(define (problem multirobot_50_2_c4)
 (:domain multirobot)
 (:objects
  v0 r85
  v1 r59
  v2 r133
  v3 r119
  v4 r47
  v5 r88
  v6 r149
  v7 r25
  v8 r28
  v9 r92
  v10 r150
  v11 r10
  v12 r144
  v13 r180
  v14 r48
  v15 r116
  v16 r121
  v17 r62
  v18 r9
  v19 r46
  v20 r14
  v21 r95
  v22 r123
  v23 r41
  v24 r30
  v25 r49
  v26 r167
  v27 r179
  v28 r86
  v29 r71
  v30 r176
  v31 r21
  v32 r99
  v33 r36
  v34 r162
  v35 r134
  v36 r58
  v37 r165
  v38 r38
  v39 r122
  v40 r82
  v41 r83
  v42 r32
  v43 r111
  v44 r107
  v45 r53
  v46 r89
  v47 r135
  v48 r94
  v49 r66
  v50 r140
  v51 r125
  v52 r169
  v53 r156
  v54 r43
  v55 r157
  v56 r178
  v57 r114
  v58 r127
  v59 r177
  v60 r17
  v61 r103
  v62 r139
  v63 r152
  v64 r72
  v65 r70
  v66 r112
  v67 r18
  v68 r128
  v69 r120
  v70 r90
  v71 r44
  v72
  v73 r181
  v74 r131
  v75 r175
  v76 r129
  v77 r106
  v78 r141
  v79 r97
  v80 r130
  v81 r174
  v82 r39
  v83 r8
  v84 r19
  v85 r45
  v86 r136
  v87 r31
  v88 r6
  v89 r104
  v90 r84
  v91 r153
  v92 r93
  v93 r91
  v94 r124
  v95 r172
  v96 r16
  v97 r170
  v98 r147
  v99 r74
  v100 r100
  v101 r65
  v102 r182
  v103 r34
  v104 r96
  v105 r15
  v106 r29
  v107 r55
  v108 r173
  v109 r50
  v110 r148
  v111 r77
  v112 r160
  v113 r166
  v114 r64
  v115 r37
  v116 r145
  v117 r142
  v118 r78
  v119 r4
  v120 r24
  v121 r51
  v122 r60
  v123 r27
  v124 r54
  v125
  v126 r137
  v127 r154
  v128 r57
  v129 r143
  v130 r146
  v131 r7
  v132 r5
  v133 r75
  v134 r79
  v135 r12
  v136 r168
  v137 r118
  v138 r108
  v139 r164
  v140 r68
  v141 r3
  v142 r13
  v143 r126
  v144 r132
  v145 r56
  v146 r42
  v147 r73
  v148 r151
  v149 r163
  v150 r115
  v151 r117
  v152 r20
  v153 r110
  v154 r35
  v155 r101
  v156 r87
  v157 r22
  v158 r109
  v159 r80
  v160 r161
  v161 r11
  v162 r63
  v163 r76
  v164 r113
  v165 r67
  v166 r98
  v167 r52
  v168 r105
  v169 r138
  v170 r61
  v171 r81
  v172 r159
  v173 r23
  v174 r155
  v175 r69
  v176 r33
  v177 r102
  v178 r171
  v179 r40
  v180 r2
  v181 r158
  v182 r26
 )
 (:init
  (at r85 v0)
  (at r59 v1)
  (at r133 v2)
  (at r119 v3)
  (at r47 v4)
  (at r88 v5)
  (at r149 v6)
  (at r25 v7)
  (at r28 v8)
  (at r92 v9)
  (at r150 v10)
  (at r10 v11)
  (at r144 v12)
  (at r180 v13)
  (at r48 v14)
  (at r116 v15)
  (at r121 v16)
  (at r62 v17)
  (at r9 v18)
  (at r46 v19)
  (at r14 v20)
  (at r95 v21)
  (at r123 v22)
  (at r41 v23)
  (at r30 v24)
  (at r49 v25)
  (at r167 v26)
  (at r179 v27)
  (at r86 v28)
  (at r71 v29)
  (at r176 v30)
  (at r21 v31)
  (at r99 v32)
  (at r36 v33)
  (at r162 v34)
  (at r134 v35)
  (at r58 v36)
  (at r165 v37)
  (at r38 v38)
  (at r122 v39)
  (at r82 v40)
  (at r83 v41)
  (at r32 v42)
  (at r111 v43)
  (at r107 v44)
  (at r53 v45)
  (at r89 v46)
  (at r135 v47)
  (at r94 v48)
  (at r66 v49)
  (at r140 v50)
  (at r125 v51)
  (at r169 v52)
  (at r156 v53)
  (at r43 v54)
  (at r157 v55)
  (at r178 v56)
  (at r114 v57)
