(define (problem multirobot_56_2_c0)
 (:domain multirobot)
 (:objects
  v0 r86
  v1 r45
  v2 r125
  v3 r34
  v4 r73
  v5 r167
  v6 r157
  v7 r33
  v8 r76
  v9 r101
  v10 r176
  v11 r129
  v12 r100
  v13 r124
  v14 r78
  v15 r130
  v16 r68
  v17 r46
  v18 r81
  v19 r17
  v20 r71
  v21 r144
  v22 r158
  v23 r149
  v24 r72
  v25 r22
  v26 r79
  v27 r32
  v28 r88
  v29 r90
  v30 r19
  v31 r55
  v32 r145
  v33 r134
  v34 r38
  v35 r66
  v36 r156
  v37 r2
  v38 r111
  v39 r56
  v40 r59
  v41 r21
  v42 r139
  v43 r83
  v44 r131
  v45 r37
  v46 r93
  v47 r7
  v48 r70
  v49 r80
  v50 r171
  v51 r161
  v52 r64
  v53 r36
  v54 r28
  v55 r12
  v56 r141
  v57 r54
  v58 r150
  v59 r24
  v60 r179
  v61 r153
  v62 r117
  v63 r53
  v64 r148
  v65 r133
  v66 r122
  v67 r42
  v68 r120
  v69 r174
  v70 r106
  v71 r127
  v72 r123
  v73 r16
  v74 r47
  v75 r15
  v76 r41
  v77 r30
  v78 r98
  v79 r170
  v80 r5
  v81 r142
  v82 r168
  v83 r25
  v84 r52
  v85 r160
  v86 r26
  v87 r121
  v88 r4
  v89 r63
  v90 r8
  v91 r108
  v92 r118
  v93 r143
  v94 r77
  v95 r113
  v96 r43
  v97 r152
  v98 r23
  v99 r126
  v100 r65
  v101 r180
  v102 r115
  v103 r61
  v104 r58
  v105 r172
  v106 r85
  v107 r128
  v108 r69
  v109 r51
  v110 r109
  v111 r119
  v112 r39
  v113 r151
  v114 r95
  v115 r60
  v116 r166
  v117 r49
  v118 r10
  v119 r31
  v120 r14
  v121 r13
  v122 r11
  v123 r159
  v124 r102
  v125 r96
  v126 r107
  v127 r87
  v128 r94
  v129
  v130 r146
  v131 r177
  v132 r99
  v133 r82
  v134 r74
  v135 r75
  v136 r164
  v137 r103
  v138 r91
  v139 r173
  v140 r169
  v141 r20
  v142 r138
  v143 r48
  v144 r62
  v145 r18
  v146 r9
  v147 r155
  v148 r137
  v149 r44
  v150 r114
  v151 r116
  v152 r97
  v153 r3
  v154 r175
  v155 r140
  v156 r178
  v157
  v158 r35
  v159 r163
  v160 r147
  v161 r27
  v162 r162
  v163 r57
  v164 r50
  v165 r110
  v166 r135
  v167 r105
  v168 r104
  v169 r154
  v170 r132
  v171 r112
  v172 r89
  v173 r29
  v174 r92
  v175 r40
  v176 r84
  v177 r6
  v178 r67
  v179 r165
  v180 r136
 )
 (:init
  (at r86 v0)
  (at r45 v1)
  (at r125 v2)
  (at r34 v3)
  (at r73 v4)
  (at r167 v5)
  (at r157 v6)
  (at r33 v7)
  (at r76 v8)
  (at r101 v9)
  (at r176 v10)
  (at r129 v11)
  (at r100 v12)
  (at r124 v13)
  (at r78 v14)
  (at r130 v15)
  (at r68 v16)
  (at r46 v17)
  (at r81 v18)
  (at r17 v19)
  (at r71 v20)
  (at r144 v21)
  (at r158 v22)
  (at r149 v23)
  (at r72 v24)
  (at r22 v25)
  (at r79 v26)
  (at r32 v27)
  (at r88 v28)
  (at r90 v29)
  (at r19 v30)
  (at r55 v31)
  (at r145 v32)
  (at r134 v33)
  (at r38 v34)
  (at r66 v35)
  (at r156 v36)
  (at r2 v37)
  (at r111 v38)
  (at r56 v39)
  (at r59 v40)
  (at r21 v41)
  (at r139 v42)
  (at r83 v43)
  (at r131 v44)
  (at r37 v45)
  (at r93 v46)
  (at r7 v47)
  (at r70 v48)
  (at r80 v49)
  (at r171 v50)
  (at r161 v51)
  (at r64 v52)
  (at r36 v53)
  (at r28 v54)
  (at r12 v55)
  (at r141 v56)
  (at r54 v57)
  (at r150 v58)
  (at r24 v59)
  (at r179 v60)
  (at r153 v61)
  (at r117 v62)
  (at r53 v63)
  (at r148 v64)
  (at r133 v65)
  (at r122 v66)
  (at r42 v67)
  (at r120 v68)
