(define (problem multirobot_54_2_c4)
 (:domain multirobot)
 (:objects
  v0 r49
  v1 r111
  v2 r173
  v3 r62
  v4 r150
  v5 r155
  v6 r135
  v7 r44
  v8 r79
  v9 r64
  v10 r110
  v11
  v12 r124
  v13 r63
  v14 r148
  v15 r149
  v16 r61
  v17 r65
  v18 r125
  v19 r72
  v20 r17
  v21 r39
  v22 r73
  v23 r165
  v24 r159
  v25 r29
  v26 r97
  v27 r151
  v28 r51
  v29 r120
  v30 r181
  v31 r130
  v32 r168
  v33 r127
  v34 r52
  v35 r78
  v36 r12
  v37 r48
  v38 r171
  v39 r88
  v40 r36
  v41 r89
  v42 r24
  v43 r123
  v44 r58
  v45 r3
  v46 r66
  v47 r177
  v48 r94
  v49 r138
  v50 r152
  v51 r106
  v52 r142
  v53 r71
  v54 r132
  v55 r9
  v56 r136
  v57 r43
  v58 r6
  v59 r33
  v60 r50
  v61 r40
  v62 r13
  v63 r122
  v64 r81
  v65 r53
  v66 r47
  v67 r70
  v68 r55
  v69 r69
  v70 r77
  v71 r153
  v72 r113
  v73 r101
  v74 r16
  v75 r31
  v76 r121
  v77 r170
  v78 r2
  v79 r112
  v80 r169
  v81 r38
  v82 r146
  v83 r8
  v84 r103
  v85 r186
  v86 r140
  v87 r166
  v88 r75
  v89 r147
  v90 r160
  v91 r117
  v92 r76
  v93 r35
  v94 r137
  v95 r175
  v96 r28
  v97 r80
  v98 r4
  v99 r96
  v100 r141
  v101 r21
  v102 r57
  v103 r128
  v104 r143
  v105 r42
  v106 r184
  v107 r145
  v108
  v109 r115
  v110 r163
  v111 r133
  v112 r105
  v113 r15
  v114 r20
  v115 r174
  v116 r176
  v117 r37
  v118 r18
  v119 r183
  v120 r46
  v121 r167
  v122 r119
  v123 r54
  v124 r134
  v125 r126
  v126 r32
  v127 r87
  v128 r67
  v129 r114
  v130 r172
  v131 r85
  v132 r157
  v133 r161
  v134 r7
  v135 r82
  v136 r25
  v137 r144
  v138 r162
  v139 r102
  v140 r68
  v141 r178
  v142 r100
  v143 r118
  v144 r5
  v145 r99
  v146 r95
  v147 r90
  v148 r26
  v149 r84
  v150 r86
  v151 r98
  v152 r139
  v153 r104
  v154 r182
  v155 r10
  v156 r108
  v157 r30
  v158 r185
  v159 r41
  v160 r22
  v161 r179
  v162 r131
  v163 r164
  v164 r59
  v165 r154
  v166 r158
  v167 r180
  v168 r83
  v169 r45
  v170 r60
  v171 r56
  v172 r27
  v173 r116
  v174 r91
  v175 r19
  v176 r92
  v177 r107
  v178 r156
  v179 r11
  v180 r129
  v181 r34
  v182 r109
  v183 r14
  v184 r23
  v185 r74
  v186 r93
 )
 (:init
  (at r49 v0)
  (at r111 v1)
  (at r173 v2)
  (at r62 v3)
  (at r150 v4)
  (at r155 v5)
  (at r135 v6)
  (at r44 v7)
  (at r79 v8)
  (at r64 v9)
  (at r110 v10)
  (free v11)
  (at r124 v12)
  (at r63 v13)
  (at r148 v14)
  (at r149 v15)
  (at r61 v16)
  (at r65 v17)
  (at r125 v18)
  (at r72 v19)
  (at r17 v20)
  (at r39 v21)
  (at r73 v22)
  (at r165 v23)
  (at r159 v24)
  (at r29 v25)
  (at r97 v26)
  (at r151 v27)
  (at r51 v28)
  (at r120 v29)
  (at r181 v30)
  (at r130 v31)
  (at r168 v32)
  (at r127 v33)
  (at r52 v34)
  (at r78 v35)
  (at r12 v36)
  (at r48 v37)
  (at r171 v38)
  (at r88 v39)
  (at r36 v40)
  (at r89 v41)
  (at r24 v42)
  (at r123 v43)
  (at r58 v44)
  (at r3 v45)
  (at r66 v46)
  (at r177 v47)
  (at r94 v48)
  (at r138 v49)
  (at r152 v50)
  (at r106 v51)
  (at r142 v52)
  (at r71 v53)
  (at r132 v54)
  (at r9 v55)
  (at r136 v56)
  (at r43 v57)
  (at r6 v58)
  (at r33 v59)
  (at r50 v60)
  (at r40 v61)
  (at r13 v62)
  (at r122 v63)
  (at r81 v64)
  (at r53 v65)
