(define (problem multirobot_45_2_c6)
 (:domain multirobot)
 (:objects
  v0 r57
  v1 r76
  v2 r184
  v3 r134
  v4 r34
  v5 r170
  v6 r106
  v7 r115
  v8 r79
  v9 r78
  v10 r102
  v11 r41
  v12 r151
  v13 r52
  v14 r4
  v15 r20
  v16 r73
  v17 r128
  v18 r123
  v19 r81
  v20 r22
  v21 r107
  v22 r185
  v23 r39
  v24 r101
  v25 r164
  v26 r165
  v27 r80
  v28 r91
  v29 r17
  v30 r74
  v31 r35
  v32 r160
  v33 r149
  v34 r132
  v35 r84
  v36 r97
  v37 r112
  v38 r110
  v39 r10
  v40 r109
  v41 r129
  v42 r136
  v43 r62
  v44 r56
  v45 r59
  v46 r130
  v47 r11
  v48 r82
  v49 r124
  v50 r119
  v51 r5
  v52 r139
  v53 r103
  v54 r69
  v55 r114
  v56 r45
  v57 r77
  v58 r175
  v59 r142
  v60 r36
  v61 r37
  v62 r7
  v63 r145
  v64 r67
  v65 r60
  v66 r85
  v67 r144
  v68 r177
  v69 r66
  v70 r2
  v71 r13
  v72 r30
  v73 r93
  v74 r176
  v75 r140
  v76 r135
  v77 r163
  v78 r50
  v79 r141
  v80 r169
  v81 r127
  v82 r168
  v83 r49
  v84 r167
  v85 r23
  v86 r16
  v87 r180
  v88 r9
  v89 r98
  v90 r38
  v91 r71
  v92 r25
  v93 r47
  v94 r44
  v95 r6
  v96 r46
  v97 r70
  v98 r172
  v99 r12
  v100 r53
  v101 r126
  v102 r15
  v103 r40
  v104 r131
  v105 r83
  v106 r143
  v107 r120
  v108 r111
  v109 r125
  v110 r122
  v111 r183
  v112 r138
  v113 r87
  v114 r72
  v115 r61
  v116 r55
  v117 r178
  v118 r63
  v119 r158
  v120 r105
  v121 r116
  v122 r29
  v123 r118
  v124 r161
  v125 r174
  v126 r19
  v127 r155
  v128 r146
  v129 r51
  v130 r42
  v131 r154
  v132
  v133 r150
  v134 r182
  v135 r43
  v136 r100
  v137 r104
  v138 r133
  v139 r108
  v140 r99
  v141 r137
  v142 r166
  v143 r65
  v144
  v145 r18
  v146 r159
  v147 r31
  v148 r75
  v149 r33
  v150 r94
  v151 r64
  v152 r14
  v153 r8
  v154 r113
  v155 r92
  v156 r26
  v157 r32
  v158 r117
  v159 r86
  v160 r156
  v161 r173
  v162 r153
  v163 r58
  v164 r152
  v165 r96
  v166 r186
  v167 r24
  v168 r89
  v169 r121
  v170 r147
  v171 r3
  v172 r27
  v173 r179
  v174 r90
  v175 r28
  v176 r21
  v177 r48
  v178 r95
  v179 r54
  v180 r181
  v181 r162
  v182 r68
  v183 r148
  v184 r88
  v185 r171
  v186 r157
 )
 (:init
  (at r57 v0)
  (at r76 v1)
  (at r184 v2)
  (at r134 v3)
  (at r34 v4)
  (at r170 v5)
  (at r106 v6)
  (at r115 v7)
  (at r79 v8)
  (at r78 v9)
  (at r102 v10)
  (at r41 v11)
  (at r151 v12)
  (at r52 v13)
  (at r4 v14)
  (at r20 v15)
  (at r73 v16)
  (at r128 v17)
  (at r123 v18)
  (at r81 v19)
  (at r22 v20)
  (at r107 v21)
  (at r185 v22)
  (at r39 v23)
  (at r101 v24)
  (at r164 v25)
  (at r165 v26)
  (at r80 v27)
  (at r91 v28)
  (at r17 v29)
  (at r74 v30)
  (at r35 v31)
  (at r160 v32)
  (at r149 v33)
  (at r132 v34)
  (at r84 v35)
  (at r97 v36)
  (at r112 v37)
  (at r110 v38)
  (at r10 v39)
  (at r109 v40)
  (at r129 v41)
  (at r136 v42)
  (at r62 v43)
  (at r56 v44)
  (at r59 v45)
  (at r130 v46)
  (at r11 v47)
  (at r82 v48)
  (at r124 v49)
  (at r119 v50)
  (at r5 v51)
