(define (problem multirobot_52_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r29
  v1 r62
  v2 r80
  v3 r74
  v4 r95
  v5 r119
  v6 r32
  v7 r122
  v8
  v9 r23
  v10 r183
  v11 r145
  v12 r33
  v13 r20
  v14 r51
  v15 r139
  v16
  v17 r26
  v18 r71
  v19 r151
  v20 r88
  v21 r143
  v22 r133
  v23 r25
  v24 r179
  v25 r68
  v26 r153
  v27 r163
  v28 r170
  v29 r72
  v30 r138
  v31 r97
  v32 r128
  v33 r132
  v34
  v35 r60
  v36 r108
  v37 r181
  v38 r120
  v39 r82
  v40 r22
  v41 r189
  v42 r110
  v43 r186
  v44 r98
  v45 r134
  v46 r46
  v47 r109
  v48 r141
  v49 r127
  v50 r125
  v51 r123
  v52 r167
  v53 r36
  v54 r77
  v55 r187
  v56 r41
  v57 r175
  v58 r144
  v59
  v60 r73
  v61
  v62 r90
  v63
  v64 r121
  v65 r91
  v66 r100
  v67 r156
  v68 r47
  v69 r83
  v70 r48
  v71 r158
  v72 r39
  v73 r150
  v74 r84
  v75
  v76 r135
  v77 r43
  v78 r28
  v79 r149
  v80 r27
  v81 r103
  v82 r155
  v83 r116
  v84 r112
  v85 r140
  v86 r111
  v87 r50
  v88 r79
  v89 r164
  v90 r142
  v91 r99
  v92 r34
  v93 r102
  v94 r180
  v95 r30
  v96 r64
  v97 r171
  v98 r55
  v99 r188
  v100 r38
  v101 r176
  v102 r152
  v103 r65
  v104 r61
  v105
  v106 r177
  v107 r69
  v108 r85
  v109 r49
  v110 r174
  v111 r136
  v112
  v113 r81
  v114 r24
  v115 r146
  v116
  v117 r87
  v118 r118
  v119 r35
  v120 r70
  v121 r172
  v122 r168
  v123 r42
  v124
  v125
  v126
  v127 r63
  v128 r53
  v129 r101
  v130 r40
  v131 r96
  v132 r157
  v133 r93
  v134 r165
  v135 r75
  v136 r44
  v137
  v138
  v139 r182
  v140 r137
  v141 r126
  v142 r178
  v143
  v144 r154
  v145 r59
  v146 r160
  v147 r67
  v148 r124
  v149 r162
  v150
  v151 r184
  v152 r161
  v153 r58
  v154 r21
  v155 r107
  v156 r191
  v157 r148
  v158 r76
  v159 r57
  v160 r131
  v161 r45
  v162 r89
  v163 r37
  v164 r105
  v165 r52
  v166 r56
  v167 r169
  v168 r54
  v169 r106
  v170 r104
  v171 r185
  v172
  v173 r117
  v174 r166
  v175 r92
  v176 r94
  v177 r78
  v178 r190
  v179 r129
  v180 r147
  v181 r113
  v182 r159
  v183 r173
  v184 r19
  v185 r130
  v186 r86
  v187
  v188 r66
  v189 r31
  v190 r115
  v191 r114
 )
 (:init
  (at r29 v0)
  (at r62 v1)
  (at r80 v2)
  (at r74 v3)
  (at r95 v4)
  (at r119 v5)
  (at r32 v6)
  (at r122 v7)
  (free v8)
  (at r23 v9)
  (at r183 v10)
  (at r145 v11)
  (at r33 v12)
  (at r20 v13)
  (at r51 v14)
  (at r139 v15)
  (free v16)
  (at r26 v17)
  (at r71 v18)
  (at r151 v19)
  (at r88 v20)
  (at r143 v21)
  (at r133 v22)
  (at r25 v23)
  (at r179 v24)
  (at r68 v25)
  (at r153 v26)
  (at r163 v27)
  (at r170 v28)
  (at r72 v29)
  (at r138 v30)
  (at r97 v31)
  (at r128 v32)
  (at r132 v33)
  (free v34)
  (at r60 v35)
  (at r108 v36)
  (at r181 v37)
  (at r120 v38)
  (at r82 v39)
  (at r22 v40)
  (at r189 v41)
  (at r110 v42)
  (at r186 v43)
  (at r98 v44)
  (at r134 v45)
  (at r46 v46)
  (at r109 v47)
  (at r141 v48)
  (at r127 v49)
  (at r125 v50)
  (at r123 v51)
  (at r167 v52)
  (at r36 v53)
  (at r77 v54)
  (at r187 v55)
  (at r41 v56)
  (at r175 v57)