  (at r127 v58)
  (at r177 v59)
  (at r17 v60)
  (at r103 v61)
  (at r139 v62)
  (at r152 v63)
  (at r72 v64)
  (at r70 v65)
  (at r112 v66)
  (at r18 v67)
  (at r128 v68)
  (at r120 v69)
  (at r90 v70)
  (at r44 v71)
  (free v72)
  (at r181 v73)
  (at r131 v74)
  (at r175 v75)
  (at r129 v76)
  (at r106 v77)
  (at r141 v78)
  (at r97 v79)
  (at r130 v80)
  (at r174 v81)
  (at r39 v82)
  (at r8 v83)
  (at r19 v84)
  (at r45 v85)
  (at r136 v86)
  (at r31 v87)
  (at r6 v88)
  (at r104 v89)
  (at r84 v90)
  (at r153 v91)
  (at r93 v92)
  (at r91 v93)
  (at r124 v94)
  (at r172 v95)
  (at r16 v96)
  (at r170 v97)
  (at r147 v98)
  (at r74 v99)
  (at r100 v100)
  (at r65 v101)
  (at r182 v102)
  (at r34 v103)
  (at r96 v104)
  (at r15 v105)
  (at r29 v106)
  (at r55 v107)
  (at r173 v108)
  (at r50 v109)
  (at r148 v110)
  (at r77 v111)
  (at r160 v112)
  (at r166 v113)
  (at r64 v114)
  (at r37 v115)
  (at r145 v116)
  (at r142 v117)
  (at r78 v118)
  (at r4 v119)
  (at r24 v120)
  (at r51 v121)
  (at r60 v122)
  (at r27 v123)
  (at r54 v124)
  (free v125)
  (at r137 v126)
  (at r154 v127)
  (at r57 v128)
  (at r143 v129)
  (at r146 v130)
  (at r7 v131)
  (at r5 v132)
  (at r75 v133)
  (at r79 v134)
  (at r12 v135)
  (at r168 v136)
  (at r118 v137)
  (at r108 v138)
  (at r164 v139)
  (at r68 v140)
  (at r3 v141)
  (at r13 v142)
  (at r126 v143)
  (at r132 v144)
  (at r56 v145)
  (at r42 v146)
  (at r73 v147)
  (at r151 v148)
  (at r163 v149)
  (at r115 v150)
  (at r117 v151)
  (at r20 v152)
  (at r110 v153)
  (at r35 v154)
  (at r101 v155)
  (at r87 v156)
  (at r22 v157)
  (at r109 v158)
  (at r80 v159)
  (at r161 v160)
  (at r11 v161)
  (at r63 v162)
  (at r76 v163)
  (at r113 v164)
  (at r67 v165)
  (at r98 v166)
  (at r52 v167)
  (at r105 v168)
  (at r138 v169)
  (at r61 v170)
  (at r81 v171)
  (at r159 v172)
  (at r23 v173)
  (at r155 v174)
  (at r69 v175)
  (at r33 v176)
  (at r102 v177)
  (at r171 v178)
  (at r40 v179)
  (at r2 v180)
  (at r158 v181)
  (at r26 v182)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v94)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v26)
  (adjacent v4 v7)
  (adjacent v4 v13)
  (adjacent v4 v38)
  (adjacent v4 v88)
  (adjacent v4 v110)
  (adjacent v5 v6)
  (adjacent v5 v177)
  (adjacent v6 v7)
  (adjacent v6 v18)
  (adjacent v6 v72)
  (adjacent v6 v79)
  (adjacent v6 v89)
  (adjacent v6 v104)
  (adjacent v7 v12)
  (adjacent v8 v9)
  (adjacent v8 v25)
  (adjacent v8 v42)
  (adjacent v8 v90)
  (adjacent v9 v10)
  (adjacent v9 v22)
  (adjacent v9 v53)
  (adjacent v10 v11)
  (adjacent v10 v77)
  (adjacent v11 v12)
  (adjacent v11 v17)
  (adjacent v12 v48)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v14 v15)
  (adjacent v14 v33)
  (adjacent v15 v16)
  (adjacent v15 v102)
  (adjacent v16 v17)
  (adjacent v18 v19)
  (adjacent v18 v27)
  (adjacent v18 v39)
  (adjacent v19 v20)
  (adjacent v19 v61)
  (adjacent v20 v21)
