(define (problem multirobot_50_2_c5)
 (:domain multirobot)
 (:objects
  v0 r144
  v1 r109
  v2 r37
  v3 r8
  v4 r141
  v5 r4
  v6 r91
  v7 r44
  v8 r35
  v9 r67
  v10 r38
  v11 r119
  v12 r121
  v13 r21
  v14 r95
  v15 r61
  v16 r103
  v17 r29
  v18 r138
  v19 r122
  v20 r177
  v21 r79
  v22 r70
  v23 r13
  v24 r15
  v25
  v26 r130
  v27 r26
  v28
  v29 r163
  v30 r28
  v31 r59
  v32 r73
  v33 r69
  v34 r166
  v35 r151
  v36 r2
  v37 r142
  v38 r171
  v39 r53
  v40 r12
  v41 r83
  v42 r157
  v43 r146
  v44 r133
  v45 r117
  v46 r115
  v47 r86
  v48 r97
  v49 r46
  v50 r137
  v51 r51
  v52 r9
  v53 r7
  v54 r139
  v55 r128
  v56 r50
  v57 r104
  v58 r148
  v59 r175
  v60 r23
  v61 r33
  v62 r167
  v63 r149
  v64 r34
  v65 r71
  v66 r14
  v67 r162
  v68 r72
  v69 r152
  v70 r68
  v71 r11
  v72 r17
  v73 r132
  v74 r6
  v75 r123
  v76 r85
  v77 r32
  v78 r60
  v79 r63
  v80 r159
  v81 r52
  v82 r169
  v83 r94
  v84 r58
  v85 r124
  v86 r57
  v87 r126
  v88 r135
  v89 r22
  v90 r16
  v91 r66
  v92 r76
  v93 r87
  v94 r77
  v95 r96
  v96 r98
  v97 r178
  v98 r25
  v99 r155
  v100 r74
  v101 r45
  v102 r99
  v103 r168
  v104 r54
  v105 r40
  v106 r170
  v107 r10
  v108 r31
  v109 r30
  v110 r112
  v111 r156
  v112 r39
  v113 r56
  v114 r93
  v115 r174
  v116 r48
  v117 r100
  v118 r55
  v119 r131
  v120 r64
  v121 r143
  v122 r65
  v123 r42
  v124 r118
  v125 r108
  v126 r81
  v127 r176
  v128 r47
  v129 r161
  v130 r116
  v131 r36
  v132 r114
  v133 r90
  v134 r173
  v135 r49
  v136 r153
  v137 r102
  v138 r105
  v139 r164
  v140 r145
  v141 r113
  v142 r41
  v143 r111
  v144 r75
  v145 r19
  v146 r5
  v147 r78
  v148 r120
  v149 r82
  v150 r80
  v151 r43
  v152 r158
  v153 r154
  v154 r134
  v155 r125
  v156 r24
  v157 r92
  v158 r165
  v159 r62
  v160 r27
  v161 r106
  v162 r140
  v163 r18
  v164 r172
  v165 r3
  v166 r110
  v167 r101
  v168 r160
  v169 r88
  v170 r127
  v171 r136
  v172 r147
  v173 r89
  v174 r150
  v175 r84
  v176 r129
  v177 r20
  v178 r107
 )
 (:init
  (at r144 v0)
  (at r109 v1)
  (at r37 v2)
  (at r8 v3)
  (at r141 v4)
  (at r4 v5)
  (at r91 v6)
  (at r44 v7)
  (at r35 v8)
  (at r67 v9)
  (at r38 v10)
  (at r119 v11)
  (at r121 v12)
  (at r21 v13)
  (at r95 v14)
  (at r61 v15)
  (at r103 v16)
  (at r29 v17)
  (at r138 v18)
  (at r122 v19)
  (at r177 v20)
  (at r79 v21)
  (at r70 v22)
  (at r13 v23)
  (at r15 v24)
  (free v25)
  (at r130 v26)
  (at r26 v27)
  (free v28)
  (at r163 v29)
  (at r28 v30)
  (at r59 v31)
  (at r73 v32)
  (at r69 v33)
  (at r166 v34)
  (at r151 v35)
  (at r2 v36)
  (at r142 v37)
  (at r171 v38)
  (at r53 v39)
  (at r12 v40)
  (at r83 v41)
  (at r157 v42)
  (at r146 v43)
  (at r133 v44)
  (at r117 v45)
  (at r115 v46)
  (at r86 v47)
  (at r97 v48)
  (at r46 v49)
  (at r137 v50)
  (at r51 v51)
  (at r9 v52)
  (at r7 v53)
  (at r139 v54)
