(define (problem multirobot_53_2_c6)
 (:domain multirobot)
 (:objects
  v0 r90
  v1 r8
  v2 r158
  v3 r79
  v4 r43
  v5 r140
  v6 r166
  v7 r40
  v8 r14
  v9 r25
  v10 r20
  v11 r125
  v12 r56
  v13 r68
  v14 r18
  v15 r12
  v16 r22
  v17 r48
  v18 r41
  v19 r134
  v20 r92
  v21 r127
  v22 r101
  v23 r44
  v24 r156
  v25 r103
  v26 r47
  v27 r119
  v28 r148
  v29 r138
  v30 r65
  v31 r76
  v32 r74
  v33 r167
  v34 r87
  v35 r112
  v36 r42
  v37 r75
  v38 r99
  v39 r100
  v40 r124
  v41 r145
  v42 r29
  v43 r162
  v44 r32
  v45 r39
  v46 r163
  v47 r189
  v48 r70
  v49 r59
  v50 r62
  v51 r81
  v52 r91
  v53 r139
  v54 r132
  v55 r159
  v56 r72
  v57 r128
  v58 r13
  v59 r61
  v60 r19
  v61 r149
  v62 r141
  v63 r9
  v64 r186
  v65 r182
  v66 r171
  v67 r144
  v68 r2
  v69 r150
  v70 r16
  v71 r133
  v72 r54
  v73 r50
  v74 r84
  v75 r83
  v76 r15
  v77 r33
  v78 r115
  v79 r190
  v80 r64
  v81 r78
  v82 r184
  v83 r11
  v84 r89
  v85 r63
  v86 r93
  v87 r34
  v88 r178
  v89 r146
  v90 r122
  v91 r45
  v92 r118
  v93 r170
  v94 r30
  v95 r88
  v96 r111
  v97 r35
  v98 r49
  v99 r152
  v100 r55
  v101 r3
  v102 r95
  v103 r85
  v104 r69
  v105 r58
  v106 r155
  v107 r185
  v108 r120
  v109 r77
  v110 r114
  v111 r51
  v112 r123
  v113 r169
  v114 r161
  v115 r53
  v116 r168
  v117 r102
  v118 r6
  v119 r164
  v120 r113
  v121 r131
  v122 r86
  v123 r57
  v124 r37
  v125 r108
  v126 r116
  v127 r174
  v128 r107
  v129
  v130 r160
  v131 r27
  v132 r109
  v133 r106
  v134 r38
  v135 r52
  v136 r187
  v137 r180
  v138 r31
  v139 r181
  v140 r136
  v141 r10
  v142 r172
  v143 r137
  v144 r7
  v145 r188
  v146 r165
  v147 r105
  v148 r97
  v149 r143
  v150 r24
  v151 r121
  v152 r60
  v153 r173
  v154 r177
  v155 r4
  v156 r183
  v157 r179
  v158 r36
  v159 r147
  v160 r71
  v161 r157
  v162 r46
  v163 r21
  v164 r104
  v165 r96
  v166 r142
  v167 r135
  v168 r17
  v169 r28
  v170 r126
  v171 r153
  v172 r129
  v173
  v174 r117
  v175 r73
  v176 r26
  v177 r98
  v178 r66
  v179 r176
  v180 r67
  v181 r80
  v182 r110
  v183 r94
  v184 r175
  v185 r23
  v186 r151
  v187 r130
  v188 r154
  v189 r82
  v190 r5
 )
 (:init
  (at r90 v0)
  (at r8 v1)
  (at r158 v2)
  (at r79 v3)
  (at r43 v4)
  (at r140 v5)
  (at r166 v6)
  (at r40 v7)
  (at r14 v8)
  (at r25 v9)
  (at r20 v10)
  (at r125 v11)
  (at r56 v12)
  (at r68 v13)
  (at r18 v14)
  (at r12 v15)
  (at r22 v16)
  (at r48 v17)
  (at r41 v18)
  (at r134 v19)
  (at r92 v20)
  (at r127 v21)
  (at r101 v22)
  (at r44 v23)
  (at r156 v24)
  (at r103 v25)
  (at r47 v26)
  (at r119 v27)
  (at r148 v28)
  (at r138 v29)
  (at r65 v30)
  (at r76 v31)
  (at r74 v32)
  (at r167 v33)
  (at r87 v34)
  (at r112 v35)
  (at r42 v36)
  (at r75 v37)
  (at r99 v38)
  (at r100 v39)
  (at r124 v40)
  (at r145 v41)
  (at r29 v42)
  (at r162 v43)
  (at r32 v44)
  (at r39 v45)
  (at r163 v46)
  (at r189 v47)
  (at r70 v48)
  (at r59 v49)
  (at r62 v50)
  (at r81 v51)
  (at r91 v52)
  (at r139 v53)
  (at r132 v54)
  (at r159 v55)
  (at r72 v56)
  (at r128 v57)
  (at r13 v58)