  (at r47 v66)
  (at r70 v67)
  (at r55 v68)
  (at r69 v69)
  (at r77 v70)
  (at r153 v71)
  (at r113 v72)
  (at r101 v73)
  (at r16 v74)
  (at r31 v75)
  (at r121 v76)
  (at r170 v77)
  (at r2 v78)
  (at r112 v79)
  (at r169 v80)
  (at r38 v81)
  (at r146 v82)
  (at r8 v83)
  (at r103 v84)
  (at r186 v85)
  (at r140 v86)
  (at r166 v87)
  (at r75 v88)
  (at r147 v89)
  (at r160 v90)
  (at r117 v91)
  (at r76 v92)
  (at r35 v93)
  (at r137 v94)
  (at r175 v95)
  (at r28 v96)
  (at r80 v97)
  (at r4 v98)
  (at r96 v99)
  (at r141 v100)
  (at r21 v101)
  (at r57 v102)
  (at r128 v103)
  (at r143 v104)
  (at r42 v105)
  (at r184 v106)
  (at r145 v107)
  (free v108)
  (at r115 v109)
  (at r163 v110)
  (at r133 v111)
  (at r105 v112)
  (at r15 v113)
  (at r20 v114)
  (at r174 v115)
  (at r176 v116)
  (at r37 v117)
  (at r18 v118)
  (at r183 v119)
  (at r46 v120)
  (at r167 v121)
  (at r119 v122)
  (at r54 v123)
  (at r134 v124)
  (at r126 v125)
  (at r32 v126)
  (at r87 v127)
  (at r67 v128)
  (at r114 v129)
  (at r172 v130)
  (at r85 v131)
  (at r157 v132)
  (at r161 v133)
  (at r7 v134)
  (at r82 v135)
  (at r25 v136)
  (at r144 v137)
  (at r162 v138)
  (at r102 v139)
  (at r68 v140)
  (at r178 v141)
  (at r100 v142)
  (at r118 v143)
  (at r5 v144)
  (at r99 v145)
  (at r95 v146)
  (at r90 v147)
  (at r26 v148)
  (at r84 v149)
  (at r86 v150)
  (at r98 v151)
  (at r139 v152)
  (at r104 v153)
  (at r182 v154)
  (at r10 v155)
  (at r108 v156)
  (at r30 v157)
  (at r185 v158)
  (at r41 v159)
  (at r22 v160)
  (at r179 v161)
  (at r131 v162)
  (at r164 v163)
  (at r59 v164)
  (at r154 v165)
  (at r158 v166)
  (at r180 v167)
  (at r83 v168)
  (at r45 v169)
  (at r60 v170)
  (at r56 v171)
  (at r27 v172)
  (at r116 v173)
  (at r91 v174)
  (at r19 v175)
  (at r92 v176)
  (at r107 v177)
  (at r156 v178)
  (at r11 v179)
  (at r129 v180)
  (at r34 v181)
  (at r109 v182)
  (at r14 v183)
  (at r23 v184)
  (at r74 v185)
  (at r93 v186)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v22)
  (adjacent v0 v161)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v21)
  (adjacent v1 v23)
  (adjacent v1 v125)
  (adjacent v1 v162)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v4 v11)
  (adjacent v4 v28)
  (adjacent v4 v40)
  (adjacent v4 v73)
  (adjacent v4 v160)
  (adjacent v5 v6)
  (adjacent v5 v85)
  (adjacent v6 v7)
  (adjacent v6 v19)
  (adjacent v6 v23)
  (adjacent v6 v131)
  (adjacent v7 v8)
  (adjacent v7 v156)
  (adjacent v8 v9)
  (adjacent v8 v98)
  (adjacent v9 v10)
  (adjacent v9 v33)
  (adjacent v9 v43)
  (adjacent v9 v56)
  (adjacent v9 v97)
  (adjacent v9 v115)
  (adjacent v10 v11)
  (adjacent v10 v12)
  (adjacent v10 v18)
  (adjacent v10 v129)
  (adjacent v11 v29)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v88)
  (adjacent v14 v15)
  (adjacent v14 v47)
  (adjacent v15 v16)
  (adjacent v15 v18)
  (adjacent v15 v78)
  (adjacent v15 v135)
  (adjacent v16 v17)
  (adjacent v17 v20)
  (adjacent v19 v20)
  (adjacent v19 v61)
  (adjacent v19 v126)
  (adjacent v20 v34)
  (adjacent v21 v22)
  (adjacent v22 v34)
  (adjacent v22 v61)
  (adjacent v22 v84)
