(define (problem multirobot_56_10%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1 r122
  v2 r166
  v3 r163
  v4 r22
  v5 r161
  v6 r113
  v7 r169
  v8 r141
  v9 r72
  v10 r23
  v11
  v12 r51
  v13 r103
  v14 r120
  v15
  v16 r37
  v17
  v18 r43
  v19 r137
  v20 r168
  v21 r94
  v22 r33
  v23 r156
  v24 r79
  v25 r132
  v26 r38
  v27 r160
  v28 r112
  v29 r134
  v30 r46
  v31
  v32
  v33 r136
  v34
  v35 r181
  v36 r111
  v37 r133
  v38 r93
  v39 r176
  v40 r187
  v41 r138
  v42 r118
  v43 r146
  v44 r106
  v45 r129
  v46 r183
  v47 r88
  v48
  v49 r162
  v50
  v51 r76
  v52 r154
  v53 r108
  v54 r28
  v55 r89
  v56
  v57 r157
  v58 r114
  v59 r49
  v60 r52
  v61 r53
  v62 r153
  v63 r99
  v64 r119
  v65
  v66
  v67 r74
  v68 r50
  v69 r42
  v70 r121
  v71 r58
  v72 r64
  v73 r83
  v74 r84
  v75 r164
  v76 r55
  v77 r97
  v78 r67
  v79
  v80 r151
  v81 r167
  v82 r128
  v83 r31
  v84
  v85 r95
  v86 r150
  v87 r86
  v88 r70
  v89 r57
  v90 r62
  v91 r39
  v92 r102
  v93 r75
  v94 r25
  v95 r80
  v96 r59
  v97 r78
  v98 r173
  v99 r184
  v100 r66
  v101 r26
  v102 r178
  v103 r47
  v104 r21
  v105 r69
  v106 r148
  v107
  v108 r186
  v109 r107
  v110 r63
  v111
  v112 r73
  v113 r82
  v114 r40
  v115 r174
  v116 r96
  v117 r27
  v118 r77
  v119 r117
  v120 r56
  v121 r87
  v122 r131
  v123
  v124 r127
  v125 r101
  v126
  v127 r32
  v128 r30
  v129 r142
  v130 r68
  v131 r165
  v132 r100
  v133 r152
  v134 r85
  v135 r34
  v136 r45
  v137 r61
  v138 r177
  v139 r116
  v140 r144
  v141 r36
  v142 r145
  v143 r81
  v144 r159
  v145 r149
  v146 r130
  v147 r65
  v148 r147
  v149 r92
  v150 r158
  v151
  v152 r48
  v153 r90
  v154 r143
  v155 r98
  v156 r139
  v157 r71
  v158
  v159 r179
  v160 r172
  v161 r44
  v162 r115
  v163 r124
  v164 r91
  v165 r171
  v166 r109
  v167 r155
  v168 r41
  v169 r175
  v170 r182
  v171
  v172 r110
  v173 r180
  v174 r126
  v175 r35
  v176 r29
  v177 r60
  v178 r24
  v179 r54
  v180 r105
  v181 r135
  v182 r140
  v183 r104
  v184 r125
  v185 r170
  v186 r123
  v187 r185
 )
 (:init
  (free v0)
  (at r122 v1)
  (at r166 v2)
  (at r163 v3)
  (at r22 v4)
  (at r161 v5)
  (at r113 v6)
  (at r169 v7)
  (at r141 v8)
  (at r72 v9)
  (at r23 v10)
  (free v11)
  (at r51 v12)
  (at r103 v13)
  (at r120 v14)
  (free v15)
  (at r37 v16)
  (free v17)
  (at r43 v18)
  (at r137 v19)
  (at r168 v20)
  (at r94 v21)
  (at r33 v22)
  (at r156 v23)
  (at r79 v24)
  (at r132 v25)
  (at r38 v26)
  (at r160 v27)
  (at r112 v28)
  (at r134 v29)
  (at r46 v30)
  (free v31)
  (free v32)
  (at r136 v33)
  (free v34)
  (at r181 v35)
  (at r111 v36)
  (at r133 v37)
  (at r93 v38)
  (at r176 v39)
  (at r187 v40)
  (at r138 v41)
  (at r118 v42)
  (at r146 v43)
  (at r106 v44)
  (at r129 v45)
  (at r183 v46)
  (at r88 v47)
  (free v48)
  (at r162 v49)
  (free v50)
  (at r76 v51)
  (at r154 v52)
  (at r108 v53)
  (at r28 v54)
  (at r89 v55)
  (free v56)
  (at r157 v57)
  (at r114 v58)
  (at r49 v59)
  (at r52 v60)
  (at r53 v61)
  (at r153 v62)
  (at r99 v63)
  (at r119 v64)
