(define (problem multirobot_52_2_c5)
 (:domain multirobot)
 (:objects
  v0 r116
  v1 r10
  v2 r19
  v3 r14
  v4 r150
  v5 r87
  v6 r155
  v7 r152
  v8 r43
  v9
  v10 r118
  v11 r3
  v12 r11
  v13 r165
  v14 r109
  v15 r4
  v16 r106
  v17 r142
  v18 r124
  v19 r56
  v20 r88
  v21 r84
  v22 r25
  v23 r49
  v24 r30
  v25 r41
  v26 r31
  v27 r83
  v28 r7
  v29 r121
  v30 r39
  v31 r135
  v32 r34
  v33 r93
  v34 r97
  v35 r154
  v36 r50
  v37 r51
  v38 r96
  v39 r36
  v40 r44
  v41 r35
  v42 r115
  v43 r167
  v44 r12
  v45 r38
  v46 r29
  v47 r157
  v48
  v49 r126
  v50 r59
  v51 r153
  v52 r119
  v53 r64
  v54 r76
  v55 r22
  v56 r40
  v57 r100
  v58 r132
  v59 r98
  v60 r74
  v61 r145
  v62 r131
  v63 r95
  v64 r148
  v65 r69
  v66 r102
  v67 r123
  v68 r133
  v69 r151
  v70 r90
  v71 r61
  v72 r144
  v73 r42
  v74 r129
  v75 r45
  v76 r79
  v77 r18
  v78 r101
  v79 r58
  v80 r113
  v81 r137
  v82 r55
  v83 r108
  v84 r160
  v85 r82
  v86 r62
  v87 r72
  v88 r32
  v89 r140
  v90 r81
  v91 r114
  v92 r23
  v93 r103
  v94 r158
  v95 r66
  v96 r73
  v97 r117
  v98 r112
  v99 r33
  v100 r8
  v101 r17
  v102 r77
  v103 r16
  v104 r146
  v105 r65
  v106 r13
  v107 r111
  v108 r15
  v109 r110
  v110 r2
  v111 r70
  v112 r20
  v113 r164
  v114 r143
  v115 r80
  v116 r63
  v117 r46
  v118 r147
  v119 r161
  v120 r168
  v121 r170
  v122 r107
  v123 r48
  v124 r94
  v125 r21
  v126 r24
  v127 r47
  v128 r128
  v129 r6
  v130 r127
  v131 r125
  v132 r78
  v133 r85
  v134 r99
  v135 r149
  v136 r5
  v137 r92
  v138 r28
  v139 r138
  v140 r163
  v141 r60
  v142 r54
  v143 r159
  v144 r26
  v145 r68
  v146 r67
  v147 r166
  v148 r120
  v149 r130
  v150 r169
  v151 r53
  v152 r86
  v153 r162
  v154 r91
  v155 r89
  v156 r27
  v157 r104
  v158 r71
  v159 r134
  v160 r136
  v161 r52
  v162 r139
  v163 r141
  v164 r75
  v165 r57
  v166 r37
  v167 r105
  v168 r156
  v169 r122
  v170 r9
 )
 (:init
  (at r116 v0)
  (at r10 v1)
  (at r19 v2)
  (at r14 v3)
  (at r150 v4)
  (at r87 v5)
  (at r155 v6)
  (at r152 v7)
  (at r43 v8)
  (free v9)
  (at r118 v10)
  (at r3 v11)
  (at r11 v12)
  (at r165 v13)
  (at r109 v14)
  (at r4 v15)
  (at r106 v16)
  (at r142 v17)
  (at r124 v18)
  (at r56 v19)
  (at r88 v20)
  (at r84 v21)
  (at r25 v22)
  (at r49 v23)
  (at r30 v24)
  (at r41 v25)
  (at r31 v26)
  (at r83 v27)
  (at r7 v28)
  (at r121 v29)
  (at r39 v30)
  (at r135 v31)
  (at r34 v32)
  (at r93 v33)
  (at r97 v34)
  (at r154 v35)
  (at r50 v36)
  (at r51 v37)
  (at r96 v38)
  (at r36 v39)
  (at r44 v40)
  (at r35 v41)
  (at r115 v42)
  (at r167 v43)
  (at r12 v44)
  (at r38 v45)
  (at r29 v46)
  (at r157 v47)
  (free v48)
  (at r126 v49)
  (at r59 v50)
  (at r153 v51)
  (at r119 v52)
  (at r64 v53)
  (at r76 v54)
