(define (problem multirobot_52_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r100
  v1 r165
  v2 r86
  v3 r172
  v4 r34
  v5 r31
  v6 r48
  v7 r186
  v8 r112
  v9 r28
  v10
  v11
  v12 r153
  v13 r163
  v14 r126
  v15 r58
  v16 r83
  v17 r137
  v18 r131
  v19 r108
  v20
  v21
  v22 r84
  v23 r146
  v24 r93
  v25 r127
  v26 r41
  v27 r185
  v28 r109
  v29 r44
  v30 r77
  v31 r88
  v32 r94
  v33 r47
  v34 r66
  v35 r50
  v36 r173
  v37 r42
  v38 r57
  v39 r187
  v40 r68
  v41 r136
  v42 r169
  v43
  v44 r35
  v45 r98
  v46 r151
  v47 r132
  v48 r91
  v49 r43
  v50 r149
  v51
  v52 r152
  v53 r33
  v54 r99
  v55 r170
  v56 r25
  v57 r188
  v58 r62
  v59 r193
  v60 r116
  v61
  v62 r89
  v63 r167
  v64
  v65
  v66 r111
  v67 r130
  v68 r120
  v69 r174
  v70 r192
  v71 r67
  v72 r53
  v73 r81
  v74 r51
  v75 r64
  v76 r135
  v77
  v78 r115
  v79 r190
  v80 r103
  v81 r69
  v82 r76
  v83 r168
  v84 r36
  v85 r176
  v86 r157
  v87 r139
  v88 r147
  v89 r156
  v90 r181
  v91 r106
  v92 r158
  v93 r178
  v94 r54
  v95 r63
  v96 r124
  v97 r175
  v98 r27
  v99 r21
  v100 r143
  v101 r96
  v102
  v103 r155
  v104 r180
  v105 r142
  v106 r125
  v107 r55
  v108 r114
  v109
  v110 r46
  v111 r171
  v112 r23
  v113 r133
  v114 r184
  v115 r160
  v116 r101
  v117 r141
  v118 r150
  v119 r97
  v120 r104
  v121 r92
  v122 r38
  v123 r161
  v124
  v125 r191
  v126 r79
  v127 r129
  v128 r32
  v129 r107
  v130
  v131
  v132 r105
  v133 r182
  v134
  v135 r24
  v136 r123
  v137 r39
  v138 r80
  v139 r144
  v140 r113
  v141 r26
  v142 r128
  v143 r61
  v144 r95
  v145
  v146 r71
  v147 r29
  v148 r87
  v149 r177
  v150 r22
  v151 r30
  v152 r85
  v153
  v154 r122
  v155 r73
  v156 r179
  v157 r20
  v158 r183
  v159 r138
  v160 r70
  v161 r102
  v162 r82
  v163 r72
  v164 r121
  v165
  v166 r40
  v167 r117
  v168 r59
  v169 r189
  v170 r110
  v171 r75
  v172 r90
  v173 r74
  v174 r148
  v175 r60
  v176 r119
  v177 r78
  v178 r134
  v179 r37
  v180 r56
  v181 r45
  v182 r145
  v183 r162
  v184 r49
  v185
  v186 r164
  v187 r154
  v188 r52
  v189 r166
  v190 r65
  v191 r118
  v192 r140
  v193 r159
 )
 (:init
  (at r100 v0)
  (at r165 v1)
  (at r86 v2)
  (at r172 v3)
  (at r34 v4)
  (at r31 v5)
  (at r48 v6)
  (at r186 v7)
  (at r112 v8)
  (at r28 v9)
  (free v10)
  (free v11)
  (at r153 v12)
  (at r163 v13)
  (at r126 v14)
  (at r58 v15)
  (at r83 v16)
  (at r137 v17)
  (at r131 v18)
  (at r108 v19)
  (free v20)
  (free v21)
  (at r84 v22)
  (at r146 v23)
  (at r93 v24)
  (at r127 v25)
  (at r41 v26)
  (at r185 v27)
  (at r109 v28)
  (at r44 v29)
  (at r77 v30)
  (at r88 v31)
  (at r94 v32)
  (at r47 v33)
  (at r66 v34)
  (at r50 v35)
  (at r173 v36)
  (at r42 v37)
  (at r57 v38)
  (at r187 v39)
  (at r68 v40)
  (at r136 v41)
  (at r169 v42)
  (free v43)
  (at r35 v44)
  (at r98 v45)
  (at r151 v46)
  (at r132 v47)
  (at r91 v48)
  (at r43 v49)
  (at r149 v50)
  (free v51)
  (at r152 v52)
  (at r33 v53)
  (at r99 v54)
  (at r170 v55)
  (at r25 v56)
  (at r188 v57)