  (adjacent v22 v93)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v66)
  (adjacent v24 v124)
  (adjacent v25 v26)
  (adjacent v25 v41)
  (adjacent v25 v134)
  (adjacent v26 v27)
  (adjacent v26 v62)
  (adjacent v26 v148)
  (adjacent v26 v150)
  (adjacent v27 v28)
  (adjacent v27 v54)
  (adjacent v28 v35)
  (adjacent v28 v42)
  (adjacent v28 v67)
  (adjacent v28 v74)
  (adjacent v29 v30)
  (adjacent v29 v123)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v151)
  (adjacent v32 v33)
  (adjacent v34 v69)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v55)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v56)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v48)
  (adjacent v45 v116)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v57)
  (adjacent v50 v51)
  (adjacent v50 v180)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v60)
  (adjacent v54 v55)
  (adjacent v54 v147)
  (adjacent v55 v106)
  (adjacent v55 v157)
  (adjacent v55 v186)
  (adjacent v56 v100)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v77)
  (adjacent v60 v89)
  (adjacent v62 v63)
  (adjacent v62 v132)
  (adjacent v62 v139)
  (adjacent v63 v64)
  (adjacent v63 v83)
  (adjacent v64 v65)
  (adjacent v64 v122)
  (adjacent v65 v66)
  (adjacent v65 v127)
  (adjacent v65 v128)
  (adjacent v66 v94)
  (adjacent v66 v146)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v72 v150)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v84)
  (adjacent v76 v174)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v149)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v82 v105)
  (adjacent v84 v99)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v89 v90)
  (adjacent v89 v159)
  (adjacent v90 v91)
  (adjacent v90 v127)
  (adjacent v90 v179)
  (adjacent v91 v92)
  (adjacent v91 v149)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v94 v172)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v99)
  (adjacent v99 v160)
  (adjacent v99 v173)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v101 v128)
  (adjacent v102 v103)
  (adjacent v102 v161)
  (adjacent v103 v104)
  (adjacent v103 v112)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v111 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v116 v178)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v123 v124)
  (adjacent v125 v126)
  (adjacent v125 v148)
  (adjacent v129 v130)
  (adjacent v130 v131)
  (adjacent v131 v140)
  (adjacent v132 v133)
  (adjacent v133 v134)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v138 v139)
  (adjacent v139 v147)
  (adjacent v140 v141)
  (adjacent v140 v167)
  (adjacent v141 v142)
  (adjacent v142 v143)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v144 v168)
  (adjacent v145 v146)
  (adjacent v146 v186)
  (adjacent v151 v152)
  (adjacent v151 v173)
  (adjacent v152 v153)
  (adjacent v153 v154)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v162 v163)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v166 v167)
  (adjacent v166 v179)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v171 v172)
  (adjacent v172 v185)
