(define (problem multirobot_53_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r36
  v1 r131
  v2 r63
  v3 r61
  v4 r171
  v5 r44
  v6 r114
  v7 r144
  v8
  v9 r109
  v10
  v11 r60
  v12 r117
  v13 r94
  v14 r182
  v15 r34
  v16 r153
  v17 r56
  v18 r107
  v19 r147
  v20 r156
  v21
  v22 r162
  v23 r85
  v24 r165
  v25 r130
  v26 r98
  v27 r51
  v28 r122
  v29 r79
  v30 r25
  v31
  v32 r108
  v33
  v34
  v35 r48
  v36
  v37 r141
  v38 r123
  v39 r143
  v40 r135
  v41 r121
  v42 r32
  v43 r91
  v44
  v45 r106
  v46 r157
  v47 r100
  v48
  v49 r38
  v50 r37
  v51 r82
  v52
  v53 r105
  v54 r115
  v55 r160
  v56 r178
  v57 r110
  v58 r54
  v59 r111
  v60 r18
  v61 r103
  v62 r179
  v63 r169
  v64 r177
  v65 r49
  v66 r73
  v67 r163
  v68 r134
  v69 r145
  v70 r146
  v71
  v72 r50
  v73
  v74 r175
  v75 r76
  v76 r158
  v77 r86
  v78 r136
  v79 r176
  v80 r161
  v81 r28
  v82 r149
  v83 r39
  v84 r19
  v85 r41
  v86 r128
  v87 r23
  v88 r55
  v89 r99
  v90 r21
  v91 r184
  v92
  v93 r155
  v94 r112
  v95 r138
  v96 r120
  v97 r119
  v98 r66
  v99
  v100 r57
  v101
  v102 r35
  v103 r132
  v104 r97
  v105 r80
  v106
  v107 r170
  v108 r52
  v109 r83
  v110 r92
  v111 r62
  v112 r151
  v113 r69
  v114 r104
  v115 r129
  v116 r166
  v117 r139
  v118 r68
  v119 r186
  v120 r101
  v121 r77
  v122 r22
  v123 r181
  v124 r40
  v125 r43
  v126 r116
  v127 r81
  v128 r65
  v129 r53
  v130 r159
  v131 r183
  v132 r26
  v133 r72
  v134 r126
  v135 r95
  v136 r124
  v137 r29
  v138 r168
  v139 r33
  v140 r58
  v141 r27
  v142 r45
  v143 r70
  v144 r24
  v145 r167
  v146
  v147 r90
  v148 r67
  v149
  v150 r142
  v151 r154
  v152 r137
  v153 r46
  v154 r174
  v155 r84
  v156 r47
  v157 r42
  v158 r180
  v159 r125
  v160 r96
  v161 r74
  v162 r87
  v163 r64
  v164 r88
  v165 r164
  v166 r93
  v167 r75
  v168 r185
  v169 r30
  v170 r20
  v171 r150
  v172 r113
  v173 r140
  v174 r59
  v175 r148
  v176 r78
  v177 r102
  v178 r71
  v179 r152
  v180 r133
  v181 r172
  v182 r89
  v183 r173
  v184 r127
  v185 r118
  v186 r31
 )
 (:init
  (at r36 v0)
  (at r131 v1)
  (at r63 v2)
  (at r61 v3)
  (at r171 v4)
  (at r44 v5)
  (at r114 v6)
  (at r144 v7)
  (free v8)
  (at r109 v9)
  (free v10)
  (at r60 v11)
  (at r117 v12)
  (at r94 v13)
  (at r182 v14)
  (at r34 v15)
  (at r153 v16)
  (at r56 v17)
  (at r107 v18)
  (at r147 v19)
  (at r156 v20)
  (free v21)
  (at r162 v22)
  (at r85 v23)
  (at r165 v24)
  (at r130 v25)
  (at r98 v26)
  (at r51 v27)
  (at r122 v28)
  (at r79 v29)
  (at r25 v30)
  (free v31)
  (at r108 v32)
  (free v33)
  (free v34)
  (at r48 v35)
  (free v36)
  (at r141 v37)
  (at r123 v38)
  (at r143 v39)
  (at r135 v40)
  (at r121 v41)
  (at r32 v42)
  (at r91 v43)
  (free v44)
  (at r106 v45)
  (at r157 v46)
  (at r100 v47)
  (free v48)
  (at r38 v49)
  (at r37 v50)
  (at r82 v51)
  (free v52)
  (at r105 v53)
  (at r115 v54)
  (at r160 v55)
  (at r178 v56)