  (at r62 v58)
  (at r193 v59)
  (at r116 v60)
  (free v61)
  (at r89 v62)
  (at r167 v63)
  (free v64)
  (free v65)
  (at r111 v66)
  (at r130 v67)
  (at r120 v68)
  (at r174 v69)
  (at r192 v70)
  (at r67 v71)
  (at r53 v72)
  (at r81 v73)
  (at r51 v74)
  (at r64 v75)
  (at r135 v76)
  (free v77)
  (at r115 v78)
  (at r190 v79)
  (at r103 v80)
  (at r69 v81)
  (at r76 v82)
  (at r168 v83)
  (at r36 v84)
  (at r176 v85)
  (at r157 v86)
  (at r139 v87)
  (at r147 v88)
  (at r156 v89)
  (at r181 v90)
  (at r106 v91)
  (at r158 v92)
  (at r178 v93)
  (at r54 v94)
  (at r63 v95)
  (at r124 v96)
  (at r175 v97)
  (at r27 v98)
  (at r21 v99)
  (at r143 v100)
  (at r96 v101)
  (free v102)
  (at r155 v103)
  (at r180 v104)
  (at r142 v105)
  (at r125 v106)
  (at r55 v107)
  (at r114 v108)
  (free v109)
  (at r46 v110)
  (at r171 v111)
  (at r23 v112)
  (at r133 v113)
  (at r184 v114)
  (at r160 v115)
  (at r101 v116)
  (at r141 v117)
  (at r150 v118)
  (at r97 v119)
  (at r104 v120)
  (at r92 v121)
  (at r38 v122)
  (at r161 v123)
  (free v124)
  (at r191 v125)
  (at r79 v126)
  (at r129 v127)
  (at r32 v128)
  (at r107 v129)
  (free v130)
  (free v131)
  (at r105 v132)
  (at r182 v133)
  (free v134)
  (at r24 v135)
  (at r123 v136)
  (at r39 v137)
  (at r80 v138)
  (at r144 v139)
  (at r113 v140)
  (at r26 v141)
  (at r128 v142)
  (at r61 v143)
  (at r95 v144)
  (free v145)
  (at r71 v146)
  (at r29 v147)
  (at r87 v148)
  (at r177 v149)
  (at r22 v150)
  (at r30 v151)
  (at r85 v152)
  (free v153)
  (at r122 v154)
  (at r73 v155)
  (at r179 v156)
  (at r20 v157)
  (at r183 v158)
  (at r138 v159)
  (at r70 v160)
  (at r102 v161)
  (at r82 v162)
  (at r72 v163)
  (at r121 v164)
  (free v165)
  (at r40 v166)
  (at r117 v167)
  (at r59 v168)
  (at r189 v169)
  (at r110 v170)
  (at r75 v171)
  (at r90 v172)
  (at r74 v173)
  (at r148 v174)
  (at r60 v175)
  (at r119 v176)
  (at r78 v177)
  (at r134 v178)
  (at r37 v179)
  (at r56 v180)
  (at r45 v181)
  (at r145 v182)
  (at r162 v183)
  (at r49 v184)
  (free v185)
  (at r164 v186)
  (at r154 v187)
  (at r52 v188)
  (at r166 v189)
  (at r65 v190)
  (at r118 v191)
  (at r140 v192)
  (at r159 v193)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v86)
  (adjacent v1 v2)
  (adjacent v1 v60)
  (adjacent v1 v80)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v19)
  (adjacent v2 v165)
  (adjacent v3 v4)
  (adjacent v3 v87)
  (adjacent v3 v139)
  (adjacent v4 v9)
  (adjacent v4 v50)
  (adjacent v4 v72)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v39)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v134)
  (adjacent v7 v147)
  (adjacent v8 v9)
  (adjacent v8 v21)
  (adjacent v8 v67)
  (adjacent v9 v38)
  (adjacent v9 v103)
  (adjacent v10 v11)
  (adjacent v10 v22)
  (adjacent v10 v40)
  (adjacent v10 v117)
  (adjacent v10 v158)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v132)
  (adjacent v14 v15)
  (adjacent v14 v18)
  (adjacent v14 v70)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v15 v56)