  (at r128 v55)
  (at r50 v56)
  (at r104 v57)
  (at r148 v58)
  (at r175 v59)
  (at r23 v60)
  (at r33 v61)
  (at r167 v62)
  (at r149 v63)
  (at r34 v64)
  (at r71 v65)
  (at r14 v66)
  (at r162 v67)
  (at r72 v68)
  (at r152 v69)
  (at r68 v70)
  (at r11 v71)
  (at r17 v72)
  (at r132 v73)
  (at r6 v74)
  (at r123 v75)
  (at r85 v76)
  (at r32 v77)
  (at r60 v78)
  (at r63 v79)
  (at r159 v80)
  (at r52 v81)
  (at r169 v82)
  (at r94 v83)
  (at r58 v84)
  (at r124 v85)
  (at r57 v86)
  (at r126 v87)
  (at r135 v88)
  (at r22 v89)
  (at r16 v90)
  (at r66 v91)
  (at r76 v92)
  (at r87 v93)
  (at r77 v94)
  (at r96 v95)
  (at r98 v96)
  (at r178 v97)
  (at r25 v98)
  (at r155 v99)
  (at r74 v100)
  (at r45 v101)
  (at r99 v102)
  (at r168 v103)
  (at r54 v104)
  (at r40 v105)
  (at r170 v106)
  (at r10 v107)
  (at r31 v108)
  (at r30 v109)
  (at r112 v110)
  (at r156 v111)
  (at r39 v112)
  (at r56 v113)
  (at r93 v114)
  (at r174 v115)
  (at r48 v116)
  (at r100 v117)
  (at r55 v118)
  (at r131 v119)
  (at r64 v120)
  (at r143 v121)
  (at r65 v122)
  (at r42 v123)
  (at r118 v124)
  (at r108 v125)
  (at r81 v126)
  (at r176 v127)
  (at r47 v128)
  (at r161 v129)
  (at r116 v130)
  (at r36 v131)
  (at r114 v132)
  (at r90 v133)
  (at r173 v134)
  (at r49 v135)
  (at r153 v136)
  (at r102 v137)
  (at r105 v138)
  (at r164 v139)
  (at r145 v140)
  (at r113 v141)
  (at r41 v142)
  (at r111 v143)
  (at r75 v144)
  (at r19 v145)
  (at r5 v146)
  (at r78 v147)
  (at r120 v148)
  (at r82 v149)
  (at r80 v150)
  (at r43 v151)
  (at r158 v152)
  (at r154 v153)
  (at r134 v154)
  (at r125 v155)
  (at r24 v156)
  (at r92 v157)
  (at r165 v158)
  (at r62 v159)
  (at r27 v160)
  (at r106 v161)
  (at r140 v162)
  (at r18 v163)
  (at r172 v164)
  (at r3 v165)
  (at r110 v166)
  (at r101 v167)
  (at r160 v168)
  (at r88 v169)
  (at r127 v170)
  (at r136 v171)
  (at r147 v172)
  (at r89 v173)
  (at r150 v174)
  (at r84 v175)
  (at r129 v176)
  (at r20 v177)
  (at r107 v178)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v74)
  (adjacent v1 v2)
  (adjacent v1 v16)
  (adjacent v1 v31)
  (adjacent v2 v3)
  (adjacent v2 v30)
  (adjacent v2 v106)
  (adjacent v3 v4)
  (adjacent v3 v9)
  (adjacent v3 v13)
  (adjacent v3 v18)
  (adjacent v5 v6)
  (adjacent v5 v19)
  (adjacent v5 v55)
  (adjacent v5 v89)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v24)
  (adjacent v6 v28)
  (adjacent v6 v33)
  (adjacent v6 v34)
  (adjacent v6 v90)
  (adjacent v6 v155)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v29)
  (adjacent v7 v59)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v8 v29)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v11 v12)
  (adjacent v12 v15)
  (adjacent v12 v81)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v45)
  (adjacent v14 v111)
  (adjacent v14 v154)
  (adjacent v15 v128)