  (free v65)
  (free v66)
  (at r74 v67)
  (at r50 v68)
  (at r42 v69)
  (at r121 v70)
  (at r58 v71)
  (at r64 v72)
  (at r83 v73)
  (at r84 v74)
  (at r164 v75)
  (at r55 v76)
  (at r97 v77)
  (at r67 v78)
  (free v79)
  (at r151 v80)
  (at r167 v81)
  (at r128 v82)
  (at r31 v83)
  (free v84)
  (at r95 v85)
  (at r150 v86)
  (at r86 v87)
  (at r70 v88)
  (at r57 v89)
  (at r62 v90)
  (at r39 v91)
  (at r102 v92)
  (at r75 v93)
  (at r25 v94)
  (at r80 v95)
  (at r59 v96)
  (at r78 v97)
  (at r173 v98)
  (at r184 v99)
  (at r66 v100)
  (at r26 v101)
  (at r178 v102)
  (at r47 v103)
  (at r21 v104)
  (at r69 v105)
  (at r148 v106)
  (free v107)
  (at r186 v108)
  (at r107 v109)
  (at r63 v110)
  (free v111)
  (at r73 v112)
  (at r82 v113)
  (at r40 v114)
  (at r174 v115)
  (at r96 v116)
  (at r27 v117)
  (at r77 v118)
  (at r117 v119)
  (at r56 v120)
  (at r87 v121)
  (at r131 v122)
  (free v123)
  (at r127 v124)
  (at r101 v125)
  (free v126)
  (at r32 v127)
  (at r30 v128)
  (at r142 v129)
  (at r68 v130)
  (at r165 v131)
  (at r100 v132)
  (at r152 v133)
  (at r85 v134)
  (at r34 v135)
  (at r45 v136)
  (at r61 v137)
  (at r177 v138)
  (at r116 v139)
  (at r144 v140)
  (at r36 v141)
  (at r145 v142)
  (at r81 v143)
  (at r159 v144)
  (at r149 v145)
  (at r130 v146)
  (at r65 v147)
  (at r147 v148)
  (at r92 v149)
  (at r158 v150)
  (free v151)
  (at r48 v152)
  (at r90 v153)
  (at r143 v154)
  (at r98 v155)
  (at r139 v156)
  (at r71 v157)
  (free v158)
  (at r179 v159)
  (at r172 v160)
  (at r44 v161)
  (at r115 v162)
  (at r124 v163)
  (at r91 v164)
  (at r171 v165)
  (at r109 v166)
  (at r155 v167)
  (at r41 v168)
  (at r175 v169)
  (at r182 v170)
  (free v171)
  (at r110 v172)
  (at r180 v173)
  (at r126 v174)
  (at r35 v175)
  (at r29 v176)
  (at r60 v177)
  (at r24 v178)
  (at r54 v179)
  (at r105 v180)
  (at r135 v181)
  (at r140 v182)
  (at r104 v183)
  (at r125 v184)
  (at r170 v185)
  (at r123 v186)
  (at r185 v187)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v42)
  (adjacent v1 v2)
  (adjacent v1 v98)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v54)
  (adjacent v3 v4)
  (adjacent v3 v26)
  (adjacent v3 v87)
  (adjacent v3 v171)
  (adjacent v4 v9)
  (adjacent v4 v88)
  (adjacent v5 v6)
  (adjacent v5 v16)
  (adjacent v5 v162)
  (adjacent v6 v7)
  (adjacent v6 v64)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v8 v43)
  (adjacent v9 v17)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v24)
  (adjacent v11 v25)
  (adjacent v12 v13)
  (adjacent v12 v22)
  (adjacent v12 v23)
  (adjacent v12 v24)
  (adjacent v12 v75)
  (adjacent v12 v150)
  (adjacent v13 v14)
  (adjacent v13 v37)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v14 v36)
  (adjacent v14 v51)
  (adjacent v15 v16)
  (adjacent v15 v43)
  (adjacent v15 v74)
  (adjacent v15 v81)
  (adjacent v16 v45)
  (adjacent v17 v18)
  (adjacent v17 v75)
  (adjacent v17 v119)
  (adjacent v17 v170)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v55)
  (adjacent v19 v136)
  (adjacent v19 v162)
