(define (problem multirobot_51_2_c0)
 (:domain multirobot)
 (:objects
  v0 r25
  v1 r62
  v2 r178
  v3 r104
  v4 r71
  v5 r103
  v6 r24
  v7 r173
  v8 r182
  v9 r9
  v10 r51
  v11 r97
  v12 r116
  v13 r149
  v14 r169
  v15 r16
  v16 r183
  v17 r145
  v18 r14
  v19 r23
  v20 r158
  v21 r130
  v22 r18
  v23 r66
  v24 r156
  v25 r112
  v26 r135
  v27 r31
  v28 r150
  v29 r29
  v30 r81
  v31 r76
  v32 r12
  v33 r106
  v34 r119
  v35 r166
  v36 r37
  v37 r85
  v38 r38
  v39 r13
  v40 r107
  v41 r187
  v42 r28
  v43 r99
  v44 r157
  v45 r152
  v46 r185
  v47 r144
  v48 r87
  v49 r143
  v50 r70
  v51 r47
  v52 r148
  v53 r117
  v54 r123
  v55 r41
  v56 r15
  v57 r83
  v58 r101
  v59 r79
  v60 r102
  v61 r163
  v62 r134
  v63 r110
  v64 r186
  v65 r93
  v66 r44
  v67 r121
  v68 r108
  v69 r67
  v70 r53
  v71 r128
  v72 r137
  v73 r89
  v74 r131
  v75 r133
  v76 r26
  v77 r10
  v78 r151
  v79 r180
  v80 r45
  v81 r55
  v82 r98
  v83 r75
  v84 r19
  v85 r174
  v86 r88
  v87 r129
  v88 r132
  v89 r184
  v90 r82
  v91 r64
  v92 r120
  v93 r125
  v94 r126
  v95 r52
  v96 r58
  v97 r159
  v98 r142
  v99 r114
  v100 r59
  v101 r138
  v102 r136
  v103 r176
  v104 r175
  v105 r170
  v106 r153
  v107 r36
  v108 r168
  v109 r146
  v110 r80
  v111 r60
  v112 r96
  v113 r40
  v114 r72
  v115 r95
  v116 r161
  v117 r7
  v118 r84
  v119 r177
  v120 r4
  v121 r118
  v122 r94
  v123 r57
  v124 r21
  v125 r147
  v126 r42
  v127 r113
  v128 r77
  v129 r172
  v130 r90
  v131
  v132
  v133 r49
  v134 r35
  v135 r139
  v136 r155
  v137 r162
  v138 r165
  v139 r50
  v140 r33
  v141 r3
  v142 r43
  v143 r100
  v144 r154
  v145 r73
  v146 r8
  v147 r68
  v148 r127
  v149 r22
  v150 r34
  v151 r74
  v152 r6
  v153 r78
  v154 r124
  v155 r56
  v156 r27
  v157 r111
  v158 r20
  v159 r171
  v160 r65
  v161 r2
  v162 r61
  v163 r63
  v164 r179
  v165 r160
  v166 r54
  v167 r141
  v168 r140
  v169 r109
  v170 r122
  v171 r17
  v172 r30
  v173 r32
  v174 r91
  v175 r46
  v176 r181
  v177 r5
  v178 r11
  v179 r69
  v180 r167
  v181 r105
  v182 r39
  v183 r86
  v184 r48
  v185 r164
  v186 r92
  v187 r115
 )
 (:init
  (at r25 v0)
  (at r62 v1)
  (at r178 v2)
  (at r104 v3)
  (at r71 v4)
  (at r103 v5)
  (at r24 v6)
  (at r173 v7)
  (at r182 v8)
  (at r9 v9)
  (at r51 v10)
  (at r97 v11)
  (at r116 v12)
  (at r149 v13)
  (at r169 v14)
  (at r16 v15)
  (at r183 v16)
  (at r145 v17)
  (at r14 v18)
  (at r23 v19)
  (at r158 v20)
  (at r130 v21)
  (at r18 v22)
  (at r66 v23)
  (at r156 v24)
  (at r112 v25)
  (at r135 v26)
  (at r31 v27)
  (at r150 v28)
  (at r29 v29)
  (at r81 v30)
  (at r76 v31)
  (at r12 v32)
  (at r106 v33)
  (at r119 v34)
  (at r166 v35)
  (at r37 v36)
  (at r85 v37)
  (at r38 v38)
  (at r13 v39)
  (at r107 v40)
  (at r187 v41)
  (at r28 v42)
  (at r99 v43)
  (at r157 v44)
  (at r152 v45)
  (at r185 v46)
  (at r144 v47)
  (at r87 v48)
  (at r143 v49)
  (at r70 v50)
  (at r47 v51)
  (at r148 v52)
  (at r117 v53)
  (at r123 v54)
  (at r41 v55)
  (at r15 v56)
  (at r83 v57)