  (adjacent v16 v43)
  (adjacent v17 v18)
  (adjacent v17 v122)
  (adjacent v18 v32)
  (adjacent v18 v39)
  (adjacent v19 v20)
  (adjacent v19 v28)
  (adjacent v19 v93)
  (adjacent v19 v143)
  (adjacent v20 v21)
  (adjacent v21 v127)
  (adjacent v22 v23)
  (adjacent v22 v99)
  (adjacent v23 v24)
  (adjacent v23 v142)
  (adjacent v24 v25)
  (adjacent v24 v37)
  (adjacent v25 v26)
  (adjacent v25 v47)
  (adjacent v25 v51)
  (adjacent v25 v75)
  (adjacent v26 v27)
  (adjacent v26 v42)
  (adjacent v26 v73)
  (adjacent v27 v71)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v33)
  (adjacent v30 v31)
  (adjacent v30 v36)
  (adjacent v30 v46)
  (adjacent v30 v135)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v57)
  (adjacent v35 v36)
  (adjacent v35 v52)
  (adjacent v35 v170)
  (adjacent v37 v38)
  (adjacent v37 v66)
  (adjacent v37 v159)
  (adjacent v38 v51)
  (adjacent v38 v139)
  (adjacent v40 v41)
  (adjacent v40 v85)
  (adjacent v40 v159)
  (adjacent v40 v188)
  (adjacent v41 v42)
  (adjacent v42 v148)
  (adjacent v43 v44)
  (adjacent v43 v87)
  (adjacent v43 v99)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v47 v110)
  (adjacent v48 v49)
  (adjacent v48 v92)
  (adjacent v49 v50)
  (adjacent v49 v116)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v170)
  (adjacent v55 v56)
  (adjacent v56 v61)
  (adjacent v56 v72)
  (adjacent v56 v88)
  (adjacent v57 v58)
  (adjacent v57 v94)
  (adjacent v58 v59)
  (adjacent v58 v81)
  (adjacent v59 v60)
  (adjacent v60 v69)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v109)
  (adjacent v67 v68)
  (adjacent v67 v121)
  (adjacent v68 v69)
  (adjacent v68 v74)
  (adjacent v70 v71)
  (adjacent v71 v98)
  (adjacent v72 v101)
  (adjacent v73 v74)
  (adjacent v73 v100)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v172)
  (adjacent v77 v78)
  (adjacent v77 v100)
  (adjacent v77 v128)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v86)
  (adjacent v80 v140)
  (adjacent v81 v82)
  (adjacent v81 v93)
  (adjacent v81 v124)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v160)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v189)
  (adjacent v91 v92)
  (adjacent v91 v104)
  (adjacent v92 v138)
  (adjacent v93 v183)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v125)
  (adjacent v96 v131)
  (adjacent v96 v171)
  (adjacent v97 v98)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v182)
  (adjacent v107 v193)
  (adjacent v108 v109)
  (adjacent v109 v164)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v175)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v152)
  (adjacent v127 v171)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v176)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v148 v153)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v169)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v189 v190)
  (adjacent v190 v191)
  (adjacent v191 v192)
  (adjacent v192 v193)
 )
 (:goal
  (and
  (at r116 v0)
  (at r45 v1)
  (at r129 v2)
  (at r78 v3)