  (at r61 v59)
  (at r19 v60)
  (at r149 v61)
  (at r141 v62)
  (at r9 v63)
  (at r186 v64)
  (at r182 v65)
  (at r171 v66)
  (at r144 v67)
  (at r2 v68)
  (at r150 v69)
  (at r16 v70)
  (at r133 v71)
  (at r54 v72)
  (at r50 v73)
  (at r84 v74)
  (at r83 v75)
  (at r15 v76)
  (at r33 v77)
  (at r115 v78)
  (at r190 v79)
  (at r64 v80)
  (at r78 v81)
  (at r184 v82)
  (at r11 v83)
  (at r89 v84)
  (at r63 v85)
  (at r93 v86)
  (at r34 v87)
  (at r178 v88)
  (at r146 v89)
  (at r122 v90)
  (at r45 v91)
  (at r118 v92)
  (at r170 v93)
  (at r30 v94)
  (at r88 v95)
  (at r111 v96)
  (at r35 v97)
  (at r49 v98)
  (at r152 v99)
  (at r55 v100)
  (at r3 v101)
  (at r95 v102)
  (at r85 v103)
  (at r69 v104)
  (at r58 v105)
  (at r155 v106)
  (at r185 v107)
  (at r120 v108)
  (at r77 v109)
  (at r114 v110)
  (at r51 v111)
  (at r123 v112)
  (at r169 v113)
  (at r161 v114)
  (at r53 v115)
  (at r168 v116)
  (at r102 v117)
  (at r6 v118)
  (at r164 v119)
  (at r113 v120)
  (at r131 v121)
  (at r86 v122)
  (at r57 v123)
  (at r37 v124)
  (at r108 v125)
  (at r116 v126)
  (at r174 v127)
  (at r107 v128)
  (free v129)
  (at r160 v130)
  (at r27 v131)
  (at r109 v132)
  (at r106 v133)
  (at r38 v134)
  (at r52 v135)
  (at r187 v136)
  (at r180 v137)
  (at r31 v138)
  (at r181 v139)
  (at r136 v140)
  (at r10 v141)
  (at r172 v142)
  (at r137 v143)
  (at r7 v144)
  (at r188 v145)
  (at r165 v146)
  (at r105 v147)
  (at r97 v148)
  (at r143 v149)
  (at r24 v150)
  (at r121 v151)
  (at r60 v152)
  (at r173 v153)
  (at r177 v154)
  (at r4 v155)
  (at r183 v156)
  (at r179 v157)
  (at r36 v158)
  (at r147 v159)
  (at r71 v160)
  (at r157 v161)
  (at r46 v162)
  (at r21 v163)
  (at r104 v164)
  (at r96 v165)
  (at r142 v166)
  (at r135 v167)
  (at r17 v168)
  (at r28 v169)
  (at r126 v170)
  (at r153 v171)
  (at r129 v172)
  (free v173)
  (at r117 v174)
  (at r73 v175)
  (at r26 v176)
  (at r98 v177)
  (at r66 v178)
  (at r176 v179)
  (at r67 v180)
  (at r80 v181)
  (at r110 v182)
  (at r94 v183)
  (at r175 v184)
  (at r23 v185)
  (at r151 v186)
  (at r130 v187)
  (at r154 v188)
  (at r82 v189)
  (at r5 v190)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v20)
  (adjacent v0 v73)
  (adjacent v0 v102)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v45)
  (adjacent v3 v60)
  (adjacent v4 v22)
  (adjacent v4 v30)
  (adjacent v4 v45)
  (adjacent v4 v75)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v48)
  (adjacent v5 v64)
  (adjacent v5 v131)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v6 v24)
  (adjacent v6 v43)
  (adjacent v6 v44)
  (adjacent v6 v61)
  (adjacent v6 v67)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v19)
  (adjacent v7 v20)
  (adjacent v8 v9)
  (adjacent v8 v37)
  (adjacent v9 v10)
  (adjacent v9 v108)
  (adjacent v10 v11)
  (adjacent v10 v77)
  (adjacent v11 v12)
  (adjacent v11 v80)
  (adjacent v11 v112)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v23)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v15 v38)
  (adjacent v15 v76)
  (adjacent v15 v87)
  (adjacent v15 v137)