  (at r101 v58)
  (at r79 v59)
  (at r102 v60)
  (at r163 v61)
  (at r134 v62)
  (at r110 v63)
  (at r186 v64)
  (at r93 v65)
  (at r44 v66)
  (at r121 v67)
  (at r108 v68)
  (at r67 v69)
  (at r53 v70)
  (at r128 v71)
  (at r137 v72)
  (at r89 v73)
  (at r131 v74)
  (at r133 v75)
  (at r26 v76)
  (at r10 v77)
  (at r151 v78)
  (at r180 v79)
  (at r45 v80)
  (at r55 v81)
  (at r98 v82)
  (at r75 v83)
  (at r19 v84)
  (at r174 v85)
  (at r88 v86)
  (at r129 v87)
  (at r132 v88)
  (at r184 v89)
  (at r82 v90)
  (at r64 v91)
  (at r120 v92)
  (at r125 v93)
  (at r126 v94)
  (at r52 v95)
  (at r58 v96)
  (at r159 v97)
  (at r142 v98)
  (at r114 v99)
  (at r59 v100)
  (at r138 v101)
  (at r136 v102)
  (at r176 v103)
  (at r175 v104)
  (at r170 v105)
  (at r153 v106)
  (at r36 v107)
  (at r168 v108)
  (at r146 v109)
  (at r80 v110)
  (at r60 v111)
  (at r96 v112)
  (at r40 v113)
  (at r72 v114)
  (at r95 v115)
  (at r161 v116)
  (at r7 v117)
  (at r84 v118)
  (at r177 v119)
  (at r4 v120)
  (at r118 v121)
  (at r94 v122)
  (at r57 v123)
  (at r21 v124)
  (at r147 v125)
  (at r42 v126)
  (at r113 v127)
  (at r77 v128)
  (at r172 v129)
  (at r90 v130)
  (free v131)
  (free v132)
  (at r49 v133)
  (at r35 v134)
  (at r139 v135)
  (at r155 v136)
  (at r162 v137)
  (at r165 v138)
  (at r50 v139)
  (at r33 v140)
  (at r3 v141)
  (at r43 v142)
  (at r100 v143)
  (at r154 v144)
  (at r73 v145)
  (at r8 v146)
  (at r68 v147)
  (at r127 v148)
  (at r22 v149)
  (at r34 v150)
  (at r74 v151)
  (at r6 v152)
  (at r78 v153)
  (at r124 v154)
  (at r56 v155)
  (at r27 v156)
  (at r111 v157)
  (at r20 v158)
  (at r171 v159)
  (at r65 v160)
  (at r2 v161)
  (at r61 v162)
  (at r63 v163)
  (at r179 v164)
  (at r160 v165)
  (at r54 v166)
  (at r141 v167)
  (at r140 v168)
  (at r109 v169)
  (at r122 v170)
  (at r17 v171)
  (at r30 v172)
  (at r32 v173)
  (at r91 v174)
  (at r46 v175)
  (at r181 v176)
  (at r5 v177)
  (at r11 v178)
  (at r69 v179)
  (at r167 v180)
  (at r105 v181)
  (at r39 v182)
  (at r86 v183)
  (at r48 v184)
  (at r164 v185)
  (at r92 v186)
  (at r115 v187)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v171)
  (adjacent v1 v2)
  (adjacent v1 v92)
  (adjacent v1 v110)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v9)
  (adjacent v2 v14)
  (adjacent v2 v15)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v32)
  (adjacent v4 v65)
  (adjacent v5 v6)
  (adjacent v5 v21)
  (adjacent v5 v59)
  (adjacent v6 v7)
  (adjacent v6 v31)
  (adjacent v6 v32)
  (adjacent v6 v70)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v8 v34)
  (adjacent v8 v79)
  (adjacent v8 v92)
  (adjacent v8 v117)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v22)
  (adjacent v10 v56)
  (adjacent v10 v116)
  (adjacent v11 v12)
  (adjacent v11 v51)
  (adjacent v12 v13)
  (adjacent v12 v43)
  (adjacent v13 v14)
  (adjacent v13 v33)
  (adjacent v14 v49)
  (adjacent v14 v50)
  (adjacent v15 v16)
  (adjacent v15 v48)
  (adjacent v16 v17)
  (adjacent v16 v93)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v36)
