(define (problem multirobot_50_2_c7)
 (:domain multirobot)
 (:objects
  v0 r110
  v1 r86
  v2 r90
  v3 r46
  v4 r60
  v5 r32
  v6 r82
  v7 r78
  v8 r20
  v9 r107
  v10 r83
  v11 r42
  v12 r172
  v13 r161
  v14 r12
  v15 r25
  v16 r104
  v17 r5
  v18 r37
  v19 r44
  v20 r13
  v21 r103
  v22 r133
  v23 r18
  v24 r148
  v25 r171
  v26 r45
  v27 r136
  v28 r65
  v29 r118
  v30 r81
  v31 r11
  v32 r108
  v33 r54
  v34 r184
  v35 r67
  v36 r144
  v37 r80
  v38 r119
  v39 r72
  v40 r169
  v41 r175
  v42 r27
  v43 r34
  v44 r24
  v45 r123
  v46 r112
  v47 r29
  v48 r91
  v49 r187
  v50 r124
  v51 r36
  v52 r77
  v53 r105
  v54 r79
  v55 r56
  v56 r142
  v57 r7
  v58 r85
  v59 r183
  v60 r94
  v61 r141
  v62 r92
  v63 r70
  v64 r100
  v65 r185
  v66 r131
  v67 r51
  v68 r115
  v69 r125
  v70 r50
  v71 r8
  v72 r75
  v73
  v74 r157
  v75 r165
  v76 r31
  v77 r22
  v78 r63
  v79 r143
  v80 r40
  v81 r62
  v82 r155
  v83 r49
  v84 r30
  v85 r64
  v86 r35
  v87 r140
  v88 r87
  v89 r159
  v90 r151
  v91 r163
  v92 r170
  v93 r26
  v94 r9
  v95 r134
  v96 r121
  v97 r158
  v98 r89
  v99 r73
  v100 r111
  v101 r84
  v102 r176
  v103 r160
  v104 r178
  v105 r58
  v106 r4
  v107 r57
  v108 r139
  v109 r101
  v110 r2
  v111 r127
  v112 r162
  v113 r116
  v114 r153
  v115 r138
  v116 r55
  v117 r16
  v118 r129
  v119 r109
  v120 r41
  v121 r28
  v122 r98
  v123 r146
  v124 r17
  v125 r10
  v126 r181
  v127 r33
  v128 r106
  v129 r102
  v130 r113
  v131 r15
  v132 r179
  v133 r132
  v134 r147
  v135 r173
  v136 r66
  v137 r52
  v138
  v139 r154
  v140 r93
  v141 r68
  v142 r53
  v143 r6
  v144 r150
  v145 r180
  v146 r14
  v147 r145
  v148 r23
  v149 r61
  v150 r99
  v151 r156
  v152 r3
  v153 r152
  v154 r59
  v155 r48
  v156 r95
  v157 r168
  v158 r19
  v159 r39
  v160 r97
  v161 r71
  v162 r21
  v163 r74
  v164 r43
  v165 r114
  v166 r88
  v167 r177
  v168 r47
  v169 r174
  v170 r135
  v171 r130
  v172 r186
  v173 r117
  v174 r164
  v175 r166
  v176 r182
  v177 r96
  v178 r38
  v179 r122
  v180 r120
  v181 r167
  v182 r128
  v183 r76
  v184 r69
  v185 r126
  v186 r137
  v187 r149
 )
 (:init
  (at r110 v0)
  (at r86 v1)
  (at r90 v2)
  (at r46 v3)
  (at r60 v4)
  (at r32 v5)
  (at r82 v6)
  (at r78 v7)
  (at r20 v8)
  (at r107 v9)
  (at r83 v10)
  (at r42 v11)
  (at r172 v12)
  (at r161 v13)
  (at r12 v14)
  (at r25 v15)
  (at r104 v16)
  (at r5 v17)
  (at r37 v18)
  (at r44 v19)
  (at r13 v20)
  (at r103 v21)
  (at r133 v22)
  (at r18 v23)
  (at r148 v24)
  (at r171 v25)
  (at r45 v26)
  (at r136 v27)
  (at r65 v28)
  (at r118 v29)
  (at r81 v30)
  (at r11 v31)
  (at r108 v32)
  (at r54 v33)
  (at r184 v34)
  (at r67 v35)
  (at r144 v36)
  (at r80 v37)
  (at r119 v38)
  (at r72 v39)
  (at r169 v40)
  (at r175 v41)
  (at r27 v42)
  (at r34 v43)
  (at r24 v44)
  (at r123 v45)
  (at r112 v46)
  (at r29 v47)
  (at r91 v48)
  (at r187 v49)
  (at r124 v50)
  (at r36 v51)
  (at r77 v52)
  (at r105 v53)