  (adjacent v16 v25)
  (adjacent v17 v18)
  (adjacent v17 v86)
  (adjacent v17 v172)
  (adjacent v18 v19)
  (adjacent v18 v21)
  (adjacent v18 v55)
  (adjacent v19 v190)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v23 v31)
  (adjacent v24 v141)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v147)
  (adjacent v27 v28)
  (adjacent v27 v85)
  (adjacent v28 v29)
  (adjacent v28 v58)
  (adjacent v29 v30)
  (adjacent v29 v44)
  (adjacent v29 v56)
  (adjacent v29 v164)
  (adjacent v30 v88)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v57)
  (adjacent v33 v72)
  (adjacent v33 v87)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v110)
  (adjacent v36 v37)
  (adjacent v36 v49)
  (adjacent v37 v98)
  (adjacent v37 v109)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v68)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v163)
  (adjacent v42 v43)
  (adjacent v44 v46)
  (adjacent v44 v97)
  (adjacent v46 v47)
  (adjacent v46 v189)
  (adjacent v47 v48)
  (adjacent v48 v57)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v56)
  (adjacent v51 v52)
  (adjacent v51 v138)
  (adjacent v52 v53)
  (adjacent v52 v65)
  (adjacent v52 v88)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v111)
  (adjacent v55 v188)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v103)
  (adjacent v59 v113)
  (adjacent v60 v86)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v96)
  (adjacent v64 v91)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v178)
  (adjacent v70 v71)
  (adjacent v70 v126)
  (adjacent v71 v72)
  (adjacent v71 v76)
  (adjacent v71 v90)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v89)
  (adjacent v75 v114)
  (adjacent v75 v132)
  (adjacent v75 v148)
  (adjacent v75 v159)
  (adjacent v76 v79)
  (adjacent v76 v97)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v86 v90)
  (adjacent v87 v89)
  (adjacent v87 v113)
  (adjacent v87 v153)
  (adjacent v88 v119)
  (adjacent v89 v125)
  (adjacent v90 v151)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v92 v170)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v98 v99)
  (adjacent v98 v120)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v140)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v106 v158)
  (adjacent v107 v108)
  (adjacent v107 v160)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v123 v157)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v138 v139)
  (adjacent v139 v140)
  (adjacent v140 v152)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v145 v150)
  (adjacent v146 v147)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v151 v169)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v154 v184)
  (adjacent v155 v156)
  (adjacent v155 v185)
  (adjacent v156 v157)
  (adjacent v158 v159)
  (adjacent v160 v161)
  (adjacent v160 v179)
  (adjacent v161 v162)
  (adjacent v162 v163)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v173)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v185 v186)
  (adjacent v186 v187)
  (adjacent v187 v188)
  (adjacent v189 v190)