  (adjacent v18 v147)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v19 v129)
  (adjacent v20 v21)
  (adjacent v21 v24)
  (adjacent v21 v62)
  (adjacent v21 v65)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v60)
  (adjacent v23 v96)
  (adjacent v24 v64)
  (adjacent v25 v26)
  (adjacent v25 v50)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v80)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v42)
  (adjacent v30 v138)
  (adjacent v31 v187)
  (adjacent v33 v34)
  (adjacent v33 v37)
  (adjacent v33 v109)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v119)
  (adjacent v39 v40)
  (adjacent v39 v79)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v43 v57)
  (adjacent v43 v128)
  (adjacent v44 v45)
  (adjacent v44 v88)
  (adjacent v45 v46)
  (adjacent v45 v131)
  (adjacent v46 v47)
  (adjacent v46 v91)
  (adjacent v46 v172)
  (adjacent v47 v48)
  (adjacent v47 v49)
  (adjacent v48 v77)
  (adjacent v48 v120)
  (adjacent v48 v180)
  (adjacent v50 v66)
  (adjacent v50 v84)
  (adjacent v50 v87)
  (adjacent v51 v52)
  (adjacent v51 v73)
  (adjacent v52 v53)
  (adjacent v52 v63)
  (adjacent v53 v54)
  (adjacent v53 v140)
  (adjacent v53 v183)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v153)
  (adjacent v56 v141)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v102)
  (adjacent v60 v61)
  (adjacent v60 v95)
  (adjacent v61 v62)
  (adjacent v61 v69)
  (adjacent v63 v64)
  (adjacent v65 v93)
  (adjacent v65 v184)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v78)
  (adjacent v67 v125)
  (adjacent v68 v69)
  (adjacent v68 v74)
  (adjacent v69 v158)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v166)
  (adjacent v72 v73)
  (adjacent v72 v103)
  (adjacent v73 v161)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v137)
  (adjacent v76 v77)
  (adjacent v76 v94)
  (adjacent v77 v78)
  (adjacent v78 v148)
  (adjacent v80 v81)
  (adjacent v80 v165)
  (adjacent v81 v82)
  (adjacent v81 v152)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v85)
  (adjacent v83 v173)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v130)
  (adjacent v90 v91)
  (adjacent v94 v95)
  (adjacent v94 v172)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v97 v142)
  (adjacent v98 v99)
  (adjacent v98 v151)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v103 v179)
  (adjacent v104 v105)
  (adjacent v104 v143)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v108 v124)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v115 v150)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v125 v150)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v135 v162)
  (adjacent v136 v137)
  (adjacent v136 v149)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v141 v142)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v151 v152)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v159)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v184 v185)
  (adjacent v185 v186)
  (adjacent v186 v187)
