(define (problem multirobot_53_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r61
  v1 r23
  v2 r171
  v3 r101
  v4
  v5 r177
  v6 r154
  v7 r56
  v8 r53
  v9 r95
  v10 r87
  v11 r111
  v12 r132
  v13 r149
  v14 r62
  v15 r48
  v16 r168
  v17 r40
  v18 r162
  v19 r129
  v20 r105
  v21 r33
  v22 r93
  v23 r86
  v24
  v25
  v26 r64
  v27
  v28 r85
  v29 r35
  v30 r125
  v31 r114
  v32 r121
  v33 r28
  v34 r137
  v35 r97
  v36 r24
  v37 r74
  v38 r107
  v39 r99
  v40 r138
  v41 r181
  v42 r72
  v43 r70
  v44
  v45 r117
  v46
  v47
  v48
  v49 r59
  v50 r182
  v51 r51
  v52 r127
  v53 r156
  v54 r108
  v55 r141
  v56 r134
  v57 r161
  v58 r38
  v59 r83
  v60 r90
  v61 r71
  v62 r100
  v63 r26
  v64 r103
  v65 r153
  v66 r41
  v67 r183
  v68 r170
  v69 r110
  v70 r174
  v71 r46
  v72 r22
  v73 r164
  v74 r151
  v75
  v76 r60
  v77 r124
  v78 r172
  v79
  v80 r176
  v81 r44
  v82 r145
  v83 r126
  v84
  v85 r157
  v86 r155
  v87 r78
  v88 r180
  v89 r146
  v90 r140
  v91 r130
  v92 r122
  v93 r116
  v94 r98
  v95 r96
  v96
  v97 r147
  v98 r92
  v99 r143
  v100 r25
  v101 r29
  v102
  v103 r94
  v104 r136
  v105 r31
  v106 r58
  v107 r19
  v108 r36
  v109
  v110 r89
  v111 r54
  v112 r43
  v113 r66
  v114 r142
  v115 r88
  v116 r179
  v117 r131
  v118 r68
  v119 r113
  v120 r45
  v121 r152
  v122 r73
  v123 r169
  v124 r49
  v125 r158
  v126 r175
  v127 r112
  v128 r167
  v129 r128
  v130 r20
  v131
  v132 r144
  v133 r178
  v134 r42
  v135
  v136 r32
  v137 r165
  v138 r123
  v139 r30
  v140 r84
  v141 r57
  v142
  v143 r50
  v144 r79
  v145 r65
  v146 r69
  v147 r77
  v148
  v149 r63
  v150 r133
  v151 r102
  v152 r21
  v153 r104
  v154 r80
  v155 r82
  v156 r47
  v157 r76
  v158 r67
  v159 r34
  v160 r81
  v161 r39
  v162
  v163 r119
  v164 r52
  v165 r75
  v166 r186
  v167 r139
  v168 r115
  v169 r185
  v170 r118
  v171 r91
  v172 r55
  v173 r173
  v174 r160
  v175 r27
  v176 r159
  v177 r106
  v178 r184
  v179 r37
  v180 r163
  v181 r120
  v182 r135
  v183 r166
  v184 r150
  v185 r148
  v186 r109
 )
 (:init
  (at r61 v0)
  (at r23 v1)
  (at r171 v2)
  (at r101 v3)
  (free v4)
  (at r177 v5)
  (at r154 v6)
  (at r56 v7)
  (at r53 v8)
  (at r95 v9)
  (at r87 v10)
  (at r111 v11)
  (at r132 v12)
  (at r149 v13)
  (at r62 v14)
  (at r48 v15)
  (at r168 v16)
  (at r40 v17)
  (at r162 v18)
  (at r129 v19)
  (at r105 v20)
  (at r33 v21)
  (at r93 v22)
  (at r86 v23)
  (free v24)
  (free v25)
  (at r64 v26)
  (free v27)
  (at r85 v28)
  (at r35 v29)
  (at r125 v30)
  (at r114 v31)
  (at r121 v32)
  (at r28 v33)
  (at r137 v34)
  (at r97 v35)
  (at r24 v36)
  (at r74 v37)
  (at r107 v38)
  (at r99 v39)
  (at r138 v40)
  (at r181 v41)
  (at r72 v42)
  (at r70 v43)
  (free v44)
  (at r117 v45)
  (free v46)
  (free v47)
  (free v48)
  (at r59 v49)
  (at r182 v50)
  (at r51 v51)
  (at r127 v52)
  (at r156 v53)
  (at r108 v54)
  (at r141 v55)
  (at r134 v56)
