(define (problem multirobot_50_2_c2)
 (:domain multirobot)
 (:objects
  v0
  v1 r112
  v2 r61
  v3 r28
  v4 r147
  v5 r113
  v6 r104
  v7 r52
  v8 r20
  v9 r164
  v10 r141
  v11 r43
  v12 r83
  v13 r58
  v14 r67
  v15 r12
  v16 r92
  v17 r161
  v18 r14
  v19 r139
  v20 r48
  v21 r70
  v22 r145
  v23 r149
  v24 r18
  v25 r46
  v26 r44
  v27
  v28 r7
  v29 r140
  v30 r13
  v31 r29
  v32 r150
  v33 r111
  v34 r15
  v35 r24
  v36 r162
  v37 r17
  v38 r128
  v39 r160
  v40 r131
  v41 r106
  v42 r4
  v43 r42
  v44 r74
  v45 r57
  v46 r137
  v47 r85
  v48 r56
  v49 r49
  v50 r110
  v51 r109
  v52 r155
  v53 r154
  v54 r50
  v55 r35
  v56 r90
  v57 r107
  v58 r60
  v59 r23
  v60 r32
  v61 r34
  v62 r108
  v63 r8
  v64 r120
  v65 r100
  v66 r99
  v67 r10
  v68 r130
  v69 r71
  v70 r151
  v71 r127
  v72 r101
  v73 r37
  v74 r119
  v75 r95
  v76 r62
  v77 r59
  v78 r41
  v79 r115
  v80 r134
  v81 r33
  v82 r27
  v83 r159
  v84 r97
  v85 r122
  v86 r143
  v87 r80
  v88 r76
  v89 r89
  v90 r146
  v91 r40
  v92 r21
  v93 r123
  v94 r16
  v95 r22
  v96 r135
  v97 r152
  v98 r69
  v99 r72
  v100 r39
  v101 r9
  v102 r156
  v103 r91
  v104 r6
  v105 r11
  v106 r73
  v107 r166
  v108 r84
  v109 r86
  v110 r88
  v111 r136
  v112 r53
  v113 r129
  v114 r81
  v115 r153
  v116 r126
  v117 r93
  v118 r25
  v119 r63
  v120 r68
  v121 r2
  v122 r118
  v123 r125
  v124 r165
  v125 r66
  v126 r19
  v127 r94
  v128 r47
  v129 r102
  v130 r157
  v131 r144
  v132 r121
  v133 r77
  v134 r65
  v135 r105
  v136 r30
  v137 r79
  v138 r116
  v139 r82
  v140 r51
  v141 r117
  v142 r163
  v143 r103
  v144 r96
  v145 r38
  v146 r26
  v147 r45
  v148 r158
  v149 r36
  v150 r64
  v151 r54
  v152 r142
  v153 r124
  v154 r31
  v155 r55
  v156 r132
  v157 r5
  v158 r148
  v159 r78
  v160 r133
  v161 r87
  v162 r114
  v163 r75
  v164 r3
  v165 r98
  v166 r138
 )
 (:init
  (free v0)
  (at r112 v1)
  (at r61 v2)
  (at r28 v3)
  (at r147 v4)
  (at r113 v5)
  (at r104 v6)
  (at r52 v7)
  (at r20 v8)
  (at r164 v9)
  (at r141 v10)
  (at r43 v11)
  (at r83 v12)
  (at r58 v13)
  (at r67 v14)
  (at r12 v15)
  (at r92 v16)
  (at r161 v17)
  (at r14 v18)
  (at r139 v19)
  (at r48 v20)
  (at r70 v21)
  (at r145 v22)
  (at r149 v23)
  (at r18 v24)
  (at r46 v25)
  (at r44 v26)
  (free v27)
  (at r7 v28)
  (at r140 v29)
  (at r13 v30)
  (at r29 v31)
  (at r150 v32)
  (at r111 v33)
  (at r15 v34)
  (at r24 v35)
  (at r162 v36)
  (at r17 v37)
  (at r128 v38)
  (at r160 v39)
  (at r131 v40)
  (at r106 v41)
  (at r4 v42)
  (at r42 v43)
  (at r74 v44)
  (at r57 v45)
  (at r137 v46)
  (at r85 v47)
  (at r56 v48)
  (at r49 v49)
  (at r110 v50)
  (at r109 v51)
  (at r155 v52)
  (at r154 v53)
  (at r50 v54)
  (at r35 v55)
  (at r90 v56)
  (at r107 v57)
  (at r60 v58)
  (at r23 v59)
  (at r32 v60)
  (at r34 v61)
  (at r108 v62)
  (at r8 v63)
  (at r120 v64)
  (at r100 v65)
  (at r99 v66)
  (at r10 v67)
  (at r130 v68)
  (at r71 v69)
  (at r151 v70)
  (at r127 v71)
  (at r101 v72)
  (at r37 v73)
  (at r119 v74)
  (at r95 v75)
  (at r62 v76)
  (at r59 v77)
  (at r41 v78)
  (at r115 v79)
  (at r134 v80)
  (at r33 v81)
  (at r27 v82)
  (at r159 v83)
  (at r97 v84)
  (at r122 v85)
  (at r143 v86)
  (at r80 v87)
  (at r76 v88)
  (at r89 v89)
  (at r146 v90)
  (at r40 v91)
  (at r21 v92)
  (at r123 v93)
  (at r16 v94)
  (at r22 v95)
  (at r135 v96)
  (at r152 v97)
  (at r69 v98)
  (at r72 v99)
  (at r39 v100)
  (at r9 v101)
  (at r156 v102)
  (at r91 v103)
  (at r6 v104)
  (at r11 v105)
  (at r73 v106)