  (at r174 v4)
  (at r23 v5)
  (at r158 v6)
  (at r185 v7)
  (at r105 v8)
  (at r69 v9)
  (at r171 v10)
  (at r70 v11)
  (at r63 v12)
  (at r98 v13)
  (at r109 v14)
  (at r156 v15)
  (at r94 v16)
  (at r121 v17)
  (free v18)
  (free v19)
  (at r36 v20)
  (at r26 v21)
  (at r107 v22)
  (at r106 v23)
  (at r148 v24)
  (at r66 v25)
  (at r90 v26)
  (at r20 v27)
  (at r21 v28)
  (at r154 v29)
  (at r27 v30)
  (at r40 v31)
  (at r191 v32)
  (at r184 v33)
  (at r161 v34)
  (at r164 v35)
  (at r190 v36)
  (at r132 v37)
  (at r22 v38)
  (at r35 v39)
  (at r50 v40)
  (at r166 v41)
  (at r88 v42)
  (at r168 v43)
  (at r83 v44)
  (at r186 v45)
  (at r61 v46)
  (at r135 v47)
  (at r193 v48)
  (at r155 v49)
  (at r41 v50)
  (at r43 v51)
  (at r28 v52)
  (at r33 v53)
  (at r128 v54)
  (at r115 v55)
  (at r58 v56)
  (free v57)
  (at r126 v58)
  (at r73 v59)
  (at r81 v60)
  (at r30 v61)
  (at r85 v62)
  (at r75 v63)
  (free v64)
  (free v65)
  (at r67 v66)
  (at r180 v67)
  (at r137 v68)
  (at r51 v69)
  (at r110 v70)
  (at r112 v71)
  (at r146 v72)
  (at r170 v73)
  (at r183 v74)
  (at r169 v75)
  (at r37 v76)
  (at r97 v77)
  (at r84 v78)
  (at r167 v79)
  (at r136 v80)
  (at r145 v81)
  (at r48 v82)
  (at r55 v83)
  (at r99 v84)
  (at r52 v85)
  (at r92 v86)
  (at r64 v87)
  (at r172 v88)
  (free v89)
  (at r80 v90)
  (at r153 v91)
  (at r159 v92)
  (at r91 v93)
  (at r59 v94)
  (at r157 v95)
  (at r133 v96)
  (at r149 v97)
  (at r189 v98)
  (at r165 v99)
  (at r118 v100)
  (at r173 v101)
  (free v102)
  (at r34 v103)
  (at r151 v104)
  (at r147 v105)
  (at r29 v106)
  (at r76 v107)
  (free v108)
  (at r74 v109)
  (at r119 v110)
  (at r82 v111)
  (free v112)
  (at r144 v113)
  (at r47 v114)
  (at r160 v115)
  (at r56 v116)
  (at r68 v117)
  (at r177 v118)
  (at r77 v119)
  (at r117 v120)
  (free v121)
  (free v122)
  (at r44 v123)
  (at r104 v124)
  (at r89 v125)
  (at r134 v126)
  (at r122 v127)
  (at r175 v128)
  (at r24 v129)
  (at r95 v130)
  (at r108 v131)
  (at r79 v132)
  (at r152 v133)
  (at r86 v134)
  (free v135)
  (free v136)
  (at r131 v137)
  (at r162 v138)
  (at r139 v139)
  (at r49 v140)
  (at r54 v141)
  (at r111 v142)
  (at r57 v143)
  (at r163 v144)
  (at r150 v145)
  (at r32 v146)
  (at r96 v147)
  (free v148)
  (at r127 v149)
  (at r71 v150)
  (at r72 v151)
  (at r114 v152)
  (at r100 v153)
  (at r93 v154)
  (at r178 v155)
  (at r181 v156)
  (free v157)
  (at r124 v158)
  (at r120 v159)
  (at r102 v160)
  (at r87 v161)
  (at r31 v162)
  (at r143 v163)
  (at r42 v164)
  (at r101 v165)
  (at r141 v166)
  (at r60 v167)
  (at r53 v168)
  (at r140 v169)
  (at r39 v170)
  (at r38 v171)
  (free v172)
  (at r138 v173)
  (at r103 v174)
  (at r25 v175)
  (at r130 v176)
  (free v177)
  (at r113 v178)
  (free v179)
  (at r187 v180)
  (at r65 v181)
  (at r182 v182)
  (at r179 v183)
  (at r46 v184)
  (free v185)
  (at r62 v186)
  (at r188 v187)
  (at r123 v188)
  (at r192 v189)
  (at r176 v190)
  (free v191)
  (at r142 v192)
  (at r125 v193)
  )
 )
)