  (adjacent v20 v49)
  (adjacent v21 v32)
  (adjacent v21 v168)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v164)
  (adjacent v24 v25)
  (adjacent v24 v26)
  (adjacent v26 v78)
  (adjacent v27 v28)
  (adjacent v27 v157)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v122)
  (adjacent v30 v31)
  (adjacent v30 v80)
  (adjacent v31 v32)
  (adjacent v31 v95)
  (adjacent v32 v80)
  (adjacent v32 v138)
  (adjacent v32 v149)
  (adjacent v33 v34)
  (adjacent v33 v65)
  (adjacent v34 v35)
  (adjacent v34 v42)
  (adjacent v34 v117)
  (adjacent v35 v36)
  (adjacent v35 v73)
  (adjacent v35 v120)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v41)
  (adjacent v37 v90)
  (adjacent v38 v121)
  (adjacent v39 v40)
  (adjacent v39 v43)
  (adjacent v40 v41)
  (adjacent v42 v91)
  (adjacent v42 v180)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v177)
  (adjacent v45 v46)
  (adjacent v45 v54)
  (adjacent v45 v66)
  (adjacent v45 v178)
  (adjacent v46 v47)
  (adjacent v46 v59)
  (adjacent v47 v48)
  (adjacent v47 v162)
  (adjacent v48 v60)
  (adjacent v48 v106)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v58)
  (adjacent v54 v55)
  (adjacent v54 v89)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v111)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v87)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v66 v81)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v91)
  (adjacent v69 v127)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v98)
  (adjacent v73 v74)
  (adjacent v73 v97)
  (adjacent v73 v150)
  (adjacent v74 v75)
  (adjacent v74 v134)
  (adjacent v75 v76)
  (adjacent v75 v86)
  (adjacent v76 v77)
  (adjacent v76 v101)
  (adjacent v78 v79)
  (adjacent v78 v150)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v84 v126)
  (adjacent v85 v86)
  (adjacent v85 v118)
  (adjacent v86 v92)
  (adjacent v87 v88)
  (adjacent v88 v105)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v95 v151)
  (adjacent v96 v97)
  (adjacent v96 v146)
  (adjacent v97 v105)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v119)
  (adjacent v101 v133)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v178)
  (adjacent v104 v145)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v111 v158)
  (adjacent v112 v113)
  (adjacent v112 v139)
  (adjacent v113 v114)
  (adjacent v113 v179)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v116 v151)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v120 v152)
  (adjacent v120 v174)
  (adjacent v121 v169)
  (adjacent v121 v176)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v127 v182)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v161)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v141 v142)
  (adjacent v141 v179)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v155 v163)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v166 v175)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v180 v181)