  (at r22 v55)
  (at r40 v56)
  (at r100 v57)
  (at r132 v58)
  (at r98 v59)
  (at r74 v60)
  (at r145 v61)
  (at r131 v62)
  (at r95 v63)
  (at r148 v64)
  (at r69 v65)
  (at r102 v66)
  (at r123 v67)
  (at r133 v68)
  (at r151 v69)
  (at r90 v70)
  (at r61 v71)
  (at r144 v72)
  (at r42 v73)
  (at r129 v74)
  (at r45 v75)
  (at r79 v76)
  (at r18 v77)
  (at r101 v78)
  (at r58 v79)
  (at r113 v80)
  (at r137 v81)
  (at r55 v82)
  (at r108 v83)
  (at r160 v84)
  (at r82 v85)
  (at r62 v86)
  (at r72 v87)
  (at r32 v88)
  (at r140 v89)
  (at r81 v90)
  (at r114 v91)
  (at r23 v92)
  (at r103 v93)
  (at r158 v94)
  (at r66 v95)
  (at r73 v96)
  (at r117 v97)
  (at r112 v98)
  (at r33 v99)
  (at r8 v100)
  (at r17 v101)
  (at r77 v102)
  (at r16 v103)
  (at r146 v104)
  (at r65 v105)
  (at r13 v106)
  (at r111 v107)
  (at r15 v108)
  (at r110 v109)
  (at r2 v110)
  (at r70 v111)
  (at r20 v112)
  (at r164 v113)
  (at r143 v114)
  (at r80 v115)
  (at r63 v116)
  (at r46 v117)
  (at r147 v118)
  (at r161 v119)
  (at r168 v120)
  (at r170 v121)
  (at r107 v122)
  (at r48 v123)
  (at r94 v124)
  (at r21 v125)
  (at r24 v126)
  (at r47 v127)
  (at r128 v128)
  (at r6 v129)
  (at r127 v130)
  (at r125 v131)
  (at r78 v132)
  (at r85 v133)
  (at r99 v134)
  (at r149 v135)
  (at r5 v136)
  (at r92 v137)
  (at r28 v138)
  (at r138 v139)
  (at r163 v140)
  (at r60 v141)
  (at r54 v142)
  (at r159 v143)
  (at r26 v144)
  (at r68 v145)
  (at r67 v146)
  (at r166 v147)
  (at r120 v148)
  (at r130 v149)
  (at r169 v150)
  (at r53 v151)
  (at r86 v152)
  (at r162 v153)
  (at r91 v154)
  (at r89 v155)
  (at r27 v156)
  (at r104 v157)
  (at r71 v158)
  (at r134 v159)
  (at r136 v160)
  (at r52 v161)
  (at r139 v162)
  (at r141 v163)
  (at r75 v164)
  (at r57 v165)
  (at r37 v166)
  (at r105 v167)
  (at r156 v168)
  (at r122 v169)
  (at r9 v170)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v24)
  (adjacent v0 v37)
  (adjacent v0 v60)
  (adjacent v1 v2)
  (adjacent v1 v55)
  (adjacent v2 v3)
  (adjacent v2 v16)
  (adjacent v2 v31)
  (adjacent v2 v73)
  (adjacent v3 v4)
  (adjacent v3 v9)
  (adjacent v3 v80)
  (adjacent v3 v126)
  (adjacent v4 v135)
  (adjacent v5 v6)
  (adjacent v5 v15)
  (adjacent v5 v17)
  (adjacent v5 v28)
  (adjacent v5 v42)
  (adjacent v5 v87)
  (adjacent v5 v115)
  (adjacent v5 v116)
  (adjacent v6 v7)
  (adjacent v6 v23)
  (adjacent v6 v103)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v8 v91)
  (adjacent v9 v61)
  (adjacent v9 v72)
  (adjacent v9 v91)
  (adjacent v10 v11)
  (adjacent v10 v48)
  (adjacent v11 v12)
  (adjacent v11 v26)
  (adjacent v11 v31)
  (adjacent v12 v13)
  (adjacent v12 v46)
  (adjacent v12 v63)
