(define (problem multirobot_51_2_c5)
 (:domain multirobot)
 (:objects
  v0 r72
  v1 r150
  v2 r71
  v3
  v4 r16
  v5 r95
  v6 r107
  v7 r171
  v8 r33
  v9 r29
  v10 r110
  v11 r93
  v12 r32
  v13 r162
  v14 r124
  v15 r39
  v16 r40
  v17 r10
  v18 r130
  v19 r94
  v20 r86
  v21 r141
  v22 r151
  v23 r156
  v24 r61
  v25 r8
  v26 r82
  v27 r36
  v28 r75
  v29 r131
  v30 r106
  v31 r26
  v32 r111
  v33 r98
  v34 r120
  v35 r84
  v36 r117
  v37 r79
  v38 r161
  v39 r70
  v40 r23
  v41 r5
  v42 r142
  v43 r143
  v44 r149
  v45 r60
  v46 r58
  v47 r19
  v48 r45
  v49 r76
  v50 r163
  v51 r170
  v52 r113
  v53 r112
  v54 r27
  v55 r43
  v56 r100
  v57 r67
  v58 r55
  v59 r7
  v60 r133
  v61 r140
  v62 r90
  v63 r35
  v64 r118
  v65 r83
  v66 r42
  v67 r28
  v68 r30
  v69 r4
  v70 r65
  v71 r136
  v72 r168
  v73 r166
  v74 r92
  v75 r53
  v76 r102
  v77 r57
  v78 r165
  v79 r101
  v80 r25
  v81 r87
  v82 r12
  v83
  v84 r74
  v85 r109
  v86 r21
  v87 r97
  v88 r89
  v89 r38
  v90 r91
  v91 r169
  v92 r119
  v93 r128
  v94 r59
  v95 r14
  v96 r148
  v97 r122
  v98 r159
  v99 r99
  v100 r126
  v101 r129
  v102 r108
  v103 r51
  v104 r157
  v105 r152
  v106 r64
  v107 r66
  v108 r77
  v109 r158
  v110 r146
  v111 r145
  v112 r172
  v113 r135
  v114 r134
  v115 r96
  v116 r103
  v117 r34
  v118 r3
  v119 r78
  v120 r62
  v121 r81
  v122 r24
  v123 r37
  v124 r154
  v125 r125
  v126 r104
  v127 r69
  v128 r2
  v129 r139
  v130 r68
  v131 r114
  v132 r123
  v133 r11
  v134 r116
  v135 r144
  v136 r63
  v137 r147
  v138 r105
  v139 r153
  v140 r137
  v141 r88
  v142 r52
  v143 r73
  v144 r167
  v145 r138
  v146 r48
  v147 r17
  v148 r46
  v149 r47
  v150 r121
  v151 r15
  v152 r155
  v153 r160
  v154 r6
  v155 r164
  v156 r115
  v157 r13
  v158 r56
  v159 r18
  v160 r127
  v161 r49
  v162 r50
  v163 r20
  v164 r41
  v165 r54
  v166 r80
  v167 r85
  v168 r132
  v169 r9
  v170 r44
  v171 r22
  v172 r31
 )
 (:init
  (at r72 v0)
  (at r150 v1)
  (at r71 v2)
  (free v3)
  (at r16 v4)
  (at r95 v5)
  (at r107 v6)
  (at r171 v7)
  (at r33 v8)
  (at r29 v9)
  (at r110 v10)
  (at r93 v11)
  (at r32 v12)
  (at r162 v13)
  (at r124 v14)
  (at r39 v15)
  (at r40 v16)
  (at r10 v17)
  (at r130 v18)
  (at r94 v19)
  (at r86 v20)
  (at r141 v21)
  (at r151 v22)
  (at r156 v23)
  (at r61 v24)
  (at r8 v25)
  (at r82 v26)
  (at r36 v27)
  (at r75 v28)
  (at r131 v29)
  (at r106 v30)
  (at r26 v31)
  (at r111 v32)
  (at r98 v33)
  (at r120 v34)
  (at r84 v35)
  (at r117 v36)
  (at r79 v37)
  (at r161 v38)
  (at r70 v39)
  (at r23 v40)
  (at r5 v41)
  (at r142 v42)
  (at r143 v43)
  (at r149 v44)
  (at r60 v45)
  (at r58 v46)
  (at r19 v47)
  (at r45 v48)
  (at r76 v49)
  (at r163 v50)
  (at r170 v51)
  (at r113 v52)
  (at r112 v53)
  (at r27 v54)
  (at r43 v55)
  (at r100 v56)
  (at r67 v57)
  (at r55 v58)