  (at r161 v57)
  (at r38 v58)
  (at r83 v59)
  (at r90 v60)
  (at r71 v61)
  (at r100 v62)
  (at r26 v63)
  (at r103 v64)
  (at r153 v65)
  (at r41 v66)
  (at r183 v67)
  (at r170 v68)
  (at r110 v69)
  (at r174 v70)
  (at r46 v71)
  (at r22 v72)
  (at r164 v73)
  (at r151 v74)
  (free v75)
  (at r60 v76)
  (at r124 v77)
  (at r172 v78)
  (free v79)
  (at r176 v80)
  (at r44 v81)
  (at r145 v82)
  (at r126 v83)
  (free v84)
  (at r157 v85)
  (at r155 v86)
  (at r78 v87)
  (at r180 v88)
  (at r146 v89)
  (at r140 v90)
  (at r130 v91)
  (at r122 v92)
  (at r116 v93)
  (at r98 v94)
  (at r96 v95)
  (free v96)
  (at r147 v97)
  (at r92 v98)
  (at r143 v99)
  (at r25 v100)
  (at r29 v101)
  (free v102)
  (at r94 v103)
  (at r136 v104)
  (at r31 v105)
  (at r58 v106)
  (at r19 v107)
  (at r36 v108)
  (free v109)
  (at r89 v110)
  (at r54 v111)
  (at r43 v112)
  (at r66 v113)
  (at r142 v114)
  (at r88 v115)
  (at r179 v116)
  (at r131 v117)
  (at r68 v118)
  (at r113 v119)
  (at r45 v120)
  (at r152 v121)
  (at r73 v122)
  (at r169 v123)
  (at r49 v124)
  (at r158 v125)
  (at r175 v126)
  (at r112 v127)
  (at r167 v128)
  (at r128 v129)
  (at r20 v130)
  (free v131)
  (at r144 v132)
  (at r178 v133)
  (at r42 v134)
  (free v135)
  (at r32 v136)
  (at r165 v137)
  (at r123 v138)
  (at r30 v139)
  (at r84 v140)
  (at r57 v141)
  (free v142)
  (at r50 v143)
  (at r79 v144)
  (at r65 v145)
  (at r69 v146)
  (at r77 v147)
  (free v148)
  (at r63 v149)
  (at r133 v150)
  (at r102 v151)
  (at r21 v152)
  (at r104 v153)
  (at r80 v154)
  (at r82 v155)
  (at r47 v156)
  (at r76 v157)
  (at r67 v158)
  (at r34 v159)
  (at r81 v160)
  (at r39 v161)
  (free v162)
  (at r119 v163)
  (at r52 v164)
  (at r75 v165)
  (at r186 v166)
  (at r139 v167)
  (at r115 v168)
  (at r185 v169)
  (at r118 v170)
  (at r91 v171)
  (at r55 v172)
  (at r173 v173)
  (at r160 v174)
  (at r27 v175)
  (at r159 v176)
  (at r106 v177)
  (at r184 v178)
  (at r37 v179)
  (at r163 v180)
  (at r120 v181)
  (at r135 v182)
  (at r166 v183)
  (at r150 v184)
  (at r148 v185)
  (at r109 v186)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v7)
  (adjacent v0 v43)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v33)
  (adjacent v5 v6)
  (adjacent v5 v60)
  (adjacent v5 v116)
  (adjacent v6 v16)
  (adjacent v6 v24)
  (adjacent v7 v8)
  (adjacent v7 v28)
  (adjacent v7 v36)
  (adjacent v7 v54)
  (adjacent v7 v124)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v34)
  (adjacent v10 v41)
  (adjacent v11 v17)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v43)
  (adjacent v13 v54)
  (adjacent v13 v102)
  (adjacent v13 v131)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v18)
  (adjacent v15 v125)
  (adjacent v16 v49)
  (adjacent v18 v19)
  (adjacent v18 v84)
  (adjacent v19 v20)
  (adjacent v19 v37)
  (adjacent v19 v50)
  (adjacent v19 v62)
  (adjacent v19 v96)