  (at r79 v54)
  (at r56 v55)
  (at r142 v56)
  (at r7 v57)
  (at r85 v58)
  (at r183 v59)
  (at r94 v60)
  (at r141 v61)
  (at r92 v62)
  (at r70 v63)
  (at r100 v64)
  (at r185 v65)
  (at r131 v66)
  (at r51 v67)
  (at r115 v68)
  (at r125 v69)
  (at r50 v70)
  (at r8 v71)
  (at r75 v72)
  (free v73)
  (at r157 v74)
  (at r165 v75)
  (at r31 v76)
  (at r22 v77)
  (at r63 v78)
  (at r143 v79)
  (at r40 v80)
  (at r62 v81)
  (at r155 v82)
  (at r49 v83)
  (at r30 v84)
  (at r64 v85)
  (at r35 v86)
  (at r140 v87)
  (at r87 v88)
  (at r159 v89)
  (at r151 v90)
  (at r163 v91)
  (at r170 v92)
  (at r26 v93)
  (at r9 v94)
  (at r134 v95)
  (at r121 v96)
  (at r158 v97)
  (at r89 v98)
  (at r73 v99)
  (at r111 v100)
  (at r84 v101)
  (at r176 v102)
  (at r160 v103)
  (at r178 v104)
  (at r58 v105)
  (at r4 v106)
  (at r57 v107)
  (at r139 v108)
  (at r101 v109)
  (at r2 v110)
  (at r127 v111)
  (at r162 v112)
  (at r116 v113)
  (at r153 v114)
  (at r138 v115)
  (at r55 v116)
  (at r16 v117)
  (at r129 v118)
  (at r109 v119)
  (at r41 v120)
  (at r28 v121)
  (at r98 v122)
  (at r146 v123)
  (at r17 v124)
  (at r10 v125)
  (at r181 v126)
  (at r33 v127)
  (at r106 v128)
  (at r102 v129)
  (at r113 v130)
  (at r15 v131)
  (at r179 v132)
  (at r132 v133)
  (at r147 v134)
  (at r173 v135)
  (at r66 v136)
  (at r52 v137)
  (free v138)
  (at r154 v139)
  (at r93 v140)
  (at r68 v141)
  (at r53 v142)
  (at r6 v143)
  (at r150 v144)
  (at r180 v145)
  (at r14 v146)
  (at r145 v147)
  (at r23 v148)
  (at r61 v149)
  (at r99 v150)
  (at r156 v151)
  (at r3 v152)
  (at r152 v153)
  (at r59 v154)
  (at r48 v155)
  (at r95 v156)
  (at r168 v157)
  (at r19 v158)
  (at r39 v159)
  (at r97 v160)
  (at r71 v161)
  (at r21 v162)
  (at r74 v163)
  (at r43 v164)
  (at r114 v165)
  (at r88 v166)
  (at r177 v167)
  (at r47 v168)
  (at r174 v169)
  (at r135 v170)
  (at r130 v171)
  (at r186 v172)
  (at r117 v173)
  (at r164 v174)
  (at r166 v175)
  (at r182 v176)
  (at r96 v177)
  (at r38 v178)
  (at r122 v179)
  (at r120 v180)
  (at r167 v181)
  (at r128 v182)
  (at r76 v183)
  (at r69 v184)
  (at r126 v185)
  (at r137 v186)
  (at r149 v187)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v0 v29)
  (adjacent v0 v64)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v18)
  (adjacent v1 v72)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v17)
  (adjacent v2 v22)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v86)
  (adjacent v3 v151)
  (adjacent v4 v7)
  (adjacent v4 v92)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v6 v14)
  (adjacent v6 v76)
  (adjacent v7 v13)
  (adjacent v7 v32)
  (adjacent v8 v9)
  (adjacent v8 v103)
  (adjacent v8 v155)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v9 v83)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v21)
  (adjacent v12 v13)
  (adjacent v14 v28)
  (adjacent v14 v33)
  (adjacent v14 v68)
  (adjacent v15 v16)
  (adjacent v15 v73)