  (adjacent v20 v21)
  (adjacent v20 v46)
  (adjacent v20 v93)
  (adjacent v21 v22)
  (adjacent v21 v32)
  (adjacent v21 v33)
  (adjacent v21 v40)
  (adjacent v22 v27)
  (adjacent v22 v41)
  (adjacent v22 v44)
  (adjacent v22 v57)
  (adjacent v22 v123)
  (adjacent v22 v151)
  (adjacent v23 v56)
  (adjacent v23 v97)
  (adjacent v23 v122)
  (adjacent v25 v26)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v39)
  (adjacent v28 v58)
  (adjacent v28 v76)
  (adjacent v28 v184)
  (adjacent v29 v30)
  (adjacent v29 v74)
  (adjacent v29 v163)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v113)
  (adjacent v33 v178)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v53)
  (adjacent v36 v168)
  (adjacent v37 v38)
  (adjacent v37 v42)
  (adjacent v38 v39)
  (adjacent v38 v73)
  (adjacent v39 v101)
  (adjacent v39 v117)
  (adjacent v40 v41)
  (adjacent v40 v160)
  (adjacent v41 v173)
  (adjacent v43 v180)
  (adjacent v44 v45)
  (adjacent v44 v59)
  (adjacent v45 v52)
  (adjacent v45 v102)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v98)
  (adjacent v49 v50)
  (adjacent v49 v54)
  (adjacent v49 v67)
  (adjacent v50 v51)
  (adjacent v50 v92)
  (adjacent v51 v63)
  (adjacent v51 v92)
  (adjacent v52 v53)
  (adjacent v55 v56)
  (adjacent v55 v91)
  (adjacent v57 v58)
  (adjacent v57 v68)
  (adjacent v59 v60)
  (adjacent v59 v99)
  (adjacent v59 v179)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v128)
  (adjacent v61 v185)
  (adjacent v62 v63)
  (adjacent v63 v177)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v68 v106)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v76 v77)
  (adjacent v76 v82)
  (adjacent v77 v78)
  (adjacent v77 v121)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v120)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v129)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v172)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v179)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v112)
  (adjacent v97 v174)
  (adjacent v98 v121)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v135)
  (adjacent v102 v103)
  (adjacent v102 v118)
  (adjacent v103 v104)
  (adjacent v103 v107)
  (adjacent v104 v105)
  (adjacent v104 v183)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v118)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v150)
  (adjacent v112 v156)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v155)
  (adjacent v118 v187)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v121 v186)
  (adjacent v122 v149)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v126 v173)
  (adjacent v127 v128)
  (adjacent v127 v142)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v136 v143)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v150 v161)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v153 v178)
  (adjacent v154 v155)
  (adjacent v154 v161)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v158 v167)
  (adjacent v159 v160)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v171 v172)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v186 v187)