  (at r174 v69)
  (at r106 v70)
  (at r127 v71)
  (at r123 v72)
  (at r16 v73)
  (at r47 v74)
  (at r15 v75)
  (at r41 v76)
  (at r30 v77)
  (at r98 v78)
  (at r170 v79)
  (at r5 v80)
  (at r142 v81)
  (at r168 v82)
  (at r25 v83)
  (at r52 v84)
  (at r160 v85)
  (at r26 v86)
  (at r121 v87)
  (at r4 v88)
  (at r63 v89)
  (at r8 v90)
  (at r108 v91)
  (at r118 v92)
  (at r143 v93)
  (at r77 v94)
  (at r113 v95)
  (at r43 v96)
  (at r152 v97)
  (at r23 v98)
  (at r126 v99)
  (at r65 v100)
  (at r180 v101)
  (at r115 v102)
  (at r61 v103)
  (at r58 v104)
  (at r172 v105)
  (at r85 v106)
  (at r128 v107)
  (at r69 v108)
  (at r51 v109)
  (at r109 v110)
  (at r119 v111)
  (at r39 v112)
  (at r151 v113)
  (at r95 v114)
  (at r60 v115)
  (at r166 v116)
  (at r49 v117)
  (at r10 v118)
  (at r31 v119)
  (at r14 v120)
  (at r13 v121)
  (at r11 v122)
  (at r159 v123)
  (at r102 v124)
  (at r96 v125)
  (at r107 v126)
  (at r87 v127)
  (at r94 v128)
  (free v129)
  (at r146 v130)
  (at r177 v131)
  (at r99 v132)
  (at r82 v133)
  (at r74 v134)
  (at r75 v135)
  (at r164 v136)
  (at r103 v137)
  (at r91 v138)
  (at r173 v139)
  (at r169 v140)
  (at r20 v141)
  (at r138 v142)
  (at r48 v143)
  (at r62 v144)
  (at r18 v145)
  (at r9 v146)
  (at r155 v147)
  (at r137 v148)
  (at r44 v149)
  (at r114 v150)
  (at r116 v151)
  (at r97 v152)
  (at r3 v153)
  (at r175 v154)
  (at r140 v155)
  (at r178 v156)
  (free v157)
  (at r35 v158)
  (at r163 v159)
  (at r147 v160)
  (at r27 v161)
  (at r162 v162)
  (at r57 v163)
  (at r50 v164)
  (at r110 v165)
  (at r135 v166)
  (at r105 v167)
  (at r104 v168)
  (at r154 v169)
  (at r132 v170)
  (at r112 v171)
  (at r89 v172)
  (at r29 v173)
  (at r92 v174)
  (at r40 v175)
  (at r84 v176)
  (at r6 v177)
  (at r67 v178)
  (at r165 v179)
  (at r136 v180)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v84)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v12)
  (adjacent v1 v15)
  (adjacent v1 v43)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v9)
  (adjacent v2 v38)
  (adjacent v2 v63)
  (adjacent v3 v4)
  (adjacent v3 v25)
  (adjacent v3 v69)
  (adjacent v4 v11)
  (adjacent v4 v16)
  (adjacent v5 v6)
  (adjacent v5 v10)
  (adjacent v5 v43)
  (adjacent v6 v7)
  (adjacent v6 v9)
  (adjacent v6 v82)
  (adjacent v7 v8)
  (adjacent v7 v44)
  (adjacent v8 v14)
  (adjacent v8 v15)
  (adjacent v8 v158)
  (adjacent v9 v19)
  (adjacent v9 v163)
  (adjacent v10 v11)
  (adjacent v10 v31)
  (adjacent v10 v44)
  (adjacent v10 v92)
  (adjacent v11 v106)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v12 v172)
  (adjacent v13 v14)
  (adjacent v15 v47)
  (adjacent v15 v141)
  (adjacent v16 v17)
  (adjacent v16 v110)
  (adjacent v17 v18)
  (adjacent v17 v32)
  (adjacent v17 v105)
  (adjacent v18 v19)
  (adjacent v19 v26)
  (adjacent v19 v62)
  (adjacent v19 v162)
  (adjacent v20 v21)
  (adjacent v20 v69)
  (adjacent v20 v72)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v52)
  (adjacent v22 v68)
  (adjacent v22 v88)
  (adjacent v22 v140)
  (adjacent v23 v24)
  (adjacent v23 v83)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v70)