  (at r144 v58)
  (free v59)
  (at r73 v60)
  (free v61)
  (at r90 v62)
  (free v63)
  (at r121 v64)
  (at r91 v65)
  (at r100 v66)
  (at r156 v67)
  (at r47 v68)
  (at r83 v69)
  (at r48 v70)
  (at r158 v71)
  (at r39 v72)
  (at r150 v73)
  (at r84 v74)
  (free v75)
  (at r135 v76)
  (at r43 v77)
  (at r28 v78)
  (at r149 v79)
  (at r27 v80)
  (at r103 v81)
  (at r155 v82)
  (at r116 v83)
  (at r112 v84)
  (at r140 v85)
  (at r111 v86)
  (at r50 v87)
  (at r79 v88)
  (at r164 v89)
  (at r142 v90)
  (at r99 v91)
  (at r34 v92)
  (at r102 v93)
  (at r180 v94)
  (at r30 v95)
  (at r64 v96)
  (at r171 v97)
  (at r55 v98)
  (at r188 v99)
  (at r38 v100)
  (at r176 v101)
  (at r152 v102)
  (at r65 v103)
  (at r61 v104)
  (free v105)
  (at r177 v106)
  (at r69 v107)
  (at r85 v108)
  (at r49 v109)
  (at r174 v110)
  (at r136 v111)
  (free v112)
  (at r81 v113)
  (at r24 v114)
  (at r146 v115)
  (free v116)
  (at r87 v117)
  (at r118 v118)
  (at r35 v119)
  (at r70 v120)
  (at r172 v121)
  (at r168 v122)
  (at r42 v123)
  (free v124)
  (free v125)
  (free v126)
  (at r63 v127)
  (at r53 v128)
  (at r101 v129)
  (at r40 v130)
  (at r96 v131)
  (at r157 v132)
  (at r93 v133)
  (at r165 v134)
  (at r75 v135)
  (at r44 v136)
  (free v137)
  (free v138)
  (at r182 v139)
  (at r137 v140)
  (at r126 v141)
  (at r178 v142)
  (free v143)
  (at r154 v144)
  (at r59 v145)
  (at r160 v146)
  (at r67 v147)
  (at r124 v148)
  (at r162 v149)
  (free v150)
  (at r184 v151)
  (at r161 v152)
  (at r58 v153)
  (at r21 v154)
  (at r107 v155)
  (at r191 v156)
  (at r148 v157)
  (at r76 v158)
  (at r57 v159)
  (at r131 v160)
  (at r45 v161)
  (at r89 v162)
  (at r37 v163)
  (at r105 v164)
  (at r52 v165)
  (at r56 v166)
  (at r169 v167)
  (at r54 v168)
  (at r106 v169)
  (at r104 v170)
  (at r185 v171)
  (free v172)
  (at r117 v173)
  (at r166 v174)
  (at r92 v175)
  (at r94 v176)
  (at r78 v177)
  (at r190 v178)
  (at r129 v179)
  (at r147 v180)
  (at r113 v181)
  (at r159 v182)
  (at r173 v183)
  (at r19 v184)
  (at r130 v185)
  (at r86 v186)
  (free v187)
  (at r66 v188)
  (at r31 v189)
  (at r115 v190)
  (at r114 v191)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v8)
  (adjacent v0 v18)
  (adjacent v0 v22)
  (adjacent v0 v27)
  (adjacent v0 v109)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v7)
  (adjacent v1 v16)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v15)
  (adjacent v2 v21)
  (adjacent v3 v4)
  (adjacent v4 v14)
  (adjacent v5 v6)
  (adjacent v5 v19)
  (adjacent v5 v45)
  (adjacent v6 v28)
  (adjacent v6 v101)
  (adjacent v7 v21)
  (adjacent v7 v51)
  (adjacent v7 v126)
  (adjacent v8 v9)
  (adjacent v8 v33)
  (adjacent v8 v121)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v19)
  (adjacent v11 v20)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v13 v14)
  (adjacent v13 v65)
  (adjacent v14 v26)
  (adjacent v14 v58)
  (adjacent v14 v80)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v31)
  (adjacent v18 v25)
  (adjacent v19 v32)