  (adjacent v12 v70)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v120)
  (adjacent v15 v27)
  (adjacent v15 v154)
  (adjacent v16 v73)
  (adjacent v17 v18)
  (adjacent v17 v86)
  (adjacent v18 v19)
  (adjacent v18 v89)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v25)
  (adjacent v21 v36)
  (adjacent v21 v44)
  (adjacent v21 v134)
  (adjacent v22 v23)
  (adjacent v22 v127)
  (adjacent v23 v90)
  (adjacent v23 v145)
  (adjacent v24 v25)
  (adjacent v24 v41)
  (adjacent v24 v69)
  (adjacent v25 v30)
  (adjacent v25 v82)
  (adjacent v25 v157)
  (adjacent v26 v27)
  (adjacent v27 v170)
  (adjacent v28 v29)
  (adjacent v28 v32)
  (adjacent v28 v83)
  (adjacent v29 v30)
  (adjacent v30 v47)
  (adjacent v30 v109)
  (adjacent v31 v45)
  (adjacent v32 v33)
  (adjacent v32 v81)
  (adjacent v32 v90)
  (adjacent v32 v156)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v81)
  (adjacent v35 v36)
  (adjacent v35 v107)
  (adjacent v36 v96)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v62)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v151)
  (adjacent v41 v108)
  (adjacent v41 v129)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v115)
  (adjacent v44 v113)
  (adjacent v45 v46)
  (adjacent v45 v84)
  (adjacent v46 v49)
  (adjacent v47 v48)
  (adjacent v48 v155)
  (adjacent v49 v50)
  (adjacent v49 v164)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v114)
  (adjacent v52 v53)
  (adjacent v52 v119)
  (adjacent v52 v146)
  (adjacent v53 v54)
  (adjacent v53 v114)
  (adjacent v53 v156)
  (adjacent v54 v55)
  (adjacent v54 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v164)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v74)
  (adjacent v72 v108)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v82)
  (adjacent v77 v85)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v82 v165)
  (adjacent v83 v84)
  (adjacent v84 v92)
  (adjacent v84 v104)
  (adjacent v85 v86)
  (adjacent v85 v120)
  (adjacent v87 v88)
  (adjacent v87 v142)
  (adjacent v88 v89)
  (adjacent v88 v103)
  (adjacent v89 v102)
  (adjacent v90 v146)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v95 v125)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v128)
  (adjacent v101 v142)
  (adjacent v103 v126)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v143)
  (adjacent v106 v107)
  (adjacent v108 v121)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v163)
  (adjacent v114 v152)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v122 v147)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v127 v128)
  (adjacent v127 v141)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v141)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v150 v151)
  (adjacent v151 v155)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