 )
 (:goal
  (and
  (at r40 v0)
  (at r83 v1)
  (at r44 v2)
  (at r104 v3)
  (at r120 v4)
  (free v5)
  (at r79 v6)
  (at r62 v7)
  (at r179 v8)
  (at r162 v9)
  (at r119 v10)
  (at r132 v11)
  (at r33 v12)
  (at r41 v13)
  (at r76 v14)
  (at r159 v15)
  (at r157 v16)
  (at r43 v17)
  (at r133 v18)
  (at r91 v19)
  (at r143 v20)
  (at r173 v21)
  (at r113 v22)
  (at r51 v23)
  (at r151 v24)
  (at r74 v25)
  (at r82 v26)
  (at r144 v27)
  (at r117 v28)
  (at r26 v29)
  (at r152 v30)
  (at r114 v31)
  (free v32)
  (at r28 v33)
  (free v34)
  (at r21 v35)
  (at r115 v36)
  (at r176 v37)
  (at r178 v38)
  (at r45 v39)
  (at r48 v40)
  (at r24 v41)
  (free v42)
  (at r85 v43)
  (at r165 v44)
  (free v45)
  (free v46)
  (at r34 v47)
  (at r171 v48)
  (at r81 v49)
  (at r86 v50)
  (at r23 v51)
  (at r174 v52)
  (at r94 v53)
  (free v54)
  (at r58 v55)
  (at r129 v56)
  (at r126 v57)
  (at r84 v58)
  (at r130 v59)
  (at r46 v60)
  (at r65 v61)
  (at r153 v62)
  (at r42 v63)
  (at r168 v64)
  (at r60 v65)
  (at r139 v66)
  (at r38 v67)
  (free v68)
  (at r95 v69)
  (at r56 v70)
  (at r31 v71)
  (at r67 v72)
  (at r185 v73)
  (free v74)
  (free v75)
  (at r170 v76)
  (at r124 v77)
  (at r137 v78)
  (at r140 v79)
  (at r99 v80)
  (at r75 v81)
  (at r100 v82)
  (at r186 v83)
  (at r39 v84)
  (at r96 v85)
  (at r181 v86)
  (at r36 v87)
  (at r141 v88)
  (at r187 v89)
  (at r37 v90)
  (at r71 v91)
  (at r160 v92)
  (at r169 v93)
  (at r93 v94)
  (at r68 v95)
  (at r166 v96)
  (at r180 v97)
  (at r183 v98)
  (at r30 v99)
  (at r102 v100)
  (at r108 v101)
  (at r29 v102)
  (free v103)
  (at r57 v104)
  (at r121 v105)
  (at r131 v106)
  (at r64 v107)
  (at r110 v108)
  (at r150 v109)
  (at r155 v110)
  (at r88 v111)
  (at r50 v112)
  (at r66 v113)
  (at r146 v114)
  (at r109 v115)
  (at r177 v116)
  (at r47 v117)
  (at r148 v118)
  (at r55 v119)
  (at r89 v120)
  (at r73 v121)
  (at r167 v122)
  (at r172 v123)
  (at r106 v124)
  (at r127 v125)
  (at r87 v126)
  (at r105 v127)
  (free v128)
  (at r161 v129)
  (at r116 v130)
  (free v131)
  (at r61 v132)
  (at r72 v133)
  (at r54 v134)
  (at r149 v135)
  (at r80 v136)
  (free v137)
  (at r98 v138)
  (at r53 v139)
  (at r163 v140)
  (at r32 v141)
  (at r27 v142)
  (at r101 v143)
  (at r182 v144)
  (at r164 v145)
  (free v146)
  (at r136 v147)
  (at r184 v148)
  (at r145 v149)
  (at r52 v150)
  (at r118 v151)
  (at r69 v152)
  (at r49 v153)
  (at r107 v154)
  (at r158 v155)
  (at r138 v156)
  (free v157)
  (at r59 v158)
  (at r156 v159)
  (free v160)
  (at r97 v161)
  (at r90 v162)
  (free v163)
  (at r175 v164)
  (at r128 v165)
  (at r35 v166)
  (at r125 v167)
  (at r147 v168)
  (at r122 v169)
  (free v170)
  (at r112 v171)
  (at r77 v172)
  (at r123 v173)
  (free v174)
  (at r135 v175)
  (at r111 v176)
  (at r25 v177)
  (at r70 v178)
  (at r134 v179)
  (at r103 v180)
  (at r92 v181)
  (free v182)
  (at r142 v183)
  (at r22 v184)
  (at r63 v185)
  (at r154 v186)
  (at r78 v187)
  )
 )
)