(define (problem multirobot_51_2_c2)
 (:domain multirobot)
 (:objects
  v0 r161
  v1 r74
  v2 r61
  v3 r14
  v4 r173
  v5 r67
  v6 r20
  v7 r76
  v8 r172
  v9 r136
  v10 r159
  v11 r38
  v12 r160
  v13 r115
  v14 r65
  v15 r62
  v16 r75
  v17 r157
  v18 r78
  v19 r93
  v20 r147
  v21 r5
  v22 r86
  v23 r11
  v24 r84
  v25 r12
  v26 r106
  v27 r43
  v28 r140
  v29 r21
  v30 r124
  v31 r15
  v32 r119
  v33 r167
  v34 r108
  v35 r24
  v36 r56
  v37 r81
  v38 r32
  v39 r151
  v40 r90
  v41 r41
  v42 r103
  v43 r107
  v44
  v45 r137
  v46 r150
  v47 r117
  v48 r28
  v49 r143
  v50 r116
  v51 r144
  v52 r4
  v53 r29
  v54 r120
  v55 r109
  v56 r58
  v57 r128
  v58 r26
  v59 r53
  v60 r69
  v61 r71
  v62 r16
  v63 r34
  v64 r110
  v65 r19
  v66 r17
  v67 r42
  v68 r64
  v69 r146
  v70 r174
  v71 r158
  v72 r102
  v73 r100
  v74 r98
  v75 r8
  v76 r129
  v77 r51
  v78 r163
  v79 r22
  v80 r135
  v81 r105
  v82 r23
  v83 r33
  v84 r59
  v85 r36
  v86 r70
  v87 r111
  v88 r85
  v89 r95
  v90 r145
  v91 r114
  v92 r153
  v93 r171
  v94 r94
  v95 r48
  v96 r101
  v97 r148
  v98 r27
  v99 r40
  v100 r37
  v101 r10
  v102 r139
  v103 r142
  v104 r113
  v105 r97
  v106 r156
  v107 r121
  v108 r25
  v109 r165
  v110 r132
  v111 r9
  v112 r13
  v113 r166
  v114 r91
  v115 r138
  v116 r72
  v117 r82
  v118 r152
  v119 r49
  v120 r96
  v121 r155
  v122 r57
  v123 r45
  v124 r18
  v125 r87
  v126 r123
  v127 r44
  v128 r88
  v129 r63
  v130 r39
  v131 r77
  v132 r66
  v133 r79
  v134 r35
  v135 r31
  v136 r54
  v137 r130
  v138 r131
  v139 r170
  v140 r6
  v141 r125
  v142 r73
  v143 r60
  v144 r122
  v145 r133
  v146 r154
  v147 r3
  v148 r169
  v149 r55
  v150 r47
  v151 r52
  v152 r127
  v153 r30
  v154 r164
  v155 r118
  v156 r104
  v157 r149
  v158 r92
  v159 r83
  v160 r80
  v161 r112
  v162 r99
  v163 r141
  v164 r162
  v165 r134
  v166 r126
  v167 r89
  v168 r50
  v169 r46
  v170 r168
  v171 r68
  v172
  v173 r2
  v174 r7
 )
 (:init
  (at r161 v0)
  (at r74 v1)
  (at r61 v2)
  (at r14 v3)
  (at r173 v4)
  (at r67 v5)
  (at r20 v6)
  (at r76 v7)
  (at r172 v8)
  (at r136 v9)
  (at r159 v10)
  (at r38 v11)
  (at r160 v12)
  (at r115 v13)
  (at r65 v14)
  (at r62 v15)
  (at r75 v16)
  (at r157 v17)
  (at r78 v18)
  (at r93 v19)
  (at r147 v20)
  (at r5 v21)
  (at r86 v22)
  (at r11 v23)
  (at r84 v24)
  (at r12 v25)
  (at r106 v26)
  (at r43 v27)
  (at r140 v28)
  (at r21 v29)
  (at r124 v30)
  (at r15 v31)
  (at r119 v32)
  (at r167 v33)
  (at r108 v34)
  (at r24 v35)
  (at r56 v36)
  (at r81 v37)
  (at r32 v38)
  (at r151 v39)
  (at r90 v40)
  (at r41 v41)
  (at r103 v42)
  (at r107 v43)
  (free v44)
  (at r137 v45)
  (at r150 v46)
  (at r117 v47)
  (at r28 v48)
  (at r143 v49)
  (at r116 v50)
  (at r144 v51)
  (at r4 v52)
  (at r29 v53)
  (at r120 v54)
  (at r109 v55)