  (adjacent v16 v17)
  (adjacent v17 v95)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v37)
  (adjacent v20 v71)
  (adjacent v20 v131)
  (adjacent v22 v23)
  (adjacent v22 v65)
  (adjacent v23 v24)
  (adjacent v23 v74)
  (adjacent v24 v25)
  (adjacent v24 v42)
  (adjacent v25 v26)
  (adjacent v25 v44)
  (adjacent v25 v110)
  (adjacent v26 v27)
  (adjacent v26 v36)
  (adjacent v27 v28)
  (adjacent v27 v66)
  (adjacent v28 v166)
  (adjacent v29 v30)
  (adjacent v29 v119)
  (adjacent v30 v31)
  (adjacent v30 v65)
  (adjacent v30 v75)
  (adjacent v31 v32)
  (adjacent v31 v181)
  (adjacent v32 v96)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v62)
  (adjacent v34 v63)
  (adjacent v34 v110)
  (adjacent v35 v36)
  (adjacent v35 v43)
  (adjacent v35 v48)
  (adjacent v36 v49)
  (adjacent v37 v38)
  (adjacent v37 v125)
  (adjacent v38 v39)
  (adjacent v38 v99)
  (adjacent v39 v40)
  (adjacent v39 v140)
  (adjacent v40 v41)
  (adjacent v40 v43)
  (adjacent v41 v42)
  (adjacent v41 v52)
  (adjacent v41 v118)
  (adjacent v44 v45)
  (adjacent v44 v57)
  (adjacent v45 v46)
  (adjacent v45 v53)
  (adjacent v45 v109)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v74)
  (adjacent v48 v84)
  (adjacent v49 v50)
  (adjacent v49 v69)
  (adjacent v49 v83)
  (adjacent v50 v51)
  (adjacent v50 v58)
  (adjacent v50 v130)
  (adjacent v51 v52)
  (adjacent v51 v75)
  (adjacent v51 v100)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v168)
  (adjacent v55 v56)
  (adjacent v55 v101)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v106)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v82)
  (adjacent v61 v62)
  (adjacent v61 v141)
  (adjacent v63 v64)
  (adjacent v64 v104)
  (adjacent v66 v67)
  (adjacent v66 v162)
  (adjacent v67 v68)
  (adjacent v67 v150)
  (adjacent v69 v70)
  (adjacent v69 v93)
  (adjacent v70 v71)
  (adjacent v70 v85)
  (adjacent v71 v111)
  (adjacent v72 v73)
  (adjacent v72 v180)
  (adjacent v74 v174)
  (adjacent v76 v77)
  (adjacent v76 v102)
  (adjacent v76 v105)
  (adjacent v76 v173)
  (adjacent v77 v78)
  (adjacent v77 v167)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v144)
  (adjacent v80 v81)
  (adjacent v80 v134)
  (adjacent v81 v82)
  (adjacent v82 v115)
  (adjacent v84 v85)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v143)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v133)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v154)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v113 v116)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v127 v182)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v139 v161)
  (adjacent v140 v181)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v142 v169)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v179 v180)
  (adjacent v181 v187)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
 )
 (:goal
  (and
  (at r173 v0)
  (at r38 v1)
  (at r105 v2)
  (at r31 v3)