  (adjacent v20 v37)
  (adjacent v21 v148)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v32)
  (adjacent v25 v95)
  (adjacent v26 v27)
  (adjacent v26 v180)
  (adjacent v27 v42)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v174)
  (adjacent v31 v38)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v41)
  (adjacent v34 v57)
  (adjacent v34 v93)
  (adjacent v34 v153)
  (adjacent v35 v36)
  (adjacent v35 v52)
  (adjacent v35 v88)
  (adjacent v36 v37)
  (adjacent v36 v46)
  (adjacent v36 v103)
  (adjacent v36 v167)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v81)
  (adjacent v40 v41)
  (adjacent v40 v110)
  (adjacent v41 v86)
  (adjacent v41 v89)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v72)
  (adjacent v44 v45)
  (adjacent v44 v78)
  (adjacent v44 v79)
  (adjacent v45 v68)
  (adjacent v46 v47)
  (adjacent v46 v115)
  (adjacent v46 v134)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v100)
  (adjacent v51 v120)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v64)
  (adjacent v54 v67)
  (adjacent v54 v89)
  (adjacent v55 v56)
  (adjacent v55 v73)
  (adjacent v55 v186)
  (adjacent v56 v57)
  (adjacent v56 v90)
  (adjacent v57 v97)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v114)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v94)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v114)
  (adjacent v67 v92)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v87)
  (adjacent v74 v173)
  (adjacent v75 v76)
  (adjacent v75 v119)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v151)
  (adjacent v79 v80)
  (adjacent v79 v138)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v102)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v90 v91)
  (adjacent v90 v185)
  (adjacent v91 v92)
  (adjacent v92 v133)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v95 v120)
  (adjacent v95 v179)
  (adjacent v96 v97)
  (adjacent v96 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v145)
  (adjacent v100 v191)
  (adjacent v101 v102)
  (adjacent v101 v113)
  (adjacent v101 v168)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v149)
  (adjacent v107 v190)
  (adjacent v108 v109)
  (adjacent v108 v144)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v150)
  (adjacent v112 v113)
  (adjacent v112 v137)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v161)
  (adjacent v117 v118)
  (adjacent v117 v154)
  (adjacent v118 v119)
  (adjacent v120 v172)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v124 v127)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v127 v189)
  (adjacent v128 v129)
  (adjacent v128 v147)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v191)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v152)
  (adjacent v150 v151)
  (adjacent v152 v153)
  (adjacent v152 v160)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v155 v173)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v188)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r159 v0)
  (at r186 v1)