  (at r58 v56)
  (at r128 v57)
  (at r26 v58)
  (at r53 v59)
  (at r69 v60)
  (at r71 v61)
  (at r16 v62)
  (at r34 v63)
  (at r110 v64)
  (at r19 v65)
  (at r17 v66)
  (at r42 v67)
  (at r64 v68)
  (at r146 v69)
  (at r174 v70)
  (at r158 v71)
  (at r102 v72)
  (at r100 v73)
  (at r98 v74)
  (at r8 v75)
  (at r129 v76)
  (at r51 v77)
  (at r163 v78)
  (at r22 v79)
  (at r135 v80)
  (at r105 v81)
  (at r23 v82)
  (at r33 v83)
  (at r59 v84)
  (at r36 v85)
  (at r70 v86)
  (at r111 v87)
  (at r85 v88)
  (at r95 v89)
  (at r145 v90)
  (at r114 v91)
  (at r153 v92)
  (at r171 v93)
  (at r94 v94)
  (at r48 v95)
  (at r101 v96)
  (at r148 v97)
  (at r27 v98)
  (at r40 v99)
  (at r37 v100)
  (at r10 v101)
  (at r139 v102)
  (at r142 v103)
  (at r113 v104)
  (at r97 v105)
  (at r156 v106)
  (at r121 v107)
  (at r25 v108)
  (at r165 v109)
  (at r132 v110)
  (at r9 v111)
  (at r13 v112)
  (at r166 v113)
  (at r91 v114)
  (at r138 v115)
  (at r72 v116)
  (at r82 v117)
  (at r152 v118)
  (at r49 v119)
  (at r96 v120)
  (at r155 v121)
  (at r57 v122)
  (at r45 v123)
  (at r18 v124)
  (at r87 v125)
  (at r123 v126)
  (at r44 v127)
  (at r88 v128)
  (at r63 v129)
  (at r39 v130)
  (at r77 v131)
  (at r66 v132)
  (at r79 v133)
  (at r35 v134)
  (at r31 v135)
  (at r54 v136)
  (at r130 v137)
  (at r131 v138)
  (at r170 v139)
  (at r6 v140)
  (at r125 v141)
  (at r73 v142)
  (at r60 v143)
  (at r122 v144)
  (at r133 v145)
  (at r154 v146)
  (at r3 v147)
  (at r169 v148)
  (at r55 v149)
  (at r47 v150)
  (at r52 v151)
  (at r127 v152)
  (at r30 v153)
  (at r164 v154)
  (at r118 v155)
  (at r104 v156)
  (at r149 v157)
  (at r92 v158)
  (at r83 v159)
  (at r80 v160)
  (at r112 v161)
  (at r99 v162)
  (at r141 v163)
  (at r162 v164)
  (at r134 v165)
  (at r126 v166)
  (at r89 v167)
  (at r50 v168)
  (at r46 v169)
  (at r168 v170)
  (at r68 v171)
  (free v172)
  (at r2 v173)
  (at r7 v174)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v21)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v49)
  (adjacent v2 v3)
  (adjacent v2 v36)
  (adjacent v3 v4)
  (adjacent v3 v70)
  (adjacent v3 v112)
  (adjacent v4 v6)
  (adjacent v4 v9)
  (adjacent v4 v29)
  (adjacent v4 v49)
  (adjacent v5 v6)
  (adjacent v5 v25)
  (adjacent v5 v39)
  (adjacent v5 v48)
  (adjacent v5 v145)
  (adjacent v6 v10)
  (adjacent v6 v33)
  (adjacent v6 v83)
  (adjacent v7 v8)
  (adjacent v7 v14)
  (adjacent v7 v26)
  (adjacent v8 v9)
  (adjacent v8 v162)
  (adjacent v10 v11)
  (adjacent v10 v30)
  (adjacent v10 v52)
  (adjacent v11 v12)
  (adjacent v11 v37)
  (adjacent v11 v69)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v57)
  (adjacent v13 v66)
  (adjacent v14 v15)
  (adjacent v14 v64)
  (adjacent v15 v16)
  (adjacent v15 v48)
  (adjacent v15 v153)
  (adjacent v16 v17)
  (adjacent v16 v22)
  (adjacent v16 v32)