  (adjacent v181 v182)
 )
 (:goal
  (and
  (at r108 v0)
  (at r49 v1)
  (at r80 v2)
  (at r161 v3)
  (at r119 v4)
  (at r134 v5)
  (at r16 v6)
  (at r73 v7)
  (at r114 v8)
  (at r19 v9)
  (at r106 v10)
  (at r166 v11)
  (at r97 v12)
  (at r149 v13)
  (at r33 v14)
  (at r11 v15)
  (at r38 v16)
  (at r45 v17)
  (at r96 v18)
  (at r169 v19)
  (at r163 v20)
  (free v21)
  (at r34 v22)
  (at r50 v23)
  (at r171 v24)
  (at r39 v25)
  (at r118 v26)
  (at r71 v27)
  (at r127 v28)
  (at r31 v29)
  (at r77 v30)
  (at r12 v31)
  (at r142 v32)
  (at r159 v33)
  (at r125 v34)
  (at r46 v35)
  (at r58 v36)
  (at r21 v37)
  (at r160 v38)
  (at r30 v39)
  (at r65 v40)
  (at r182 v41)
  (at r8 v42)
  (at r115 v43)
  (at r81 v44)
  (at r123 v45)
  (at r175 v46)
  (at r157 v47)
  (at r83 v48)
  (at r59 v49)
  (at r17 v50)
  (at r129 v51)
  (at r15 v52)
  (at r89 v53)
  (at r25 v54)
  (at r90 v55)
  (at r88 v56)
  (at r37 v57)
  (at r104 v58)
  (at r70 v59)
  (at r3 v60)
  (at r173 v61)
  (at r132 v62)
  (at r130 v63)
  (at r152 v64)
  (at r92 v65)
  (at r133 v66)
  (at r4 v67)
  (at r135 v68)
  (at r126 v69)
  (at r176 v70)
  (at r113 v71)
  (at r72 v72)
  (at r181 v73)
  (at r35 v74)
  (at r101 v75)
  (at r61 v76)
  (at r76 v77)
  (at r105 v78)
  (at r147 v79)
  (at r156 v80)
  (at r178 v81)
  (at r117 v82)
  (at r42 v83)
  (at r23 v84)
  (at r74 v85)
  (at r144 v86)
  (at r155 v87)
  (at r154 v88)
  (at r53 v89)
  (at r69 v90)
  (at r165 v91)
  (at r60 v92)
  (at r75 v93)
  (at r55 v94)
  (at r120 v95)
  (at r94 v96)
  (at r54 v97)
  (at r128 v98)
  (at r26 v99)
  (at r122 v100)
  (at r137 v101)
  (at r111 v102)
  (at r141 v103)
  (at r9 v104)
  (at r29 v105)
  (at r170 v106)
  (at r5 v107)
  (at r66 v108)
  (at r109 v109)
  (at r148 v110)
  (at r131 v111)
  (at r93 v112)
  (at r180 v113)
  (at r153 v114)
  (at r44 v115)
  (free v116)
  (at r28 v117)
  (at r41 v118)
  (at r78 v119)
  (at r82 v120)
  (at r164 v121)
  (at r52 v122)
  (at r143 v123)
  (at r179 v124)
  (at r67 v125)
  (at r95 v126)
  (at r172 v127)
  (at r139 v128)
  (at r84 v129)
  (at r168 v130)
  (at r40 v131)
  (at r32 v132)
  (at r146 v133)
  (at r20 v134)
  (at r64 v135)
  (at r98 v136)
  (at r140 v137)
  (at r47 v138)
  (at r177 v139)
  (at r57 v140)
  (at r112 v141)
  (at r136 v142)
  (at r150 v143)
  (at r86 v144)
  (at r102 v145)
  (at r87 v146)
  (at r151 v147)
  (at r103 v148)
  (at r107 v149)
  (at r162 v150)
  (at r22 v151)
  (at r99 v152)
  (at r24 v153)
  (at r43 v154)
  (at r100 v155)
  (at r10 v156)
  (at r7 v157)
  (at r110 v158)
  (at r6 v159)
  (at r62 v160)
  (at r121 v161)
  (at r56 v162)
  (at r158 v163)
  (at r63 v164)
  (at r145 v165)
  (at r167 v166)
  (at r124 v167)
  (at r13 v168)
  (at r51 v169)
  (at r91 v170)
  (at r14 v171)
  (at r48 v172)
  (at r2 v173)
  (at r27 v174)
  (at r174 v175)
  (at r116 v176)
  (at r79 v177)
  (at r85 v178)
  (at r36 v179)
  (at r68 v180)
  (at r18 v181)
  (at r138 v182)
  )
 )
)