 )
 (:goal
  (and
  (at r157 v0)
  (at r83 v1)
  (at r158 v2)
  (at r153 v3)
  (at r131 v4)
  (at r40 v5)
  (at r74 v6)
  (at r41 v7)
  (at r149 v8)
  (at r70 v9)
  (at r25 v10)
  (at r23 v11)
  (at r13 v12)
  (at r132 v13)
  (at r43 v14)
  (at r166 v15)
  (at r39 v16)
  (at r92 v17)
  (at r27 v18)
  (at r156 v19)
  (at r164 v20)
  (at r77 v21)
  (at r10 v22)
  (at r60 v23)
  (at r112 v24)
  (at r169 v25)
  (at r108 v26)
  (at r5 v27)
  (at r118 v28)
  (at r150 v29)
  (at r104 v30)
  (at r82 v31)
  (at r63 v32)
  (at r17 v33)
  (at r7 v34)
  (at r51 v35)
  (at r167 v36)
  (at r144 v37)
  (at r151 v38)
  (at r45 v39)
  (at r22 v40)
  (at r124 v41)
  (at r61 v42)
  (at r55 v43)
  (at r38 v44)
  (at r117 v45)
  (at r31 v46)
  (at r65 v47)
  (at r49 v48)
  (at r35 v49)
  (at r99 v50)
  (at r48 v51)
  (at r53 v52)
  (at r19 v53)
  (at r123 v54)
  (at r143 v55)
  (at r9 v56)
  (at r110 v57)
  (at r145 v58)
  (at r6 v59)
  (at r90 v60)
  (at r71 v61)
  (at r81 v62)
  (at r30 v63)
  (at r95 v64)
  (at r62 v65)
  (at r69 v66)
  (at r84 v67)
  (at r107 v68)
  (at r116 v69)
  (at r100 v70)
  (at r34 v71)
  (at r3 v72)
  (at r168 v73)
  (at r103 v74)
  (at r73 v75)
  (at r148 v76)
  (at r138 v77)
  (at r142 v78)
  (at r113 v79)
  (at r163 v80)
  (at r20 v81)
  (at r162 v82)
  (free v83)
  (at r66 v84)
  (at r80 v85)
  (at r15 v86)
  (at r14 v87)
  (at r58 v88)
  (at r29 v89)
  (at r165 v90)
  (at r121 v91)
  (at r75 v92)
  (at r42 v93)
  (at r152 v94)
  (at r141 v95)
  (at r125 v96)
  (at r106 v97)
  (at r44 v98)
  (at r135 v99)
  (at r134 v100)
  (at r57 v101)
  (at r161 v102)
  (at r133 v103)
  (at r111 v104)
  (at r32 v105)
  (at r122 v106)
  (at r68 v107)
  (at r59 v108)
  (at r18 v109)
  (free v110)
  (at r128 v111)
  (at r147 v112)
  (at r26 v113)
  (at r91 v114)
  (at r98 v115)
  (at r97 v116)
  (at r56 v117)
  (at r47 v118)
  (at r67 v119)
  (at r88 v120)
  (at r146 v121)
  (at r12 v122)
  (at r105 v123)
  (at r139 v124)
  (at r2 v125)
  (at r46 v126)
  (at r155 v127)
  (at r24 v128)
  (at r50 v129)
  (at r16 v130)
  (at r154 v131)
  (at r21 v132)
  (at r79 v133)
  (at r4 v134)
  (at r28 v135)
  (at r8 v136)
  (at r54 v137)
  (at r170 v138)
  (at r140 v139)
  (at r120 v140)
  (at r102 v141)
  (at r85 v142)
  (at r89 v143)
  (at r129 v144)
  (at r37 v145)
  (at r11 v146)
  (at r115 v147)
  (at r126 v148)
  (at r72 v149)
  (at r109 v150)
  (at r101 v151)
  (at r136 v152)
  (at r114 v153)
  (at r86 v154)
  (at r160 v155)
  (at r78 v156)
  (at r127 v157)
  (at r93 v158)
  (at r64 v159)
  (at r87 v160)
  (at r119 v161)
  (at r96 v162)
  (at r94 v163)
  (at r130 v164)
  (at r76 v165)
  (at r33 v166)
  (at r52 v167)
  (at r159 v168)
  (at r137 v169)
  (at r36 v170)
  )
 )
)