(define (problem multirobot_56_2_c5)
 (:domain multirobot)
 (:objects
  v0 r82
  v1 r125
  v2 r58
  v3 r105
  v4 r161
  v5 r121
  v6 r15
  v7 r22
  v8 r50
  v9 r106
  v10 r163
  v11 r18
  v12 r4
  v13 r66
  v14 r180
  v15 r17
  v16 r141
  v17 r69
  v18 r118
  v19 r183
  v20 r88
  v21 r60
  v22 r116
  v23 r79
  v24 r72
  v25 r117
  v26 r153
  v27 r108
  v28 r138
  v29 r31
  v30 r42
  v31 r98
  v32 r157
  v33 r7
  v34 r52
  v35 r14
  v36 r62
  v37 r158
  v38 r87
  v39 r155
  v40
  v41 r85
  v42 r6
  v43 r168
  v44 r145
  v45 r95
  v46 r94
  v47 r97
  v48
  v49 r93
  v50 r21
  v51 r136
  v52 r32
  v53 r169
  v54 r160
  v55 r24
  v56 r9
  v57 r152
  v58 r29
  v59 r57
  v60 r170
  v61 r20
  v62 r75
  v63 r10
  v64 r67
  v65 r3
  v66 r45
  v67 r115
  v68 r55
  v69 r151
  v70 r120
  v71 r114
  v72 r80
  v73 r53
  v74 r111
  v75 r113
  v76 r91
  v77 r154
  v78 r147
  v79 r162
  v80 r44
  v81 r139
  v82 r137
  v83 r71
  v84 r107
  v85 r5
  v86 r2
  v87 r185
  v88 r26
  v89 r8
  v90 r28
  v91 r13
  v92 r131
  v93 r83
  v94 r68
  v95 r143
  v96 r182
  v97 r59
  v98 r76
  v99 r38
  v100 r23
  v101 r149
  v102 r119
  v103 r148
  v104 r184
  v105 r43
  v106 r35
  v107 r130
  v108 r174
  v109 r102
  v110 r48
  v111 r47
  v112 r96
  v113 r164
  v114 r104
  v115 r11
  v116 r129
  v117 r177
  v118 r156
  v119 r146
  v120 r176
  v121 r178
  v122 r132
  v123 r89
  v124 r65
  v125 r181
  v126 r124
  v127 r103
  v128 r92
  v129 r135
  v130 r144
  v131 r128
  v132 r73
  v133 r133
  v134 r90
  v135 r56
  v136 r27
  v137 r74
  v138 r159
  v139 r166
  v140 r134
  v141 r40
  v142 r179
  v143 r37
  v144 r142
  v145 r171
  v146 r46
  v147 r123
  v148 r34
  v149 r19
  v150 r126
  v151 r64
  v152 r167
  v153 r49
  v154 r122
  v155 r84
  v156 r30
  v157 r41
  v158 r16
  v159 r101
  v160 r173
  v161 r127
  v162 r150
  v163 r110
  v164 r175
  v165 r54
  v166 r36
  v167 r112
  v168 r39
  v169 r77
  v170 r63
  v171 r86
  v172 r81
  v173 r99
  v174 r78
  v175 r51
  v176 r61
  v177 r25
  v178 r186
  v179 r165
  v180 r70
  v181 r100
  v182 r33
  v183 r109
  v184 r12
  v185 r172
  v186 r140
 )
 (:init
  (at r82 v0)
  (at r125 v1)
  (at r58 v2)
  (at r105 v3)
  (at r161 v4)
  (at r121 v5)
  (at r15 v6)
  (at r22 v7)
  (at r50 v8)
  (at r106 v9)
  (at r163 v10)
  (at r18 v11)
  (at r4 v12)
  (at r66 v13)
  (at r180 v14)
  (at r17 v15)
  (at r141 v16)
  (at r69 v17)
  (at r118 v18)
  (at r183 v19)
  (at r88 v20)
  (at r60 v21)
  (at r116 v22)
  (at r79 v23)
  (at r72 v24)
  (at r117 v25)
  (at r153 v26)
  (at r108 v27)
  (at r138 v28)
  (at r31 v29)
  (at r42 v30)
  (at r98 v31)
  (at r157 v32)
  (at r7 v33)
  (at r52 v34)
  (at r14 v35)
  (at r62 v36)
  (at r158 v37)
  (at r87 v38)
  (at r155 v39)
  (free v40)
  (at r85 v41)
  (at r6 v42)
  (at r168 v43)
  (at r145 v44)
  (at r95 v45)
  (at r94 v46)
  (at r97 v47)
  (free v48)
  (at r93 v49)
  (at r21 v50)
  (at r136 v51)
  (at r32 v52)