  (at r110 v57)
  (at r54 v58)
  (at r111 v59)
  (at r18 v60)
  (at r103 v61)
  (at r179 v62)
  (at r169 v63)
  (at r177 v64)
  (at r49 v65)
  (at r73 v66)
  (at r163 v67)
  (at r134 v68)
  (at r145 v69)
  (at r146 v70)
  (free v71)
  (at r50 v72)
  (free v73)
  (at r175 v74)
  (at r76 v75)
  (at r158 v76)
  (at r86 v77)
  (at r136 v78)
  (at r176 v79)
  (at r161 v80)
  (at r28 v81)
  (at r149 v82)
  (at r39 v83)
  (at r19 v84)
  (at r41 v85)
  (at r128 v86)
  (at r23 v87)
  (at r55 v88)
  (at r99 v89)
  (at r21 v90)
  (at r184 v91)
  (free v92)
  (at r155 v93)
  (at r112 v94)
  (at r138 v95)
  (at r120 v96)
  (at r119 v97)
  (at r66 v98)
  (free v99)
  (at r57 v100)
  (free v101)
  (at r35 v102)
  (at r132 v103)
  (at r97 v104)
  (at r80 v105)
  (free v106)
  (at r170 v107)
  (at r52 v108)
  (at r83 v109)
  (at r92 v110)
  (at r62 v111)
  (at r151 v112)
  (at r69 v113)
  (at r104 v114)
  (at r129 v115)
  (at r166 v116)
  (at r139 v117)
  (at r68 v118)
  (at r186 v119)
  (at r101 v120)
  (at r77 v121)
  (at r22 v122)
  (at r181 v123)
  (at r40 v124)
  (at r43 v125)
  (at r116 v126)
  (at r81 v127)
  (at r65 v128)
  (at r53 v129)
  (at r159 v130)
  (at r183 v131)
  (at r26 v132)
  (at r72 v133)
  (at r126 v134)
  (at r95 v135)
  (at r124 v136)
  (at r29 v137)
  (at r168 v138)
  (at r33 v139)
  (at r58 v140)
  (at r27 v141)
  (at r45 v142)
  (at r70 v143)
  (at r24 v144)
  (at r167 v145)
  (free v146)
  (at r90 v147)
  (at r67 v148)
  (free v149)
  (at r142 v150)
  (at r154 v151)
  (at r137 v152)
  (at r46 v153)
  (at r174 v154)
  (at r84 v155)
  (at r47 v156)
  (at r42 v157)
  (at r180 v158)
  (at r125 v159)
  (at r96 v160)
  (at r74 v161)
  (at r87 v162)
  (at r64 v163)
  (at r88 v164)
  (at r164 v165)
  (at r93 v166)
  (at r75 v167)
  (at r185 v168)
  (at r30 v169)
  (at r20 v170)
  (at r150 v171)
  (at r113 v172)
  (at r140 v173)
  (at r59 v174)
  (at r148 v175)
  (at r78 v176)
  (at r102 v177)
  (at r71 v178)
  (at r152 v179)
  (at r133 v180)
  (at r172 v181)
  (at r89 v182)
  (at r173 v183)
  (at r127 v184)
  (at r118 v185)
  (at r31 v186)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v12)
  (adjacent v0 v41)
  (adjacent v0 v100)
  (adjacent v0 v150)
  (adjacent v1 v2)
  (adjacent v1 v21)
  (adjacent v1 v36)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v115)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v29)
  (adjacent v4 v6)
  (adjacent v4 v53)
  (adjacent v5 v13)
  (adjacent v5 v80)
  (adjacent v5 v87)
  (adjacent v6 v7)
  (adjacent v6 v86)
  (adjacent v6 v98)
  (adjacent v6 v124)
  (adjacent v7 v8)
  (adjacent v7 v106)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v8 v123)
  (adjacent v8 v141)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v18)
  (adjacent v10 v38)
  (adjacent v11 v12)
  (adjacent v11 v40)
  (adjacent v11 v105)
  (adjacent v12 v22)