  (at r110 v4)
  (at r148 v5)
  (at r144 v6)
  (at r47 v7)
  (at r184 v8)
  (at r71 v9)
  (at r109 v10)
  (at r151 v11)
  (at r28 v12)
  (at r45 v13)
  (at r126 v14)
  (at r67 v15)
  (at r21 v16)
  (at r112 v17)
  (at r13 v18)
  (at r66 v19)
  (at r84 v20)
  (at r101 v21)
  (at r180 v22)
  (at r130 v23)
  (at r93 v24)
  (at r103 v25)
  (at r119 v26)
  (at r114 v27)
  (at r111 v28)
  (at r127 v29)
  (at r154 v30)
  (at r34 v31)
  (at r65 v32)
  (at r59 v33)
  (at r147 v34)
  (at r92 v35)
  (at r27 v36)
  (at r128 v37)
  (at r94 v38)
  (at r125 v39)
  (at r74 v40)
  (at r186 v41)
  (at r75 v42)
  (at r91 v43)
  (at r157 v44)
  (at r169 v45)
  (at r90 v46)
  (at r68 v47)
  (at r150 v48)
  (at r43 v49)
  (at r187 v50)
  (at r58 v51)
  (at r116 v52)
  (at r17 v53)
  (at r53 v54)
  (at r170 v55)
  (at r77 v56)
  (at r131 v57)
  (at r133 v58)
  (at r153 v59)
  (at r129 v60)
  (at r152 v61)
  (at r50 v62)
  (at r57 v63)
  (at r79 v64)
  (free v65)
  (at r140 v66)
  (at r24 v67)
  (at r164 v68)
  (at r76 v69)
  (at r183 v70)
  (at r146 v71)
  (at r166 v72)
  (at r175 v73)
  (at r8 v74)
  (at r158 v75)
  (at r124 v76)
  (at r60 v77)
  (at r135 v78)
  (at r89 v79)
  (at r167 v80)
  (at r108 v81)
  (at r121 v82)
  (at r49 v83)
  (at r73 v84)
  (at r32 v85)
  (at r104 v86)
  (at r46 v87)
  (at r48 v88)
  (at r113 v89)
  (at r95 v90)
  (at r3 v91)
  (at r41 v92)
  (at r12 v93)
  (at r172 v94)
  (at r70 v95)
  (at r182 v96)
  (at r6 v97)
  (at r87 v98)
  (at r143 v99)
  (at r155 v100)
  (at r162 v101)
  (at r83 v102)
  (at r142 v103)
  (at r26 v104)
  (at r11 v105)
  (at r123 v106)
  (at r137 v107)
  (at r63 v108)
  (at r81 v109)
  (at r99 v110)
  (at r102 v111)
  (at r168 v112)
  (at r33 v113)
  (at r18 v114)
  (at r159 v115)
  (at r161 v116)
  (at r181 v117)
  (at r19 v118)
  (at r122 v119)
  (at r149 v120)
  (at r176 v121)
  (at r2 v122)
  (at r29 v123)
  (at r165 v124)
  (at r134 v125)
  (at r10 v126)
  (at r174 v127)
  (at r120 v128)
  (at r30 v129)
  (at r97 v130)
  (at r185 v131)
  (at r136 v132)
  (at r20 v133)
  (at r80 v134)
  (at r72 v135)
  (at r37 v136)
  (at r35 v137)
  (at r61 v138)
  (at r177 v139)
  (at r4 v140)
  (at r178 v141)
  (at r55 v142)
  (at r7 v143)
  (at r96 v144)
  (at r9 v145)
  (at r98 v146)
  (at r36 v147)
  (at r145 v148)
  (at r44 v149)
  (at r56 v150)
  (at r69 v151)
  (at r15 v152)
  (at r52 v153)
  (at r100 v154)
  (at r117 v155)
  (at r51 v156)
  (at r86 v157)
  (at r106 v158)
  (at r132 v159)
  (at r118 v160)
  (at r85 v161)
  (at r16 v162)
  (at r14 v163)
  (at r40 v164)
  (free v165)
  (at r160 v166)
  (at r82 v167)
  (at r22 v168)
  (at r139 v169)
  (at r171 v170)
  (at r156 v171)
  (at r23 v172)
  (at r179 v173)
  (at r39 v174)
  (at r138 v175)
  (at r64 v176)
  (at r42 v177)
  (at r115 v178)
  (at r54 v179)
  (at r62 v180)
  (at r88 v181)
  (at r163 v182)
  (at r5 v183)
  (at r141 v184)
  (at r78 v185)
  (at r107 v186)
  (at r25 v187)
  )
 )
)