  (at r169 v53)
  (at r160 v54)
  (at r24 v55)
  (at r9 v56)
  (at r152 v57)
  (at r29 v58)
  (at r57 v59)
  (at r170 v60)
  (at r20 v61)
  (at r75 v62)
  (at r10 v63)
  (at r67 v64)
  (at r3 v65)
  (at r45 v66)
  (at r115 v67)
  (at r55 v68)
  (at r151 v69)
  (at r120 v70)
  (at r114 v71)
  (at r80 v72)
  (at r53 v73)
  (at r111 v74)
  (at r113 v75)
  (at r91 v76)
  (at r154 v77)
  (at r147 v78)
  (at r162 v79)
  (at r44 v80)
  (at r139 v81)
  (at r137 v82)
  (at r71 v83)
  (at r107 v84)
  (at r5 v85)
  (at r2 v86)
  (at r185 v87)
  (at r26 v88)
  (at r8 v89)
  (at r28 v90)
  (at r13 v91)
  (at r131 v92)
  (at r83 v93)
  (at r68 v94)
  (at r143 v95)
  (at r182 v96)
  (at r59 v97)
  (at r76 v98)
  (at r38 v99)
  (at r23 v100)
  (at r149 v101)
  (at r119 v102)
  (at r148 v103)
  (at r184 v104)
  (at r43 v105)
  (at r35 v106)
  (at r130 v107)
  (at r174 v108)
  (at r102 v109)
  (at r48 v110)
  (at r47 v111)
  (at r96 v112)
  (at r164 v113)
  (at r104 v114)
  (at r11 v115)
  (at r129 v116)
  (at r177 v117)
  (at r156 v118)
  (at r146 v119)
  (at r176 v120)
  (at r178 v121)
  (at r132 v122)
  (at r89 v123)
  (at r65 v124)
  (at r181 v125)
  (at r124 v126)
  (at r103 v127)
  (at r92 v128)
  (at r135 v129)
  (at r144 v130)
  (at r128 v131)
  (at r73 v132)
  (at r133 v133)
  (at r90 v134)
  (at r56 v135)
  (at r27 v136)
  (at r74 v137)
  (at r159 v138)
  (at r166 v139)
  (at r134 v140)
  (at r40 v141)
  (at r179 v142)
  (at r37 v143)
  (at r142 v144)
  (at r171 v145)
  (at r46 v146)
  (at r123 v147)
  (at r34 v148)
  (at r19 v149)
  (at r126 v150)
  (at r64 v151)
  (at r167 v152)
  (at r49 v153)
  (at r122 v154)
  (at r84 v155)
  (at r30 v156)
  (at r41 v157)
  (at r16 v158)
  (at r101 v159)
  (at r173 v160)
  (at r127 v161)
  (at r150 v162)
  (at r110 v163)
  (at r175 v164)
  (at r54 v165)
  (at r36 v166)
  (at r112 v167)
  (at r39 v168)
  (at r77 v169)
  (at r63 v170)
  (at r86 v171)
  (at r81 v172)
  (at r99 v173)
  (at r78 v174)
  (at r51 v175)
  (at r61 v176)
  (at r25 v177)
  (at r186 v178)
  (at r165 v179)
  (at r70 v180)
  (at r100 v181)
  (at r33 v182)
  (at r109 v183)
  (at r12 v184)
  (at r172 v185)
  (at r140 v186)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v22)
  (adjacent v0 v33)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v13)
  (adjacent v1 v76)
  (adjacent v1 v112)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v6)
  (adjacent v2 v9)
  (adjacent v3 v4)
  (adjacent v3 v14)
  (adjacent v3 v24)
  (adjacent v3 v61)
  (adjacent v3 v136)
  (adjacent v4 v5)
  (adjacent v4 v8)
  (adjacent v4 v33)
  (adjacent v4 v58)
  (adjacent v5 v23)
  (adjacent v5 v32)
  (adjacent v5 v81)
  (adjacent v5 v153)
  (adjacent v6 v7)
  (adjacent v7 v16)
  (adjacent v7 v23)
  (adjacent v7 v139)
  (adjacent v8 v77)
  (adjacent v8 v121)
  (adjacent v9 v10)
  (adjacent v9 v70)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v10 v25)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v45)