  (adjacent v12 v35)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v70)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v23)
  (adjacent v17 v41)
  (adjacent v18 v19)
  (adjacent v18 v28)
  (adjacent v18 v121)
  (adjacent v18 v147)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v99)
  (adjacent v21 v34)
  (adjacent v23 v24)
  (adjacent v23 v29)
  (adjacent v23 v52)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v30)
  (adjacent v26 v49)
  (adjacent v26 v181)
  (adjacent v27 v28)
  (adjacent v28 v157)
  (adjacent v29 v64)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v58)
  (adjacent v32 v79)
  (adjacent v32 v161)
  (adjacent v33 v34)
  (adjacent v33 v37)
  (adjacent v33 v47)
  (adjacent v33 v69)
  (adjacent v34 v35)
  (adjacent v34 v46)
  (adjacent v34 v136)
  (adjacent v35 v176)
  (adjacent v36 v37)
  (adjacent v36 v74)
  (adjacent v37 v161)
  (adjacent v38 v39)
  (adjacent v38 v60)
  (adjacent v38 v104)
  (adjacent v38 v127)
  (adjacent v39 v40)
  (adjacent v39 v78)
  (adjacent v40 v42)
  (adjacent v40 v186)
  (adjacent v41 v61)
  (adjacent v41 v65)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v59)
  (adjacent v43 v160)
  (adjacent v44 v45)
  (adjacent v44 v48)
  (adjacent v44 v53)
  (adjacent v45 v46)
  (adjacent v45 v79)
  (adjacent v46 v54)
  (adjacent v46 v182)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v110)
  (adjacent v57 v140)
  (adjacent v57 v172)
  (adjacent v58 v73)
  (adjacent v58 v167)
  (adjacent v59 v60)
  (adjacent v59 v87)
  (adjacent v60 v158)
  (adjacent v61 v62)
  (adjacent v61 v146)
  (adjacent v62 v63)
  (adjacent v62 v166)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v115)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v151)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v135)
  (adjacent v74 v75)
  (adjacent v74 v94)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v88)
  (adjacent v76 v95)
  (adjacent v77 v78)
  (adjacent v77 v128)
  (adjacent v78 v111)
  (adjacent v78 v162)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v129)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v99)
  (adjacent v88 v89)
  (adjacent v88 v169)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v149)
  (adjacent v90 v168)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v107)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v100 v122)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v107 v130)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v109 v114)
  (adjacent v110 v166)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v173)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v157)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v165)
  (adjacent v126 v177)
  (adjacent v128 v129)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v150)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v156)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
 )
 (:goal
  (and
  (free v0)
  (at r52 v1)
  (at r50 v2)