  (at r166 v107)
  (at r84 v108)
  (at r86 v109)
  (at r88 v110)
  (at r136 v111)
  (at r53 v112)
  (at r129 v113)
  (at r81 v114)
  (at r153 v115)
  (at r126 v116)
  (at r93 v117)
  (at r25 v118)
  (at r63 v119)
  (at r68 v120)
  (at r2 v121)
  (at r118 v122)
  (at r125 v123)
  (at r165 v124)
  (at r66 v125)
  (at r19 v126)
  (at r94 v127)
  (at r47 v128)
  (at r102 v129)
  (at r157 v130)
  (at r144 v131)
  (at r121 v132)
  (at r77 v133)
  (at r65 v134)
  (at r105 v135)
  (at r30 v136)
  (at r79 v137)
  (at r116 v138)
  (at r82 v139)
  (at r51 v140)
  (at r117 v141)
  (at r163 v142)
  (at r103 v143)
  (at r96 v144)
  (at r38 v145)
  (at r26 v146)
  (at r45 v147)
  (at r158 v148)
  (at r36 v149)
  (at r64 v150)
  (at r54 v151)
  (at r142 v152)
  (at r124 v153)
  (at r31 v154)
  (at r55 v155)
  (at r132 v156)
  (at r5 v157)
  (at r148 v158)
  (at r78 v159)
  (at r133 v160)
  (at r87 v161)
  (at r114 v162)
  (at r75 v163)
  (at r3 v164)
  (at r98 v165)
  (at r138 v166)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v61)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v7)
  (adjacent v1 v13)
  (adjacent v1 v29)
  (adjacent v1 v72)
  (adjacent v1 v117)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v47)
  (adjacent v4 v94)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v28)
  (adjacent v5 v32)
  (adjacent v5 v42)
  (adjacent v5 v49)
  (adjacent v5 v101)
  (adjacent v6 v15)
  (adjacent v6 v62)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v22)
  (adjacent v8 v26)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v10 v72)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v11 v52)
  (adjacent v12 v51)
  (adjacent v13 v14)
  (adjacent v13 v16)
  (adjacent v13 v80)
  (adjacent v14 v57)
  (adjacent v14 v93)
  (adjacent v14 v140)
  (adjacent v15 v35)
  (adjacent v16 v17)
  (adjacent v16 v50)
  (adjacent v16 v96)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v20 v21)
  (adjacent v20 v34)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v41)
  (adjacent v23 v68)
  (adjacent v24 v25)
  (adjacent v25 v31)
  (adjacent v25 v56)
  (adjacent v26 v27)
  (adjacent v26 v79)
  (adjacent v26 v116)
  (adjacent v26 v125)
  (adjacent v27 v28)
  (adjacent v27 v45)
  (adjacent v27 v88)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v68)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v33 v55)
  (adjacent v33 v159)
  (adjacent v34 v76)
  (adjacent v35 v36)
  (adjacent v35 v166)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v46)
  (adjacent v40 v41)
  (adjacent v40 v82)
  (adjacent v40 v98)
  (adjacent v40 v126)
  (adjacent v40 v152)
  (adjacent v41 v150)
  (adjacent v42 v43)
  (adjacent v42 v111)
  (adjacent v43 v44)
  (adjacent v43 v87)
  (adjacent v44 v45)
  (adjacent v45 v104)
  (adjacent v47 v48)
  (adjacent v47 v73)
  (adjacent v48 v49)
  (adjacent v48 v135)
  (adjacent v49 v56)
  (adjacent v49 v69)
  (adjacent v50 v51)
  (adjacent v51 v71)
  (adjacent v51 v112)
  (adjacent v52 v53)
  (adjacent v52 v147)
  (adjacent v53 v54)
  (adjacent v53 v97)
  (adjacent v54 v55)
  (adjacent v54 v62)
  (adjacent v56 v139)
  (adjacent v57 v58)
  (adjacent v57 v99)
  (adjacent v58 v59)
  (adjacent v58 v67)
  (adjacent v59 v60)
  (adjacent v59 v63)
  (adjacent v60 v61)
  (adjacent v62 v160)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v148)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v105)
  (adjacent v67 v83)
  (adjacent v68 v147)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v70 v78)