  (adjacent v16 v39)
  (adjacent v16 v112)
  (adjacent v16 v116)
  (adjacent v17 v18)
  (adjacent v17 v57)
  (adjacent v17 v64)
  (adjacent v18 v70)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v19 v69)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v38)
  (adjacent v21 v54)
  (adjacent v22 v23)
  (adjacent v22 v162)
  (adjacent v23 v24)
  (adjacent v23 v46)
  (adjacent v24 v30)
  (adjacent v24 v46)
  (adjacent v24 v110)
  (adjacent v24 v113)
  (adjacent v24 v168)
  (adjacent v25 v26)
  (adjacent v25 v80)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v30 v132)
  (adjacent v31 v32)
  (adjacent v31 v93)
  (adjacent v31 v101)
  (adjacent v32 v33)
  (adjacent v32 v63)
  (adjacent v33 v47)
  (adjacent v33 v65)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v94)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v79)
  (adjacent v38 v169)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v53)
  (adjacent v41 v54)
  (adjacent v41 v66)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v101)
  (adjacent v46 v90)
  (adjacent v47 v48)
  (adjacent v47 v102)
  (adjacent v48 v49)
  (adjacent v48 v60)
  (adjacent v48 v105)
  (adjacent v49 v50)
  (adjacent v49 v56)
  (adjacent v49 v141)
  (adjacent v50 v51)
  (adjacent v50 v127)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v100)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v117)
  (adjacent v59 v130)
  (adjacent v59 v140)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v86)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v64 v131)
  (adjacent v66 v67)
  (adjacent v66 v163)
  (adjacent v67 v68)
  (adjacent v67 v73)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v117)
  (adjacent v72 v73)
  (adjacent v73 v85)
  (adjacent v74 v75)
  (adjacent v74 v80)
  (adjacent v74 v136)
  (adjacent v75 v76)
  (adjacent v75 v156)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v169)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v88 v173)
  (adjacent v89 v91)
  (adjacent v89 v173)
  (adjacent v91 v92)
  (adjacent v91 v172)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v124)
  (adjacent v99 v147)
  (adjacent v100 v143)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v133)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v106 v148)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v144)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v125)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v118)
  (adjacent v118 v119)
  (adjacent v118 v174)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v121 v170)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v135)
  (adjacent v133 v134)
  (adjacent v133 v178)
  (adjacent v134 v135)
  (adjacent v135 v153)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v154 v155)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
 )
 (:goal