  (adjacent v20 v21)
  (adjacent v20 v156)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v50)
  (adjacent v23 v24)
  (adjacent v23 v25)
  (adjacent v23 v57)
  (adjacent v23 v67)
  (adjacent v25 v26)
  (adjacent v25 v80)
  (adjacent v25 v106)
  (adjacent v26 v27)
  (adjacent v26 v29)
  (adjacent v26 v44)
  (adjacent v26 v77)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v28 v128)
  (adjacent v29 v30)
  (adjacent v29 v35)
  (adjacent v29 v107)
  (adjacent v30 v31)
  (adjacent v30 v51)
  (adjacent v31 v32)
  (adjacent v31 v34)
  (adjacent v31 v61)
  (adjacent v31 v81)
  (adjacent v31 v137)
  (adjacent v32 v33)
  (adjacent v33 v36)
  (adjacent v33 v42)
  (adjacent v34 v152)
  (adjacent v35 v62)
  (adjacent v36 v185)
  (adjacent v37 v38)
  (adjacent v37 v63)
  (adjacent v37 v176)
  (adjacent v37 v181)
  (adjacent v38 v39)
  (adjacent v38 v61)
  (adjacent v39 v40)
  (adjacent v39 v91)
  (adjacent v39 v123)
  (adjacent v40 v41)
  (adjacent v41 v103)
  (adjacent v41 v138)
  (adjacent v41 v153)
  (adjacent v43 v53)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v109)
  (adjacent v47 v48)
  (adjacent v47 v76)
  (adjacent v47 v129)
  (adjacent v47 v167)
  (adjacent v48 v49)
  (adjacent v48 v85)
  (adjacent v51 v52)
  (adjacent v51 v55)
  (adjacent v51 v58)
  (adjacent v51 v122)
  (adjacent v52 v53)
  (adjacent v54 v180)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v66)
  (adjacent v58 v59)
  (adjacent v58 v74)
  (adjacent v59 v60)
  (adjacent v60 v123)
  (adjacent v61 v73)
  (adjacent v61 v152)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v110)
  (adjacent v65 v66)
  (adjacent v65 v119)
  (adjacent v66 v120)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v115)
  (adjacent v68 v172)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v74 v124)
  (adjacent v75 v76)
  (adjacent v75 v85)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v86)
  (adjacent v83 v84)
  (adjacent v84 v90)
  (adjacent v86 v87)
  (adjacent v86 v108)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v97)
  (adjacent v90 v151)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v107)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v97 v162)
  (adjacent v97 v175)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v186)
  (adjacent v100 v101)
  (adjacent v100 v132)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v108 v109)
  (adjacent v108 v137)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v118 v136)
  (adjacent v118 v144)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v145)
  (adjacent v124 v157)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v133 v166)
  (adjacent v134 v135)
  (adjacent v134 v173)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v161)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v182)
  (adjacent v181 v186)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (at r61 v0)
  (free v1)
  (at r144 v2)