  (adjacent v16 v50)
  (adjacent v16 v85)
  (adjacent v17 v18)
  (adjacent v17 v45)
  (adjacent v17 v63)
  (adjacent v17 v100)
  (adjacent v17 v113)
  (adjacent v18 v19)
  (adjacent v18 v53)
  (adjacent v18 v84)
  (adjacent v19 v20)
  (adjacent v19 v167)
  (adjacent v20 v21)
  (adjacent v20 v77)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v38)
  (adjacent v25 v84)
  (adjacent v25 v105)
  (adjacent v26 v27)
  (adjacent v26 v104)
  (adjacent v26 v152)
  (adjacent v27 v28)
  (adjacent v27 v56)
  (adjacent v28 v29)
  (adjacent v29 v79)
  (adjacent v29 v160)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v144)
  (adjacent v33 v34)
  (adjacent v33 v76)
  (adjacent v34 v35)
  (adjacent v34 v69)
  (adjacent v35 v36)
  (adjacent v35 v86)
  (adjacent v37 v38)
  (adjacent v37 v44)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v47)
  (adjacent v41 v42)
  (adjacent v41 v110)
  (adjacent v41 v120)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v94)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v85)
  (adjacent v48 v93)
  (adjacent v48 v112)
  (adjacent v50 v51)
  (adjacent v50 v73)
  (adjacent v51 v52)
  (adjacent v51 v67)
  (adjacent v52 v91)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v90)
  (adjacent v56 v132)
  (adjacent v56 v168)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v68)
  (adjacent v63 v99)
  (adjacent v63 v111)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v174)
  (adjacent v67 v68)
  (adjacent v69 v160)
  (adjacent v70 v71)
  (adjacent v70 v74)
  (adjacent v70 v105)
  (adjacent v70 v142)
  (adjacent v71 v72)
  (adjacent v71 v131)
  (adjacent v72 v73)
  (adjacent v72 v111)
  (adjacent v74 v75)
  (adjacent v74 v78)
  (adjacent v75 v76)
  (adjacent v75 v135)
  (adjacent v77 v78)
  (adjacent v77 v114)
  (adjacent v77 v133)
  (adjacent v78 v132)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v110)
  (adjacent v83 v121)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v141)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v100)
  (adjacent v90 v101)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v96 v127)
  (adjacent v96 v146)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v98 v106)
  (adjacent v98 v113)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v109)
  (adjacent v104 v151)
  (adjacent v106 v107)
  (adjacent v106 v145)
  (adjacent v106 v161)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v136)
  (adjacent v111 v128)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v159)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v133 v134)
  (adjacent v133 v150)
  (adjacent v134 v135)
  (adjacent v136 v137)
  (adjacent v136 v161)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (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 v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v173)