  (at r139 v52)
  (at r103 v53)
  (at r69 v54)
  (at r114 v55)
  (at r45 v56)
  (at r77 v57)
  (at r175 v58)
  (at r142 v59)
  (at r36 v60)
  (at r37 v61)
  (at r7 v62)
  (at r145 v63)
  (at r67 v64)
  (at r60 v65)
  (at r85 v66)
  (at r144 v67)
  (at r177 v68)
  (at r66 v69)
  (at r2 v70)
  (at r13 v71)
  (at r30 v72)
  (at r93 v73)
  (at r176 v74)
  (at r140 v75)
  (at r135 v76)
  (at r163 v77)
  (at r50 v78)
  (at r141 v79)
  (at r169 v80)
  (at r127 v81)
  (at r168 v82)
  (at r49 v83)
  (at r167 v84)
  (at r23 v85)
  (at r16 v86)
  (at r180 v87)
  (at r9 v88)
  (at r98 v89)
  (at r38 v90)
  (at r71 v91)
  (at r25 v92)
  (at r47 v93)
  (at r44 v94)
  (at r6 v95)
  (at r46 v96)
  (at r70 v97)
  (at r172 v98)
  (at r12 v99)
  (at r53 v100)
  (at r126 v101)
  (at r15 v102)
  (at r40 v103)
  (at r131 v104)
  (at r83 v105)
  (at r143 v106)
  (at r120 v107)
  (at r111 v108)
  (at r125 v109)
  (at r122 v110)
  (at r183 v111)
  (at r138 v112)
  (at r87 v113)
  (at r72 v114)
  (at r61 v115)
  (at r55 v116)
  (at r178 v117)
  (at r63 v118)
  (at r158 v119)
  (at r105 v120)
  (at r116 v121)
  (at r29 v122)
  (at r118 v123)
  (at r161 v124)
  (at r174 v125)
  (at r19 v126)
  (at r155 v127)
  (at r146 v128)
  (at r51 v129)
  (at r42 v130)
  (at r154 v131)
  (free v132)
  (at r150 v133)
  (at r182 v134)
  (at r43 v135)
  (at r100 v136)
  (at r104 v137)
  (at r133 v138)
  (at r108 v139)
  (at r99 v140)
  (at r137 v141)
  (at r166 v142)
  (at r65 v143)
  (free v144)
  (at r18 v145)
  (at r159 v146)
  (at r31 v147)
  (at r75 v148)
  (at r33 v149)
  (at r94 v150)
  (at r64 v151)
  (at r14 v152)
  (at r8 v153)
  (at r113 v154)
  (at r92 v155)
  (at r26 v156)
  (at r32 v157)
  (at r117 v158)
  (at r86 v159)
  (at r156 v160)
  (at r173 v161)
  (at r153 v162)
  (at r58 v163)
  (at r152 v164)
  (at r96 v165)
  (at r186 v166)
  (at r24 v167)
  (at r89 v168)
  (at r121 v169)
  (at r147 v170)
  (at r3 v171)
  (at r27 v172)
  (at r179 v173)
  (at r90 v174)
  (at r28 v175)
  (at r21 v176)
  (at r48 v177)
  (at r95 v178)
  (at r54 v179)
  (at r181 v180)
  (at r162 v181)
  (at r68 v182)
  (at r148 v183)
  (at r88 v184)
  (at r171 v185)
  (at r157 v186)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v30)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v34)
  (adjacent v2 v107)
  (adjacent v3 v4)
  (adjacent v3 v22)
  (adjacent v3 v53)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v6 v17)
  (adjacent v6 v67)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v47)
  (adjacent v8 v9)
  (adjacent v8 v31)
  (adjacent v8 v35)
  (adjacent v9 v10)
  (adjacent v11 v12)
  (adjacent v11 v23)
  (adjacent v11 v44)
  (adjacent v11 v80)
  (adjacent v11 v170)
  (adjacent v12 v16)
  (adjacent v12 v29)
  (adjacent v12 v32)
  (adjacent v12 v39)
  (adjacent v12 v42)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v36)
  (adjacent v14 v45)
  (adjacent v15 v16)