 )
 (:goal
  (and
  (at r91 v0)
  (at r121 v1)
  (at r172 v2)
  (at r170 v3)
  (at r5 v4)
  (at r99 v5)
  (at r102 v6)
  (at r174 v7)
  (at r38 v8)
  (at r21 v9)
  (at r82 v10)
  (at r70 v11)
  (at r16 v12)
  (at r28 v13)
  (at r62 v14)
  (at r122 v15)
  (at r185 v16)
  (at r130 v17)
  (at r133 v18)
  (at r65 v19)
  (at r87 v20)
  (at r89 v21)
  (at r27 v22)
  (at r33 v23)
  (at r186 v24)
  (at r184 v25)
  (at r45 v26)
  (at r83 v27)
  (at r19 v28)
  (at r140 v29)
  (at r147 v30)
  (at r74 v31)
  (at r128 v32)
  (at r187 v33)
  (at r113 v34)
  (at r80 v35)
  (at r146 v36)
  (at r96 v37)
  (at r53 v38)
  (at r43 v39)
  (at r158 v40)
  (at r14 v41)
  (at r36 v42)
  (at r94 v43)
  (at r12 v44)
  (at r175 v45)
  (at r60 v46)
  (at r71 v47)
  (at r143 v48)
  (at r90 v49)
  (at r136 v50)
  (at r131 v51)
  (at r44 v52)
  (at r161 v53)
  (at r163 v54)
  (at r188 v55)
  (at r26 v56)
  (free v57)
  (at r119 v58)
  (at r78 v59)
  (at r132 v60)
  (at r64 v61)
  (at r22 v62)
  (at r66 v63)
  (at r151 v64)
  (at r67 v65)
  (at r103 v66)
  (at r31 v67)
  (at r190 v68)
  (at r104 v69)
  (at r56 v70)
  (at r114 v71)
  (at r168 v72)
  (at r138 v73)
  (at r25 v74)
  (at r18 v75)
  (at r10 v76)
  (at r165 v77)
  (at r68 v78)
  (at r58 v79)
  (at r110 v80)
  (at r116 v81)
  (at r42 v82)
  (at r6 v83)
  (at r112 v84)
  (at r47 v85)
  (at r52 v86)
  (at r153 v87)
  (at r152 v88)
  (at r180 v89)
  (at r11 v90)
  (at r97 v91)
  (at r125 v92)
  (at r162 v93)
  (at r126 v94)
  (at r54 v95)
  (at r141 v96)
  (at r29 v97)
  (at r107 v98)
  (at r37 v99)
  (at r7 v100)
  (at r124 v101)
  (at r129 v102)
  (at r20 v103)
  (at r50 v104)
  (at r111 v105)
  (at r57 v106)
  (at r181 v107)
  (at r157 v108)
  (at r35 v109)
  (at r77 v110)
  (at r106 v111)
  (at r120 v112)
  (at r117 v113)
  (at r49 v114)
  (at r171 v115)
  (at r72 v116)
  (at r166 v117)
  (at r85 v118)
  (at r84 v119)
  (at r176 v120)
  (at r167 v121)
  (at r40 v122)
  (at r4 v123)
  (at r142 v124)
  (at r69 v125)
  (at r160 v126)
  (at r169 v127)
  (at r100 v128)
  (at r88 v129)
  (at r39 v130)
  (at r98 v131)
  (at r79 v132)
  (at r95 v133)
  (at r135 v134)
  (at r115 v135)
  (at r2 v136)
  (at r34 v137)
  (at r139 v138)
  (at r59 v139)
  (at r23 v140)
  (at r9 v141)
  (at r159 v142)
  (at r109 v143)
  (at r61 v144)
  (free v145)
  (at r149 v146)
  (at r105 v147)
  (at r13 v148)
  (at r76 v149)
  (at r17 v150)
  (at r179 v151)
  (at r189 v152)
  (at r92 v153)
  (at r177 v154)
  (at r173 v155)
  (at r15 v156)
  (at r183 v157)
  (at r144 v158)
  (at r24 v159)
  (at r81 v160)
  (at r154 v161)
  (at r32 v162)
  (at r123 v163)
  (at r182 v164)
  (at r127 v165)
  (at r101 v166)
  (at r48 v167)
  (at r137 v168)
  (at r73 v169)
  (at r8 v170)
  (at r51 v171)
  (at r148 v172)
  (at r41 v173)
  (at r108 v174)
  (at r150 v175)
  (at r86 v176)
  (at r164 v177)
  (at r145 v178)
  (at r3 v179)
  (at r178 v180)
  (at r75 v181)
  (at r134 v182)
  (at r30 v183)
  (at r156 v184)
  (at r155 v185)
  (at r118 v186)
  (at r93 v187)
  (at r55 v188)
  (at r46 v189)
  (at r63 v190)
  )
 )
)