  (at r174 v2)
  (at r50 v3)
  (at r145 v4)
  (at r38 v5)
  (at r156 v6)
  (at r53 v7)
  (at r151 v8)
  (free v9)
  (at r93 v10)
  (at r166 v11)
  (free v12)
  (at r165 v13)
  (at r102 v14)
  (at r27 v15)
  (at r97 v16)
  (at r76 v17)
  (at r49 v18)
  (at r55 v19)
  (at r62 v20)
  (at r40 v21)
  (at r70 v22)
  (at r51 v23)
  (at r176 v24)
  (free v25)
  (at r57 v26)
  (at r160 v27)
  (at r98 v28)
  (at r106 v29)
  (at r188 v30)
  (at r66 v31)
  (at r177 v32)
  (at r118 v33)
  (at r161 v34)
  (at r108 v35)
  (at r126 v36)
  (free v37)
  (at r114 v38)
  (at r131 v39)
  (at r154 v40)
  (at r123 v41)
  (at r75 v42)
  (at r26 v43)
  (at r64 v44)
  (free v45)
  (at r25 v46)
  (at r116 v47)
  (at r85 v48)
  (at r91 v49)
  (at r184 v50)
  (at r147 v51)
  (at r94 v52)
  (free v53)
  (at r92 v54)
  (at r183 v55)
  (at r113 v56)
  (at r59 v57)
  (at r109 v58)
  (at r132 v59)
  (at r172 v60)
  (at r163 v61)
  (at r142 v62)
  (at r101 v63)
  (at r61 v64)
  (at r152 v65)
  (at r19 v66)
  (at r136 v67)
  (at r68 v68)
  (at r37 v69)
  (at r105 v70)
  (at r140 v71)
  (at r189 v72)
  (at r179 v73)
  (at r148 v74)
  (at r21 v75)
  (at r96 v76)
  (at r73 v77)
  (at r137 v78)
  (at r32 v79)
  (at r182 v80)
  (free v81)
  (at r117 v82)
  (at r162 v83)
  (at r121 v84)
  (at r31 v85)
  (at r167 v86)
  (free v87)
  (at r34 v88)
  (at r69 v89)
  (at r191 v90)
  (at r164 v91)
  (at r60 v92)
  (at r81 v93)
  (at r71 v94)
  (at r169 v95)
  (at r67 v96)
  (at r83 v97)
  (at r110 v98)
  (at r141 v99)
  (at r149 v100)
  (at r90 v101)
  (free v102)
  (free v103)
  (at r144 v104)
  (free v105)
  (at r115 v106)
  (at r180 v107)
  (at r72 v108)
  (at r42 v109)
  (at r143 v110)
  (free v111)
  (at r33 v112)
  (at r133 v113)
  (at r89 v114)
  (at r134 v115)
  (at r190 v116)
  (at r58 v117)
  (at r20 v118)
  (at r119 v119)
  (at r120 v120)
  (at r77 v121)
  (at r135 v122)
  (at r43 v123)
  (free v124)
  (at r150 v125)
  (at r95 v126)
  (at r103 v127)
  (at r46 v128)
  (at r139 v129)
  (at r28 v130)
  (free v131)
  (at r78 v132)
  (at r82 v133)
  (at r178 v134)
  (at r88 v135)
  (at r112 v136)
  (at r45 v137)
  (at r125 v138)
  (at r138 v139)
  (at r146 v140)
  (at r48 v141)
  (at r170 v142)
  (at r129 v143)
  (at r153 v144)
  (at r79 v145)
  (at r111 v146)
  (at r24 v147)
  (at r36 v148)
  (at r35 v149)
  (at r54 v150)
  (at r41 v151)
  (at r22 v152)
  (at r107 v153)
  (free v154)
  (free v155)
  (at r130 v156)
  (at r74 v157)
  (at r127 v158)
  (at r181 v159)
  (at r80 v160)
  (free v161)
  (at r171 v162)
  (at r99 v163)
  (free v164)
  (at r65 v165)
  (at r187 v166)
  (at r173 v167)
  (at r52 v168)
  (at r87 v169)
  (at r84 v170)
  (at r100 v171)
  (at r122 v172)
  (at r157 v173)
  (at r29 v174)
  (at r56 v175)
  (at r44 v176)
  (at r39 v177)
  (at r63 v178)
  (at r185 v179)
  (at r155 v180)
  (at r47 v181)
  (at r175 v182)
  (at r128 v183)
  (at r104 v184)
  (at r23 v185)
  (at r158 v186)
  (free v187)
  (at r86 v188)
  (at r124 v189)
  (at r30 v190)
  (at r168 v191)
  )
 )
)