  (at r7 v59)
  (at r133 v60)
  (at r140 v61)
  (at r90 v62)
  (at r35 v63)
  (at r118 v64)
  (at r83 v65)
  (at r42 v66)
  (at r28 v67)
  (at r30 v68)
  (at r4 v69)
  (at r65 v70)
  (at r136 v71)
  (at r168 v72)
  (at r166 v73)
  (at r92 v74)
  (at r53 v75)
  (at r102 v76)
  (at r57 v77)
  (at r165 v78)
  (at r101 v79)
  (at r25 v80)
  (at r87 v81)
  (at r12 v82)
  (free v83)
  (at r74 v84)
  (at r109 v85)
  (at r21 v86)
  (at r97 v87)
  (at r89 v88)
  (at r38 v89)
  (at r91 v90)
  (at r169 v91)
  (at r119 v92)
  (at r128 v93)
  (at r59 v94)
  (at r14 v95)
  (at r148 v96)
  (at r122 v97)
  (at r159 v98)
  (at r99 v99)
  (at r126 v100)
  (at r129 v101)
  (at r108 v102)
  (at r51 v103)
  (at r157 v104)
  (at r152 v105)
  (at r64 v106)
  (at r66 v107)
  (at r77 v108)
  (at r158 v109)
  (at r146 v110)
  (at r145 v111)
  (at r172 v112)
  (at r135 v113)
  (at r134 v114)
  (at r96 v115)
  (at r103 v116)
  (at r34 v117)
  (at r3 v118)
  (at r78 v119)
  (at r62 v120)
  (at r81 v121)
  (at r24 v122)
  (at r37 v123)
  (at r154 v124)
  (at r125 v125)
  (at r104 v126)
  (at r69 v127)
  (at r2 v128)
  (at r139 v129)
  (at r68 v130)
  (at r114 v131)
  (at r123 v132)
  (at r11 v133)
  (at r116 v134)
  (at r144 v135)
  (at r63 v136)
  (at r147 v137)
  (at r105 v138)
  (at r153 v139)
  (at r137 v140)
  (at r88 v141)
  (at r52 v142)
  (at r73 v143)
  (at r167 v144)
  (at r138 v145)
  (at r48 v146)
  (at r17 v147)
  (at r46 v148)
  (at r47 v149)
  (at r121 v150)
  (at r15 v151)
  (at r155 v152)
  (at r160 v153)
  (at r6 v154)
  (at r164 v155)
  (at r115 v156)
  (at r13 v157)
  (at r56 v158)
  (at r18 v159)
  (at r127 v160)
  (at r49 v161)
  (at r50 v162)
  (at r20 v163)
  (at r41 v164)
  (at r54 v165)
  (at r80 v166)
  (at r85 v167)
  (at r132 v168)
  (at r9 v169)
  (at r44 v170)
  (at r22 v171)
  (at r31 v172)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v27)
  (adjacent v1 v34)
  (adjacent v1 v46)
  (adjacent v2 v3)
  (adjacent v2 v53)
  (adjacent v3 v4)
  (adjacent v3 v48)
  (adjacent v3 v71)
  (adjacent v4 v5)
  (adjacent v4 v10)
  (adjacent v5 v6)
  (adjacent v5 v15)
  (adjacent v5 v42)
  (adjacent v6 v7)
  (adjacent v6 v168)
  (adjacent v7 v8)
  (adjacent v7 v80)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v72)
  (adjacent v9 v10)
  (adjacent v9 v22)
  (adjacent v9 v38)
  (adjacent v9 v55)
  (adjacent v9 v126)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v105)
  (adjacent v11 v117)
  (adjacent v12 v13)
  (adjacent v12 v45)
  (adjacent v12 v143)
  (adjacent v12 v172)
  (adjacent v13 v14)
  (adjacent v13 v114)
  (adjacent v13 v159)
  (adjacent v14 v15)
  (adjacent v14 v88)
  (adjacent v15 v59)
  (adjacent v16 v17)
  (adjacent v16 v35)
  (adjacent v16 v67)
  (adjacent v17 v18)
  (adjacent v17 v102)
  (adjacent v18 v19)
  (adjacent v18 v23)
  (adjacent v18 v28)