  (adjacent v15 v69)
  (adjacent v17 v18)
  (adjacent v17 v41)
  (adjacent v17 v46)
  (adjacent v17 v164)
  (adjacent v18 v19)
  (adjacent v18 v46)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v38)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v23 v30)
  (adjacent v23 v60)
  (adjacent v24 v25)
  (adjacent v24 v35)
  (adjacent v24 v61)
  (adjacent v24 v173)
  (adjacent v25 v26)
  (adjacent v25 v87)
  (adjacent v25 v95)
  (adjacent v26 v27)
  (adjacent v26 v33)
  (adjacent v26 v86)
  (adjacent v27 v28)
  (adjacent v27 v147)
  (adjacent v27 v158)
  (adjacent v28 v29)
  (adjacent v29 v113)
  (adjacent v31 v32)
  (adjacent v31 v101)
  (adjacent v32 v114)
  (adjacent v33 v34)
  (adjacent v36 v37)
  (adjacent v36 v79)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v74)
  (adjacent v41 v54)
  (adjacent v41 v85)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v45)
  (adjacent v44 v94)
  (adjacent v46 v88)
  (adjacent v46 v130)
  (adjacent v47 v48)
  (adjacent v47 v158)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v65)
  (adjacent v51 v52)
  (adjacent v51 v66)
  (adjacent v52 v53)
  (adjacent v53 v68)
  (adjacent v53 v124)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v61 v75)
  (adjacent v61 v174)
  (adjacent v62 v63)
  (adjacent v62 v92)
  (adjacent v63 v64)
  (adjacent v63 v141)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v186)
  (adjacent v67 v68)
  (adjacent v67 v154)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v100)
  (adjacent v70 v125)
  (adjacent v70 v173)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v175)
  (adjacent v75 v76)
  (adjacent v75 v91)
  (adjacent v76 v77)
  (adjacent v76 v172)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v137)
  (adjacent v83 v84)
  (adjacent v83 v138)
  (adjacent v84 v85)
  (adjacent v85 v163)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v180)
  (adjacent v97 v98)
  (adjacent v97 v146)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v101 v102)
  (adjacent v101 v153)
  (adjacent v102 v103)
  (adjacent v102 v108)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v119)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v108 v179)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v117 v120)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v120 v157)
  (adjacent v121 v122)
  (adjacent v121 v176)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v128 v131)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v140)
  (adjacent v133 v134)
  (adjacent v133 v169)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v159)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v158 v174)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v164 v175)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (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 v185 v186)
 )
 (:goal
  (and
  (at r49 v0)
  (at r65 v1)
  (at r115 v2)
  (at r28 v3)
  (at r108 v4)