  (adjacent v27 v98)
  (adjacent v28 v29)
  (adjacent v28 v42)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v39)
  (adjacent v32 v33)
  (adjacent v32 v114)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v33 v92)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v133)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v144)
  (adjacent v38 v61)
  (adjacent v38 v153)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v83)
  (adjacent v40 v134)
  (adjacent v41 v42)
  (adjacent v41 v56)
  (adjacent v41 v133)
  (adjacent v42 v45)
  (adjacent v43 v81)
  (adjacent v44 v57)
  (adjacent v45 v46)
  (adjacent v46 v80)
  (adjacent v47 v48)
  (adjacent v47 v126)
  (adjacent v48 v49)
  (adjacent v48 v53)
  (adjacent v48 v73)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v82)
  (adjacent v50 v171)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v53 v99)
  (adjacent v53 v167)
  (adjacent v54 v55)
  (adjacent v54 v62)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v57 v91)
  (adjacent v57 v108)
  (adjacent v58 v59)
  (adjacent v58 v75)
  (adjacent v59 v60)
  (adjacent v59 v81)
  (adjacent v60 v61)
  (adjacent v62 v98)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v179)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v99)
  (adjacent v70 v71)
  (adjacent v70 v76)
  (adjacent v71 v72)
  (adjacent v72 v97)
  (adjacent v73 v74)
  (adjacent v73 v117)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v77 v93)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v87)
  (adjacent v79 v134)
  (adjacent v80 v116)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v113)
  (adjacent v85 v130)
  (adjacent v86 v87)
  (adjacent v88 v89)
  (adjacent v88 v100)
  (adjacent v88 v109)
  (adjacent v88 v142)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v120)
  (adjacent v91 v159)
  (adjacent v92 v125)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v94 v180)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v98 v135)
  (adjacent v99 v154)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v102 v132)
  (adjacent v103 v104)
  (adjacent v103 v109)
  (adjacent v103 v121)
  (adjacent v104 v105)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v141)
  (adjacent v108 v142)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v112 v143)
  (adjacent v114 v115)
  (adjacent v114 v131)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v119 v168)
  (adjacent v121 v122)
  (adjacent v121 v151)
  (adjacent v122 v123)
  (adjacent v122 v143)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v130)
  (adjacent v131 v132)
  (adjacent v135 v136)
  (adjacent v136 v137)
  (adjacent v137 v138)
  (adjacent v137 v174)
  (adjacent v138 v139)
  (adjacent v138 v150)
  (adjacent v139 v140)
  (adjacent v144 v145)
  (adjacent v145 v146)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v180)
  (adjacent v154 v155)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v159 v160)
  (adjacent v160 v161)
  (adjacent v161 v162)
  (adjacent v161 v173)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v165 v166)