  (and
  (at r160 v0)
  (at r44 v1)
  (at r77 v2)
  (at r111 v3)
  (at r30 v4)
  (at r81 v5)
  (at r16 v6)
  (at r133 v7)
  (at r162 v8)
  (at r40 v9)
  (at r157 v10)
  (at r153 v11)
  (at r29 v12)
  (at r43 v13)
  (at r167 v14)
  (at r50 v15)
  (at r87 v16)
  (at r145 v17)
  (at r168 v18)
  (at r134 v19)
  (at r150 v20)
  (at r121 v21)
  (at r11 v22)
  (at r4 v23)
  (at r36 v24)
  (at r151 v25)
  (at r109 v26)
  (at r13 v27)
  (at r24 v28)
  (at r37 v29)
  (at r129 v30)
  (at r128 v31)
  (at r62 v32)
  (at r47 v33)
  (at r107 v34)
  (at r116 v35)
  (at r85 v36)
  (at r174 v37)
  (at r173 v38)
  (at r89 v39)
  (at r59 v40)
  (at r124 v41)
  (at r54 v42)
  (free v43)
  (at r144 v44)
  (at r105 v45)
  (at r103 v46)
  (at r52 v47)
  (at r140 v48)
  (at r137 v49)
  (at r148 v50)
  (at r80 v51)
  (at r147 v52)
  (at r83 v53)
  (at r110 v54)
  (at r178 v55)
  (at r69 v56)
  (at r42 v57)
  (at r57 v58)
  (at r141 v59)
  (at r17 v60)
  (at r58 v61)
  (at r7 v62)
  (at r91 v63)
  (at r21 v64)
  (at r122 v65)
  (at r64 v66)
  (at r176 v67)
  (at r158 v68)
  (at r6 v69)
  (at r120 v70)
  (at r31 v71)
  (at r41 v72)
  (at r114 v73)
  (at r170 v74)
  (at r175 v75)
  (at r93 v76)
  (at r139 v77)
  (at r172 v78)
  (at r92 v79)
  (at r119 v80)
  (at r34 v81)
  (at r156 v82)
  (at r108 v83)
  (at r45 v84)
  (at r49 v85)
  (at r163 v86)
  (at r101 v87)
  (at r171 v88)
  (at r126 v89)
  (at r112 v90)
  (at r149 v91)
  (at r169 v92)
  (at r123 v93)
  (at r115 v94)
  (at r72 v95)
  (at r154 v96)
  (at r28 v97)
  (at r8 v98)
  (at r19 v99)
  (at r136 v100)
  (at r152 v101)
  (at r25 v102)
  (at r138 v103)
  (at r143 v104)
  (at r9 v105)
  (at r20 v106)
  (at r10 v107)
  (at r130 v108)
  (at r165 v109)
  (at r65 v110)
  (at r46 v111)
  (at r32 v112)
  (at r135 v113)
  (at r67 v114)
  (at r102 v115)
  (at r155 v116)
  (at r27 v117)
  (at r127 v118)
  (at r26 v119)
  (at r2 v120)
  (at r3 v121)
  (at r53 v122)
  (at r12 v123)
  (at r142 v124)
  (at r5 v125)
  (at r71 v126)
  (at r100 v127)
  (at r78 v128)
  (at r15 v129)
  (at r18 v130)
  (at r86 v131)
  (at r166 v132)
  (at r98 v133)
  (at r82 v134)
  (at r75 v135)
  (at r106 v136)
  (at r117 v137)
  (at r84 v138)
  (at r76 v139)
  (at r159 v140)
  (at r22 v141)
  (free v142)
  (at r146 v143)
  (at r70 v144)
  (at r79 v145)
  (at r90 v146)
  (at r104 v147)
  (at r74 v148)
  (at r113 v149)
  (at r38 v150)
  (at r60 v151)
  (at r132 v152)
  (at r88 v153)
  (at r63 v154)
  (at r125 v155)
  (at r131 v156)
  (at r66 v157)
  (at r55 v158)
  (at r97 v159)
  (at r73 v160)
  (at r99 v161)
  (at r164 v162)
  (at r39 v163)
  (at r48 v164)
  (at r94 v165)
  (at r23 v166)
  (at r51 v167)
  (at r96 v168)
  (at r35 v169)
  (at r177 v170)
  (at r95 v171)
  (at r56 v172)
  (at r33 v173)
  (at r61 v174)
  (at r68 v175)
  (at r161 v176)
  (at r14 v177)
  (at r118 v178)
  )
 )
)