  (at r126 v5)
  (at r139 v6)
  (at r155 v7)
  (at r150 v8)
  (at r63 v9)
  (at r6 v10)
  (at r128 v11)
  (at r136 v12)
  (at r143 v13)
  (at r36 v14)
  (at r110 v15)
  (at r154 v16)
  (at r144 v17)
  (at r168 v18)
  (at r185 v19)
  (at r9 v20)
  (at r40 v21)
  (at r77 v22)
  (at r50 v23)
  (at r145 v24)
  (at r82 v25)
  (at r152 v26)
  (at r48 v27)
  (at r17 v28)
  (at r138 v29)
  (at r163 v30)
  (at r122 v31)
  (at r134 v32)
  (at r161 v33)
  (at r140 v34)
  (at r72 v35)
  (at r73 v36)
  (at r62 v37)
  (at r37 v38)
  (at r177 v39)
  (at r124 v40)
  (at r151 v41)
  (at r86 v42)
  (at r71 v43)
  (at r23 v44)
  (at r85 v45)
  (at r83 v46)
  (at r99 v47)
  (at r102 v48)
  (at r35 v49)
  (at r18 v50)
  (at r174 v51)
  (at r160 v52)
  (at r60 v53)
  (at r105 v54)
  (at r42 v55)
  (at r33 v56)
  (at r41 v57)
  (at r112 v58)
  (at r46 v59)
  (at r70 v60)
  (at r131 v61)
  (at r171 v62)
  (at r12 v63)
  (free v64)
  (at r57 v65)
  (at r175 v66)
  (at r130 v67)
  (at r27 v68)
  (at r147 v69)
  (at r19 v70)
  (at r146 v71)
  (at r59 v72)
  (at r120 v73)
  (at r56 v74)
  (at r76 v75)
  (at r64 v76)
  (at r123 v77)
  (at r179 v78)
  (at r135 v79)
  (at r172 v80)
  (at r159 v81)
  (at r14 v82)
  (at r137 v83)
  (at r26 v84)
  (at r13 v85)
  (at r67 v86)
  (at r31 v87)
  (at r119 v88)
  (at r91 v89)
  (at r32 v90)
  (at r125 v91)
  (at r81 v92)
  (at r153 v93)
  (free v94)
  (at r149 v95)
  (at r111 v96)
  (at r24 v97)
  (at r44 v98)
  (at r61 v99)
  (at r157 v100)
  (at r84 v101)
  (at r66 v102)
  (at r39 v103)
  (at r173 v104)
  (at r148 v105)
  (at r106 v106)
  (at r121 v107)
  (at r75 v108)
  (at r116 v109)
  (at r167 v110)
  (at r166 v111)
  (at r118 v112)
  (at r169 v113)
  (at r87 v114)
  (at r7 v115)
  (at r132 v116)
  (at r89 v117)
  (at r158 v118)
  (at r178 v119)
  (at r92 v120)
  (at r94 v121)
  (at r74 v122)
  (at r16 v123)
  (at r29 v124)
  (at r180 v125)
  (at r5 v126)
  (at r78 v127)
  (at r127 v128)
  (at r107 v129)
  (at r88 v130)
  (at r8 v131)
  (at r95 v132)
  (at r114 v133)
  (at r170 v134)
  (at r21 v135)
  (at r142 v136)
  (at r176 v137)
  (at r79 v138)
  (at r103 v139)
  (at r129 v140)
  (at r2 v141)
  (at r45 v142)
  (at r43 v143)
  (at r164 v144)
  (at r97 v145)
  (at r53 v146)
  (at r182 v147)
  (at r181 v148)
  (at r68 v149)
  (at r69 v150)
  (at r186 v151)
  (at r20 v152)
  (at r133 v153)
  (at r90 v154)
  (at r100 v155)
  (at r38 v156)
  (at r98 v157)
  (at r141 v158)
  (at r25 v159)
  (at r51 v160)
  (at r80 v161)
  (at r15 v162)
  (at r22 v163)
  (at r3 v164)
  (at r55 v165)
  (at r4 v166)
  (at r58 v167)
  (at r52 v168)
  (at r54 v169)
  (at r184 v170)
  (at r109 v171)
  (at r104 v172)
  (at r101 v173)
  (at r117 v174)
  (at r162 v175)
  (at r183 v176)
  (at r93 v177)
  (at r156 v178)
  (at r34 v179)
  (at r96 v180)
  (at r11 v181)
  (at r113 v182)
  (at r30 v183)
  (at r47 v184)
  (at r165 v185)
  (at r10 v186)
  )
 )
)