  (adjacent v174 v175)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v182 v183)
  (adjacent v183 v184)
  (adjacent v184 v185)
 )
 (:goal
  (and
  (at r39 v0)
  (at r159 v1)
  (at r154 v2)
  (at r88 v3)
  (at r114 v4)
  (at r136 v5)
  (at r55 v6)
  (at r15 v7)
  (at r104 v8)
  (at r82 v9)
  (at r64 v10)
  (at r121 v11)
  (at r142 v12)
  (at r141 v13)
  (at r151 v14)
  (at r5 v15)
  (at r87 v16)
  (at r37 v17)
  (at r28 v18)
  (at r145 v19)
  (at r176 v20)
  (at r24 v21)
  (at r16 v22)
  (at r58 v23)
  (at r98 v24)
  (at r170 v25)
  (at r12 v26)
  (at r158 v27)
  (at r130 v28)
  (at r186 v29)
  (at r133 v30)
  (at r86 v31)
  (at r53 v32)
  (at r67 v33)
  (at r57 v34)
  (at r20 v35)
  (at r76 v36)
  (free v37)
  (at r61 v38)
  (at r46 v39)
  (at r157 v40)
  (at r128 v41)
  (at r83 v42)
  (at r48 v43)
  (at r63 v44)
  (at r17 v45)
  (at r148 v46)
  (at r109 v47)
  (at r127 v48)
  (at r102 v49)
  (at r103 v50)
  (at r182 v51)
  (at r167 v52)
  (at r124 v53)
  (at r146 v54)
  (at r152 v55)
  (at r84 v56)
  (at r110 v57)
  (at r122 v58)
  (at r147 v59)
  (at r27 v60)
  (at r131 v61)
  (at r62 v62)
  (at r73 v63)
  (at r183 v64)
  (at r49 v65)
  (at r21 v66)
  (at r14 v67)
  (at r174 v68)
  (at r171 v69)
  (at r78 v70)
  (at r166 v71)
  (at r18 v72)
  (free v73)
  (at r172 v74)
  (at r94 v75)
  (at r43 v76)
  (at r65 v77)
  (at r32 v78)
  (at r132 v79)
  (at r70 v80)
  (at r150 v81)
  (at r115 v82)
  (at r13 v83)
  (at r26 v84)
  (at r113 v85)
  (at r95 v86)
  (at r99 v87)
  (at r33 v88)
  (at r129 v89)
  (at r71 v90)
  (at r59 v91)
  (at r106 v92)
  (at r77 v93)
  (at r144 v94)
  (at r180 v95)
  (at r164 v96)
  (at r75 v97)
  (at r69 v98)
  (at r169 v99)
  (at r143 v100)
  (at r11 v101)
  (at r60 v102)
  (at r120 v103)
  (at r81 v104)
  (at r175 v105)
  (at r140 v106)
  (at r52 v107)
  (at r116 v108)
  (at r30 v109)
  (at r179 v110)
  (at r19 v111)
  (at r156 v112)
  (at r90 v113)
  (at r56 v114)
  (at r161 v115)
  (at r111 v116)
  (at r36 v117)
  (at r96 v118)
  (at r126 v119)
  (at r153 v120)
  (at r125 v121)
  (at r41 v122)
  (at r10 v123)
  (at r168 v124)
  (at r8 v125)
  (at r119 v126)
  (at r45 v127)
  (at r29 v128)
  (at r135 v129)
  (at r2 v130)
  (at r105 v131)
  (at r163 v132)
  (at r34 v133)
  (at r6 v134)
  (at r118 v135)
  (at r177 v136)
  (at r66 v137)
  (at r162 v138)
  (at r97 v139)
  (at r9 v140)
  (at r181 v141)
  (at r31 v142)
  (at r38 v143)
  (at r134 v144)
  (at r117 v145)
  (at r108 v146)
  (at r68 v147)
  (at r23 v148)
  (at r89 v149)
  (at r47 v150)
  (at r4 v151)
  (at r40 v152)
  (at r50 v153)
  (at r149 v154)
  (at r42 v155)
  (at r185 v156)
  (at r3 v157)
  (at r7 v158)
  (at r80 v159)
  (at r101 v160)
  (at r178 v161)
  (at r35 v162)
  (at r165 v163)
  (at r44 v164)
  (at r85 v165)
  (at r160 v166)
  (at r25 v167)
  (at r123 v168)
  (at r155 v169)
  (at r93 v170)
  (at r173 v171)
  (at r79 v172)
  (at r138 v173)
  (at r137 v174)
  (at r51 v175)
  (at r22 v176)
  (at r139 v177)
  (at r100 v178)
  (at r74 v179)
  (at r72 v180)
  (at r91 v181)
  (at r92 v182)
  (at r107 v183)
  (at r184 v184)
  (at r112 v185)
  (at r54 v186)
  )
 )
)