  (adjacent v18 v47)
  (adjacent v19 v20)
  (adjacent v19 v116)
  (adjacent v20 v21)
  (adjacent v20 v74)
  (adjacent v20 v89)
  (adjacent v20 v162)
  (adjacent v21 v22)
  (adjacent v21 v65)
  (adjacent v23 v24)
  (adjacent v23 v160)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v68)
  (adjacent v27 v64)
  (adjacent v27 v92)
  (adjacent v27 v117)
  (adjacent v28 v29)
  (adjacent v28 v75)
  (adjacent v29 v30)
  (adjacent v29 v67)
  (adjacent v30 v31)
  (adjacent v30 v97)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v54)
  (adjacent v32 v106)
  (adjacent v33 v34)
  (adjacent v33 v60)
  (adjacent v34 v39)
  (adjacent v35 v36)
  (adjacent v35 v39)
  (adjacent v36 v37)
  (adjacent v36 v41)
  (adjacent v36 v71)
  (adjacent v37 v38)
  (adjacent v37 v142)
  (adjacent v38 v73)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v70)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v87)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v79)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v79)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v115)
  (adjacent v54 v55)
  (adjacent v54 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v66)
  (adjacent v57 v78)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v60 v145)
  (adjacent v61 v62)
  (adjacent v61 v96)
  (adjacent v62 v63)
  (adjacent v62 v72)
  (adjacent v62 v108)
  (adjacent v63 v64)
  (adjacent v63 v134)
  (adjacent v64 v114)
  (adjacent v64 v161)
  (adjacent v65 v66)
  (adjacent v65 v86)
  (adjacent v65 v109)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v133)
  (adjacent v72 v116)
  (adjacent v73 v74)
  (adjacent v74 v151)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v147)
  (adjacent v77 v78)
  (adjacent v79 v118)
  (adjacent v79 v122)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v81 v93)
  (adjacent v82 v83)
  (adjacent v82 v98)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v146)
  (adjacent v86 v144)
  (adjacent v87 v88)
  (adjacent v87 v113)
  (adjacent v88 v97)
  (adjacent v88 v127)
  (adjacent v89 v90)
  (adjacent v89 v103)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v100 v121)
  (adjacent v100 v152)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v107 v131)
  (adjacent v108 v141)
  (adjacent v109 v110)
  (adjacent v109 v115)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v130)
  (adjacent v112 v113)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v129 v140)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v153)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v160)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v152)
  (adjacent v141 v142)
  (adjacent v141 v161)
  (adjacent v143 v144)
  (adjacent v143 v169)
  (adjacent v145 v146)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (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 v167 v168)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