  (at r60 v3)
  (at r73 v4)
  (at r132 v5)
  (at r71 v6)
  (at r135 v7)
  (at r91 v8)
  (at r19 v9)
  (at r84 v10)
  (at r44 v11)
  (at r114 v12)
  (at r168 v13)
  (at r96 v14)
  (free v15)
  (at r115 v16)
  (at r63 v17)
  (at r22 v18)
  (at r111 v19)
  (at r72 v20)
  (free v21)
  (at r129 v22)
  (at r133 v23)
  (at r160 v24)
  (free v25)
  (at r148 v26)
  (at r49 v27)
  (at r35 v28)
  (free v29)
  (at r80 v30)
  (at r169 v31)
  (at r97 v32)
  (at r56 v33)
  (at r173 v34)
  (at r75 v35)
  (at r145 v36)
  (at r100 v37)
  (at r38 v38)
  (at r146 v39)
  (at r182 v40)
  (at r87 v41)
  (at r86 v42)
  (at r113 v43)
  (at r37 v44)
  (at r152 v45)
  (at r32 v46)
  (at r171 v47)
  (free v48)
  (at r89 v49)
  (at r30 v50)
  (at r98 v51)
  (at r41 v52)
  (at r45 v53)
  (at r21 v54)
  (at r51 v55)
  (at r112 v56)
  (at r128 v57)
  (at r105 v58)
  (at r150 v59)
  (at r110 v60)
  (free v61)
  (at r54 v62)
  (at r42 v63)
  (at r122 v64)
  (at r70 v65)
  (at r83 v66)
  (at r137 v67)
  (free v68)
  (at r179 v69)
  (at r107 v70)
  (at r141 v71)
  (at r183 v72)
  (at r161 v73)
  (at r69 v74)
  (at r185 v75)
  (at r33 v76)
  (at r127 v77)
  (at r79 v78)
  (at r143 v79)
  (at r109 v80)
  (at r53 v81)
  (at r154 v82)
  (at r149 v83)
  (at r155 v84)
  (at r20 v85)
  (at r106 v86)
  (at r134 v87)
  (at r175 v88)
  (at r118 v89)
  (at r147 v90)
  (at r162 v91)
  (at r140 v92)
  (at r34 v93)
  (at r23 v94)
  (at r158 v95)
  (at r126 v96)
  (at r166 v97)
  (at r90 v98)
  (free v99)
  (at r43 v100)
  (free v101)
  (at r18 v102)
  (at r177 v103)
  (at r36 v104)
  (free v105)
  (at r101 v106)
  (at r78 v107)
  (at r174 v108)
  (at r58 v109)
  (free v110)
  (at r123 v111)
  (free v112)
  (at r125 v113)
  (at r93 v114)
  (at r156 v115)
  (at r176 v116)
  (at r130 v117)
  (free v118)
  (at r77 v119)
  (at r157 v120)
  (at r163 v121)
  (at r62 v122)
  (at r48 v123)
  (at r144 v124)
  (at r26 v125)
  (at r131 v126)
  (at r47 v127)
  (at r178 v128)
  (free v129)
  (at r117 v130)
  (free v131)
  (at r66 v132)
  (at r64 v133)
  (at r61 v134)
  (at r151 v135)
  (at r138 v136)
  (at r186 v137)
  (at r95 v138)
  (free v139)
  (at r29 v140)
  (at r119 v141)
  (at r124 v142)
  (at r55 v143)
  (at r165 v144)
  (at r25 v145)
  (at r57 v146)
  (at r65 v147)
  (at r142 v148)
  (at r167 v149)
  (free v150)
  (at r40 v151)
  (at r88 v152)
  (at r153 v153)
  (at r81 v154)
  (at r103 v155)
  (at r92 v156)
  (at r28 v157)
  (at r180 v158)
  (at r99 v159)
  (at r94 v160)
  (at r121 v161)
  (at r184 v162)
  (at r116 v163)
  (at r39 v164)
  (at r82 v165)
  (at r74 v166)
  (at r76 v167)
  (at r67 v168)
  (at r139 v169)
  (at r170 v170)
  (at r46 v171)
  (at r159 v172)
  (at r59 v173)
  (at r181 v174)
  (at r164 v175)
  (at r102 v176)
  (at r24 v177)
  (at r31 v178)
  (at r104 v179)
  (at r108 v180)
  (at r120 v181)
  (at r85 v182)
  (at r172 v183)
  (at r136 v184)
  (at r68 v185)
  (at r27 v186)
  )
 )
)