v113)
  (at r115 v114)
  (at r139 v115)
  (at r149 v116)
  (at r88 v117)
  (at r170 v118)
  (at r168 v119)
  (at r164 v120)
  (at r82 v121)
  (at r52 v122)
  (at r85 v123)
  (at r150 v124)
  (at r113 v125)
  (at r54 v126)
  (at r37 v127)
  (at r23 v128)
  (at r127 v129)
  (at r138 v130)
  (at r174 v131)
  (at r126 v132)
  (at r148 v133)
  (at r114 v134)
  (at r65 v135)
  (at r94 v136)
  (at r43 v137)
  (at r157 v138)
  (at r89 v139)
  (at r71 v140)
  (at r101 v141)
  (at r26 v142)
  (at r117 v143)
  (at r19 v144)
  (at r21 v145)
  (at r61 v146)
  (at r160 v147)
  (at r163 v148)
  (at r77 v149)
  (at r98 v150)
  (free v151)
  (at r47 v152)
  (at r134 v153)
  (at r153 v154)
  (at r166 v155)
  (at r36 v156)
  (at r172 v157)
  (at r40 v158)
  (at r41 v159)
  (at r30 v160)
  (free v161)
  (at r90 v162)
  (at r130 v163)
  (at r67 v164)
  (at r135 v165)
  (at r80 v166)
  (at r81 v167)
  (at r129 v168)
  (at r64 v169)
  (at r87 v170)
  (at r154 v171)
  (at r122 v172)
  (at r79 v173)
  (at r20 v174)
  (at r176 v175)
  (at r53 v176)
  (at r151 v177)
  (at r137 v178)
  )
 )
)