 )
 (:goal
  (and
  (at r35 v0)
  (at r104 v1)
  (at r32 v2)
  (at r145 v3)
  (at r99 v4)
  (at r134 v5)
  (at r108 v6)
  (at r71 v7)
  (at r43 v8)
  (at r124 v9)
  (at r5 v10)
  (at r140 v11)
  (at r148 v12)
  (at r62 v13)
  (at r72 v14)
  (at r11 v15)
  (at r86 v16)
  (at r24 v17)
  (at r167 v18)
  (at r106 v19)
  (at r55 v20)
  (at r164 v21)
  (at r118 v22)
  (at r147 v23)
  (at r18 v24)
  (at r20 v25)
  (at r76 v26)
  (at r101 v27)
  (at r70 v28)
  (at r144 v29)
  (at r130 v30)
  (at r38 v31)
  (at r67 v32)
  (at r52 v33)
  (at r2 v34)
  (at r19 v35)
  (at r26 v36)
  (at r47 v37)
  (at r27 v38)
  (at r54 v39)
  (free v40)
  (at r166 v41)
  (at r127 v42)
  (at r142 v43)
  (at r160 v44)
  (at r41 v45)
  (at r46 v46)
  (at r65 v47)
  (at r92 v48)
  (at r64 v49)
  (at r61 v50)
  (at r105 v51)
  (at r30 v52)
  (at r158 v53)
  (at r133 v54)
  (at r48 v55)
  (at r151 v56)
  (at r121 v57)
  (at r172 v58)
  (at r163 v59)
  (at r82 v60)
  (at r93 v61)
  (at r110 v62)
  (at r49 v63)
  (at r60 v64)
  (at r129 v65)
  (at r111 v66)
  (at r162 v67)
  (at r165 v68)
  (at r123 v69)
  (at r85 v70)
  (at r84 v71)
  (at r12 v72)
  (at r34 v73)
  (at r159 v74)
  (at r80 v75)
  (at r28 v76)
  (at r21 v77)
  (at r113 v78)
  (at r37 v79)
  (at r23 v80)
  (at r9 v81)
  (at r83 v82)
  (at r137 v83)
  (at r79 v84)
  (at r16 v85)
  (at r114 v86)
  (at r170 v87)
  (at r90 v88)
  (at r115 v89)
  (at r88 v90)
  (at r126 v91)
  (at r29 v92)
  (at r150 v93)
  (at r57 v94)
  (at r42 v95)
  (at r56 v96)
  (at r69 v97)
  (at r31 v98)
  (at r94 v99)
  (at r169 v100)
  (at r77 v101)
  (at r66 v102)
  (at r91 v103)
  (at r103 v104)
  (at r141 v105)
  (at r107 v106)
  (at r15 v107)
  (at r95 v108)
  (at r14 v109)
  (at r81 v110)
  (at r68 v111)
  (at r131 v112)
  (at r59 v113)
  (at r89 v114)
  (at r135 v115)
  (at r132 v116)
  (at r87 v117)
  (at r50 v118)
  (at r10 v119)
  (at r45 v120)
  (at r51 v121)
  (at r25 v122)
  (at r125 v123)
  (at r36 v124)
  (at r96 v125)
  (at r146 v126)
  (at r40 v127)
  (at r63 v128)
  (at r136 v129)
  (at r102 v130)
  (at r154 v131)
  (at r100 v132)
  (at r78 v133)
  (at r119 v134)
  (at r109 v135)
  (at r22 v136)
  (at r120 v137)
  (at r74 v138)
  (at r116 v139)
  (free v140)
  (at r33 v141)
  (at r161 v142)
  (at r128 v143)
  (at r112 v144)
  (at r143 v145)
  (at r139 v146)
  (at r157 v147)
  (at r75 v148)
  (at r53 v149)
  (at r44 v150)
  (at r58 v151)
  (at r13 v152)
  (at r6 v153)
  (at r122 v154)
  (at r7 v155)
  (at r153 v156)
  (at r138 v157)
  (at r155 v158)
  (at r8 v159)
  (at r17 v160)
  (at r73 v161)
  (at r39 v162)
  (at r156 v163)
  (at r117 v164)
  (at r3 v165)
  (at r4 v166)
  (at r152 v167)
  (at r149 v168)
  (at r98 v169)
  (at r168 v170)
  (at r97 v171)
  (at r171 v172)
  )
 )
)