  (adjacent v173 v174)
 )
 (:goal
  (and
  (at r10 v0)
  (at r116 v1)
  (at r114 v2)
  (at r60 v3)
  (at r137 v4)
  (at r65 v5)
  (at r102 v6)
  (at r58 v7)
  (at r128 v8)
  (at r45 v9)
  (free v10)
  (at r70 v11)
  (at r134 v12)
  (at r14 v13)
  (at r150 v14)
  (at r123 v15)
  (at r101 v16)
  (at r34 v17)
  (at r139 v18)
  (at r167 v19)
  (at r131 v20)
  (at r48 v21)
  (at r100 v22)
  (at r76 v23)
  (at r89 v24)
  (at r158 v25)
  (at r120 v26)
  (at r53 v27)
  (at r9 v28)
  (at r23 v29)
  (at r107 v30)
  (at r105 v31)
  (at r142 v32)
  (at r165 v33)
  (at r135 v34)
  (at r56 v35)
  (at r71 v36)
  (at r29 v37)
  (at r26 v38)
  (at r141 v39)
  (at r108 v40)
  (at r46 v41)
  (at r33 v42)
  (at r156 v43)
  (at r47 v44)
  (at r118 v45)
  (at r17 v46)
  (at r66 v47)
  (at r82 v48)
  (at r40 v49)
  (at r16 v50)
  (at r126 v51)
  (at r5 v52)
  (at r69 v53)
  (at r36 v54)
  (at r159 v55)
  (at r127 v56)
  (at r93 v57)
  (at r85 v58)
  (at r152 v59)
  (at r19 v60)
  (at r22 v61)
  (at r140 v62)
  (at r73 v63)
  (at r112 v64)
  (at r38 v65)
  (at r41 v66)
  (at r54 v67)
  (at r30 v68)
  (at r172 v69)
  (at r24 v70)
  (at r50 v71)
  (at r173 v72)
  (at r59 v73)
  (at r74 v74)
  (at r148 v75)
  (at r132 v76)
  (at r12 v77)
  (at r169 v78)
  (at r18 v79)
  (at r162 v80)
  (at r125 v81)
  (at r61 v82)
  (at r37 v83)
  (at r146 v84)
  (at r109 v85)
  (at r51 v86)
  (at r155 v87)
  (at r57 v88)
  (at r174 v89)
  (at r86 v90)
  (at r80 v91)
  (at r2 v92)
  (at r106 v93)
  (at r32 v94)
  (at r168 v95)
  (at r28 v96)
  (at r35 v97)
  (at r72 v98)
  (at r91 v99)
  (at r42 v100)
  (at r31 v101)
  (at r103 v102)
  (at r92 v103)
  (at r154 v104)
  (at r129 v105)
  (at r4 v106)
  (at r97 v107)
  (at r171 v108)
  (at r77 v109)
  (at r20 v110)
  (at r145 v111)
  (at r21 v112)
  (at r130 v113)
  (at r121 v114)
  (at r153 v115)
  (at r149 v116)
  (at r119 v117)
  (at r81 v118)
  (at r136 v119)
  (at r6 v120)
  (at r144 v121)
  (at r84 v122)
  (at r160 v123)
  (at r49 v124)
  (at r79 v125)
  (at r3 v126)
  (at r25 v127)
  (at r64 v128)
  (at r63 v129)
  (free v130)
  (at r122 v131)
  (at r124 v132)
  (at r55 v133)
  (at r27 v134)
  (at r111 v135)
  (at r117 v136)
  (at r87 v137)
  (at r43 v138)
  (at r98 v139)
  (at r52 v140)
  (at r11 v141)
  (at r88 v142)
  (at r44 v143)
  (at r62 v144)
  (at r83 v145)
  (at r39 v146)
  (at r67 v147)
  (at r96 v148)
  (at r163 v149)
  (at r161 v150)
  (at r104 v151)
  (at r94 v152)
  (at r95 v153)
  (at r133 v154)
  (at r151 v155)
  (at r15 v156)
  (at r68 v157)
  (at r110 v158)
  (at r13 v159)
  (at r147 v160)
  (at r164 v161)
  (at r138 v162)
  (at r75 v163)
  (at r99 v164)
  (at r113 v165)
  (at r157 v166)
  (at r166 v167)
  (at r170 v168)
  (at r90 v169)
  (at r8 v170)
  (at r143 v171)
  (at r78 v172)
  (at r115 v173)
  (at r7 v174)
  )
 )
)