  (adjacent v12 v66)
  (adjacent v13 v44)
  (adjacent v14 v15)
  (adjacent v14 v103)
  (adjacent v14 v120)
  (adjacent v14 v130)
  (adjacent v14 v165)
  (adjacent v15 v138)
  (adjacent v16 v17)
  (adjacent v16 v87)
  (adjacent v17 v18)
  (adjacent v17 v52)
  (adjacent v17 v179)
  (adjacent v18 v19)
  (adjacent v18 v154)
  (adjacent v19 v20)
  (adjacent v19 v51)
  (adjacent v19 v65)
  (adjacent v19 v68)
  (adjacent v20 v21)
  (adjacent v20 v26)
  (adjacent v20 v34)
  (adjacent v21 v22)
  (adjacent v21 v75)
  (adjacent v23 v54)
  (adjacent v23 v98)
  (adjacent v24 v25)
  (adjacent v25 v67)
  (adjacent v25 v77)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v38)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v150)
  (adjacent v31 v32)
  (adjacent v31 v55)
  (adjacent v31 v182)
  (adjacent v32 v129)
  (adjacent v33 v76)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v107)
  (adjacent v39 v40)
  (adjacent v39 v97)
  (adjacent v39 v186)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v56)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v55)
  (adjacent v44 v82)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v78)
  (adjacent v48 v93)
  (adjacent v49 v50)
  (adjacent v49 v178)
  (adjacent v50 v51)
  (adjacent v50 v60)
  (adjacent v50 v140)
  (adjacent v50 v172)
  (adjacent v51 v57)
  (adjacent v51 v71)
  (adjacent v52 v53)
  (adjacent v52 v160)
  (adjacent v53 v54)
  (adjacent v53 v106)
  (adjacent v53 v127)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v113)
  (adjacent v59 v60)
  (adjacent v59 v101)
  (adjacent v60 v94)
  (adjacent v60 v102)
  (adjacent v60 v146)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v62 v137)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v160)
  (adjacent v66 v67)
  (adjacent v67 v83)
  (adjacent v67 v121)
  (adjacent v68 v69)
  (adjacent v68 v122)
  (adjacent v68 v161)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v71 v116)
  (adjacent v72 v73)
  (adjacent v72 v82)
  (adjacent v72 v102)
  (adjacent v73 v74)
  (adjacent v73 v112)
  (adjacent v73 v125)
  (adjacent v74 v75)
  (adjacent v74 v86)
  (adjacent v75 v145)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v80 v111)
  (adjacent v83 v84)
  (adjacent v83 v162)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v85 v115)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v171)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v99 v126)
  (adjacent v100 v101)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v159)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v110 v137)
  (adjacent v111 v126)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v142)
  (adjacent v127 v128)
  (adjacent v128 v129)
  (adjacent v129 v143)
  (adjacent v130 v131)
  (adjacent v131 v132)
  (adjacent v132 v133)
  (adjacent v132 v175)
  (adjacent v133 v134)
  (adjacent v134 v135)
  (adjacent v135 v136)