 )
 (:goal
  (and
  (at r43 v0)
  (at r27 v1)
  (at r7 v2)
  (at r155 v3)
  (at r53 v4)
  (at r56 v5)
  (at r178 v6)
  (at r58 v7)
  (at r186 v8)
  (at r125 v9)
  (at r17 v10)
  (at r77 v11)
  (at r54 v12)
  (at r143 v13)
  (at r8 v14)
  (at r48 v15)
  (at r115 v16)
  (at r33 v17)
  (at r172 v18)
  (at r23 v19)
  (at r165 v20)
  (free v21)
  (at r131 v22)
  (at r126 v23)
  (at r173 v24)
  (at r108 v25)
  (at r141 v26)
  (at r134 v27)
  (at r84 v28)
  (at r103 v29)
  (at r15 v30)
  (at r85 v31)
  (at r46 v32)
  (at r55 v33)
  (at r154 v34)
  (at r91 v35)
  (at r99 v36)
  (at r31 v37)
  (at r181 v38)
  (at r111 v39)
  (at r25 v40)
  (at r19 v41)
  (at r163 v42)
  (at r133 v43)
  (at r180 v44)
  (at r162 v45)
  (at r64 v46)
  (at r10 v47)
  (at r107 v48)
  (at r96 v49)
  (at r144 v50)
  (at r90 v51)
  (at r35 v52)
  (at r95 v53)
  (at r62 v54)
  (at r184 v55)
  (at r6 v56)
  (at r148 v57)
  (at r109 v58)
  (at r160 v59)
  (at r128 v60)
  (at r153 v61)
  (at r41 v62)
  (at r120 v63)
  (at r159 v64)
  (at r14 v65)
  (at r135 v66)
  (at r13 v67)
  (at r175 v68)
  (at r121 v69)
  (at r50 v70)
  (at r60 v71)
  (at r100 v72)
  (at r136 v73)
  (at r104 v74)
  (at r168 v75)
  (at r42 v76)
  (at r38 v77)
  (at r183 v78)
  (at r88 v79)
  (at r157 v80)
  (at r57 v81)
  (at r73 v82)
  (at r124 v83)
  (at r166 v84)
  (at r26 v85)
  (at r147 v86)
  (free v87)
  (at r78 v88)
  (at r9 v89)
  (at r75 v90)
  (at r16 v91)
  (at r93 v92)
  (at r40 v93)
  (at r76 v94)
  (at r4 v95)
  (at r105 v96)
  (at r123 v97)
  (at r151 v98)
  (at r118 v99)
  (at r37 v100)
  (at r18 v101)
  (at r174 v102)
  (at r51 v103)
  (at r150 v104)
  (at r156 v105)
  (at r34 v106)
  (at r167 v107)
  (at r114 v108)
  (at r45 v109)
  (at r130 v110)
  (at r110 v111)
  (at r32 v112)
  (at r67 v113)
  (at r49 v114)
  (at r139 v115)
  (at r5 v116)
  (at r113 v117)
  (at r132 v118)
  (at r74 v119)
  (at r39 v120)
  (at r161 v121)
  (at r140 v122)
  (at r36 v123)
  (at r59 v124)
  (at r187 v125)
  (at r179 v126)
  (at r146 v127)
  (at r63 v128)
  (at r169 v129)
  (at r2 v130)
  (at r152 v131)
  (at r97 v132)
  (at r112 v133)
  (at r81 v134)
  (at r101 v135)
  (at r20 v136)
  (at r21 v137)
  (at r3 v138)
  (at r176 v139)
  (at r127 v140)
  (at r12 v141)
  (at r11 v142)
  (at r145 v143)
  (at r89 v144)
  (at r69 v145)
  (at r137 v146)
  (at r164 v147)
  (at r177 v148)
  (at r158 v149)
  (at r116 v150)
  (at r106 v151)
  (at r28 v152)
  (at r98 v153)
  (at r122 v154)
  (at r94 v155)
  (at r92 v156)
  (at r102 v157)
  (at r80 v158)
  (at r65 v159)
  (at r138 v160)
  (at r117 v161)
  (at r171 v162)
  (at r142 v163)
  (at r87 v164)
  (at r86 v165)
  (at r71 v166)
  (at r70 v167)
  (at r22 v168)
  (at r68 v169)
  (at r129 v170)
  (at r79 v171)
  (at r185 v172)
  (at r24 v173)
  (at r149 v174)
  (at r82 v175)
  (at r44 v176)
  (at r61 v177)
  (at r72 v178)
  (at r29 v179)
  (at r170 v180)
  (at r30 v181)
  (at r119 v182)
  (at r182 v183)
  (at r47 v184)
  (at r52 v185)
  (at r66 v186)
  (at r83 v187)
  )
 )
)