  (adjacent v73 v74)
  (adjacent v73 v128)
  (adjacent v74 v75)
  (adjacent v74 v77)
  (adjacent v74 v102)
  (adjacent v75 v76)
  (adjacent v75 v77)
  (adjacent v78 v79)
  (adjacent v79 v124)
  (adjacent v79 v151)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v86 v146)
  (adjacent v88 v89)
  (adjacent v88 v125)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v99)
  (adjacent v90 v100)
  (adjacent v91 v92)
  (adjacent v91 v122)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v129)
  (adjacent v98 v161)
  (adjacent v99 v153)
  (adjacent v100 v101)
  (adjacent v101 v121)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v132)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v136)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v114 v133)
  (adjacent v114 v160)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
 )
 (:goal
  (and
  (at r115 v0)
  (at r8 v1)
  (at r160 v2)
  (at r144 v3)
  (at r48 v4)
  (at r30 v5)
  (at r55 v6)
  (at r63 v7)
  (at r93 v8)
  (at r135 v9)
  (at r124 v10)
  (at r77 v11)
  (at r143 v12)
  (free v13)
  (at r9 v14)
  (at r113 v15)
  (at r74 v16)
  (at r39 v17)
  (at r54 v18)
  (at r104 v19)
  (at r127 v20)
  (at r71 v21)
  (at r129 v22)
  (at r88 v23)
  (at r14 v24)
  (at r18 v25)
  (at r162 v26)
  (at r53 v27)
  (at r68 v28)
  (at r49 v29)
  (at r45 v30)
  (at r65 v31)
  (at r2 v32)
  (at r80 v33)
  (at r28 v34)
  (at r10 v35)
  (at r78 v36)
  (at r120 v37)
  (at r134 v38)
  (at r149 v39)
  (at r23 v40)
  (at r107 v41)
  (at r164 v42)
  (at r57 v43)
  (at r136 v44)
  (at r61 v45)
  (at r155 v46)
  (at r59 v47)
  (at r20 v48)
  (at r157 v49)
  (at r13 v50)
  (at r17 v51)
  (at r31 v52)
  (at r84 v53)
  (at r114 v54)
  (at r112 v55)
  (at r51 v56)
  (at r111 v57)
  (at r119 v58)
  (at r40 v59)
  (at r123 v60)
  (at r146 v61)
  (at r67 v62)
  (at r82 v63)
  (at r122 v64)
  (at r35 v65)
  (at r58 v66)
  (at r147 v67)
  (at r130 v68)
  (at r87 v69)
  (at r101 v70)
  (at r86 v71)
  (at r76 v72)
  (at r102 v73)
  (at r50 v74)
  (at r161 v75)
  (at r22 v76)
  (at r99 v77)
  (at r33 v78)
  (at r105 v79)
  (at r60 v80)
  (at r44 v81)
  (at r73 v82)
  (at r72 v83)
  (at r27 v84)
  (at r92 v85)
  (at r121 v86)
  (at r64 v87)
  (at r100 v88)
  (free v89)
  (at r158 v90)
  (at r95 v91)
  (at r126 v92)
  (at r153 v93)
  (at r37 v94)
  (at r128 v95)
  (at r81 v96)
  (at r148 v97)
  (at r7 v98)
  (at r117 v99)
  (at r24 v100)
  (at r83 v101)
  (at r118 v102)
  (at r110 v103)
  (at r70 v104)
  (at r79 v105)
  (at r132 v106)
  (at r154 v107)
  (at r142 v108)
  (at r131 v109)
  (at r137 v110)
  (at r108 v111)
  (at r85 v112)
  (at r140 v113)
  (at r25 v114)
  (at r15 v115)
  (at r38 v116)
  (at r151 v117)
  (at r103 v118)
  (at r46 v119)
  (at r165 v120)
  (at r166 v121)
  (at r62 v122)
  (at r5 v123)
  (at r89 v124)
  (at r16 v125)
  (at r150 v126)
  (at r109 v127)
  (at r66 v128)
  (at r34 v129)
  (at r96 v130)
  (at r3 v131)
  (at r19 v132)
  (at r156 v133)
  (at r152 v134)
  (at r138 v135)
  (at r6 v136)
  (at r4 v137)
  (at r98 v138)
  (at r36 v139)
  (at r52 v140)
  (at r106 v141)
  (at r56 v142)
  (at r26 v143)
  (at r116 v144)
  (at r32 v145)
  (at r11 v146)
  (at r94 v147)
  (at r97 v148)
  (at r133 v149)
  (at r163 v150)
  (at r47 v151)
  (at r41 v152)
  (at r145 v153)
  (at r141 v154)
  (at r29 v155)
  (at r21 v156)
  (at r69 v157)
  (at r43 v158)
  (at r90 v159)
  (at r125 v160)
  (at r91 v161)
  (at r139 v162)
  (at r42 v163)
  (at r159 v164)
  (at r12 v165)
  (at r75 v166)
  )
 )
)