  (adjacent v165 v170)
  (adjacent v166 v167)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v169 v175)
  (adjacent v171 v172)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v178 v179)
 )
 (:goal
  (and
  (at r17 v0)
  (at r29 v1)
  (at r24 v2)
  (at r162 v3)
  (at r75 v4)
  (at r77 v5)
  (at r172 v6)
  (at r36 v7)
  (at r150 v8)
  (at r105 v9)
  (at r38 v10)
  (at r123 v11)
  (at r132 v12)
  (at r166 v13)
  (at r66 v14)
  (at r76 v15)
  (at r10 v16)
  (at r41 v17)
  (at r156 v18)
  (at r176 v19)
  (at r2 v20)
  (at r179 v21)
  (at r130 v22)
  (at r84 v23)
  (at r94 v24)
  (at r113 v25)
  (at r124 v26)
  (free v27)
  (at r81 v28)
  (at r47 v29)
  (at r142 v30)
  (at r21 v31)
  (at r55 v32)
  (at r155 v33)
  (at r102 v34)
  (at r151 v35)
  (at r60 v36)
  (at r145 v37)
  (at r148 v38)
  (at r146 v39)
  (at r11 v40)
  (at r8 v41)
  (at r62 v42)
  (at r108 v43)
  (at r174 v44)
  (at r107 v45)
  (at r165 v46)
  (at r68 v47)
  (at r51 v48)
  (at r157 v49)
  (at r127 v50)
  (at r33 v51)
  (at r44 v52)
  (at r28 v53)
  (free v54)
  (at r152 v55)
  (at r126 v56)
  (at r87 v57)
  (at r73 v58)
  (at r13 v59)
  (at r45 v60)
  (at r118 v61)
  (at r95 v62)
  (at r72 v63)
  (at r175 v64)
  (at r61 v65)
  (at r30 v66)
  (at r140 v67)
  (at r121 v68)
  (at r159 v69)
  (at r153 v70)
  (at r99 v71)
  (at r110 v72)
  (at r129 v73)
  (at r144 v74)
  (at r3 v75)
  (at r109 v76)
  (at r160 v77)
  (at r104 v78)
  (at r169 v79)
  (at r74 v80)
  (at r23 v81)
  (at r88 v82)
  (at r49 v83)
  (at r5 v84)
  (at r56 v85)
  (at r154 v86)
  (at r143 v87)
  (at r128 v88)
  (at r89 v89)
  (at r46 v90)
  (at r139 v91)
  (at r85 v92)
  (at r180 v93)
  (at r50 v94)
  (at r58 v95)
  (at r39 v96)
  (at r4 v97)
  (at r100 v98)
  (at r18 v99)
  (at r158 v100)
  (at r93 v101)
  (at r135 v102)
  (at r37 v103)
  (at r101 v104)
  (at r90 v105)
  (at r25 v106)
  (at r134 v107)
  (at r7 v108)
  (at r168 v109)
  (at r22 v110)
  (at r112 v111)
  (at r78 v112)
  (at r27 v113)
  (at r170 v114)
  (at r103 v115)
  (at r177 v116)
  (at r131 v117)
  (at r48 v118)
  (at r98 v119)
  (at r178 v120)
  (at r69 v121)
  (at r79 v122)
  (at r164 v123)
  (at r114 v124)
  (at r70 v125)
  (at r173 v126)
  (at r133 v127)
  (at r120 v128)
  (at r40 v129)
  (at r117 v130)
  (at r57 v131)
  (at r15 v132)
  (at r137 v133)
  (at r14 v134)
  (at r106 v135)
  (at r97 v136)
  (at r115 v137)
  (at r161 v138)
  (at r9 v139)
  (at r138 v140)
  (at r16 v141)
  (at r141 v142)
  (at r12 v143)
  (at r122 v144)
  (at r54 v145)
  (at r80 v146)
  (at r52 v147)
  (at r63 v148)
  (at r31 v149)
  (at r96 v150)
  (at r92 v151)
  (at r91 v152)
  (at r42 v153)
  (at r116 v154)
  (at r19 v155)
  (at r163 v156)
  (at r83 v157)
  (at r20 v158)
  (at r171 v159)
  (at r86 v160)
  (at r59 v161)
  (at r53 v162)
  (at r67 v163)
  (at r82 v164)
  (at r6 v165)
  (at r149 v166)
  (at r26 v167)
  (at r32 v168)
  (at r35 v169)
  (at r34 v170)
  (at r125 v171)
  (at r65 v172)
  (at r43 v173)
  (at r71 v174)
  (at r136 v175)
  (at r167 v176)
  (at r64 v177)
  (at r119 v178)
  (at r111 v179)
  (at r147 v180)
  )
 )
)