  (at r46 v3)
  (at r36 v4)
  (at r180 v5)
  (at r122 v6)
  (at r139 v7)
  (at r143 v8)
  (at r100 v9)
  (at r95 v10)
  (at r124 v11)
  (at r137 v12)
  (at r126 v13)
  (at r90 v14)
  (at r63 v15)
  (free v16)
  (at r94 v17)
  (at r38 v18)
  (at r145 v19)
  (at r35 v20)
  (free v21)
  (at r175 v22)
  (at r116 v23)
  (at r120 v24)
  (at r179 v25)
  (at r88 v26)
  (at r50 v27)
  (at r80 v28)
  (at r82 v29)
  (free v30)
  (at r48 v31)
  (at r129 v32)
  (at r110 v33)
  (at r44 v34)
  (at r117 v35)
  (at r118 v36)
  (at r166 v37)
  (at r148 v38)
  (free v39)
  (at r155 v40)
  (at r60 v41)
  (at r92 v42)
  (at r128 v43)
  (at r149 v44)
  (at r121 v45)
  (at r163 v46)
  (at r178 v47)
  (at r34 v48)
  (at r33 v49)
  (at r177 v50)
  (at r32 v51)
  (at r83 v52)
  (at r53 v53)
  (at r40 v54)
  (at r81 v55)
  (at r159 v56)
  (at r85 v57)
  (at r28 v58)
  (at r136 v59)
  (at r64 v60)
  (at r55 v61)
  (at r162 v62)
  (free v63)
  (at r152 v64)
  (at r72 v65)
  (at r43 v66)
  (at r183 v67)
  (at r58 v68)
  (at r168 v69)
  (at r56 v70)
  (at r78 v71)
  (at r21 v72)
  (at r141 v73)
  (at r138 v74)
  (at r186 v75)
  (at r114 v76)
  (at r113 v77)
  (at r31 v78)
  (at r130 v79)
  (at r153 v80)
  (at r26 v81)
  (at r142 v82)
  (at r59 v83)
  (at r164 v84)
  (at r172 v85)
  (at r67 v86)
  (at r157 v87)
  (at r89 v88)
  (at r135 v89)
  (at r108 v90)
  (at r62 v91)
  (at r74 v92)
  (at r119 v93)
  (at r160 v94)
  (at r140 v95)
  (at r41 v96)
  (at r75 v97)
  (at r76 v98)
  (free v99)
  (at r185 v100)
  (at r169 v101)
  (at r86 v102)
  (at r52 v103)
  (at r99 v104)
  (at r106 v105)
  (free v106)
  (free v107)
  (at r123 v108)
  (free v109)
  (at r115 v110)
  (at r66 v111)
  (at r42 v112)
  (free v113)
  (at r23 v114)
  (at r112 v115)
  (free v116)
  (at r107 v117)
  (at r150 v118)
  (at r154 v119)
  (at r84 v120)
  (at r45 v121)
  (free v122)
  (at r22 v123)
  (at r47 v124)
  (at r77 v125)
  (at r151 v126)
  (at r73 v127)
  (at r19 v128)
  (at r37 v129)
  (at r96 v130)
  (at r134 v131)
  (at r184 v132)
  (at r125 v133)
  (at r161 v134)
  (at r51 v135)
  (at r103 v136)
  (at r25 v137)
  (at r165 v138)
  (at r132 v139)
  (at r98 v140)
  (at r167 v141)
  (at r101 v142)
  (at r39 v143)
  (at r171 v144)
  (free v145)
  (at r70 v146)
  (at r111 v147)
  (free v148)
  (at r20 v149)
  (free v150)
  (at r181 v151)
  (at r24 v152)
  (at r97 v153)
  (at r69 v154)
  (at r79 v155)
  (at r87 v156)
  (at r146 v157)
  (at r93 v158)
  (at r65 v159)
  (at r54 v160)
  (at r49 v161)
  (at r127 v162)
  (at r170 v163)
  (free v164)
  (at r27 v165)
  (at r174 v166)
  (at r131 v167)
  (at r147 v168)
  (at r105 v169)
  (at r57 v170)
  (at r173 v171)
  (at r71 v172)
  (at r158 v173)
  (at r102 v174)
  (at r156 v175)
  (at r133 v176)
  (at r104 v177)
  (at r30 v178)
  (at r29 v179)
  (free v180)
  (at r182 v181)
  (free v182)
  (at r68 v183)
  (at r176 v184)
  (at r109 v185)
  (at r91 v186)
  )
 )
)