  (adjacent v138 v139)
  (adjacent v139 v163)
  (adjacent v139 v166)
  (adjacent v140 v141)
  (adjacent v140 v174)
  (adjacent v141 v142)
  (adjacent v142 v167)
  (adjacent v143 v144)
  (adjacent v144 v145)
  (adjacent v146 v147)
  (adjacent v147 v148)
  (adjacent v148 v149)
  (adjacent v148 v151)
  (adjacent v149 v150)
  (adjacent v151 v152)
  (adjacent v152 v153)
  (adjacent v153 v183)
  (adjacent v154 v155)
  (adjacent v154 v166)
  (adjacent v155 v156)
  (adjacent v156 v157)
  (adjacent v157 v158)
  (adjacent v158 v159)
  (adjacent v161 v162)
  (adjacent v163 v164)
  (adjacent v164 v165)
  (adjacent v167 v168)
  (adjacent v168 v169)
  (adjacent v169 v170)
  (adjacent v170 v171)
  (adjacent v172 v173)
  (adjacent v173 v174)
  (adjacent v175 v176)
  (adjacent v176 v177)
  (adjacent v177 v178)
  (adjacent v179 v180)
  (adjacent v180 v181)
  (adjacent v181 v182)
  (adjacent v183 v184)
  (adjacent v184 v185)
  (adjacent v185 v186)
 )
 (:goal
  (and
  (at r99 v0)
  (at r136 v1)
  (at r119 v2)
  (at r59 v3)
  (at r49 v4)
  (at r13 v5)
  (at r90 v6)
  (at r60 v7)
  (at r172 v8)
  (at r43 v9)
  (at r105 v10)
  (at r159 v11)
  (at r103 v12)
  (at r123 v13)
  (at r79 v14)
  (at r20 v15)
  (at r53 v16)
  (at r40 v17)
  (at r96 v18)
  (at r127 v19)
  (at r177 v20)
  (at r6 v21)
  (at r170 v22)
  (at r114 v23)
  (at r71 v24)
  (at r100 v25)
  (at r155 v26)
  (at r85 v27)
  (at r4 v28)
  (at r142 v29)
  (at r73 v30)
  (at r111 v31)
  (at r17 v32)
  (at r93 v33)
  (at r151 v34)
  (at r152 v35)
  (at r58 v36)
  (at r108 v37)
  (at r29 v38)
  (at r87 v39)
  (at r26 v40)
  (at r174 v41)
  (at r109 v42)
  (at r176 v43)
  (at r162 v44)
  (at r101 v45)
  (at r125 v46)
  (at r52 v47)
  (at r148 v48)
  (at r89 v49)
  (at r140 v50)
  (at r32 v51)
  (at r67 v52)
  (at r34 v53)
  (free v54)
  (at r106 v55)
  (at r168 v56)
  (at r81 v57)
  (at r157 v58)
  (at r112 v59)
  (at r51 v60)
  (at r115 v61)
  (at r75 v62)
  (at r97 v63)
  (at r50 v64)
  (at r141 v65)
  (at r69 v66)
  (at r130 v67)
  (at r10 v68)
  (at r129 v69)
  (at r88 v70)
  (at r169 v71)
  (at r80 v72)
  (at r72 v73)
  (at r156 v74)
  (at r45 v75)
  (at r110 v76)
  (at r55 v77)
  (at r124 v78)
  (at r184 v79)
  (at r104 v80)
  (at r30 v81)
  (at r178 v82)
  (at r68 v83)
  (at r171 v84)
  (at r181 v85)
  (at r146 v86)
  (at r150 v87)
  (at r84 v88)
  (at r179 v89)
  (at r163 v90)
  (at r186 v91)
  (at r24 v92)
  (at r2 v93)
  (at r160 v94)
  (at r27 v95)
  (at r116 v96)
  (at r36 v97)
  (at r147 v98)
  (free v99)
  (at r183 v100)
  (at r44 v101)
  (at r117 v102)
  (at r70 v103)
  (at r54 v104)
  (at r126 v105)
  (at r11 v106)
  (at r165 v107)
  (at r56 v108)
  (at r167 v109)
  (at r133 v110)
  (at r137 v111)
  (at r16 v112)
  (at r91 v113)
  (at r57 v114)
  (at r122 v115)
  (at r63 v116)
  (at r12 v117)
  (at r35 v118)
  (at r153 v119)
  (at r76 v120)
  (at r61 v121)
  (at r39 v122)
  (at r25 v123)
  (at r3 v124)
  (at r23 v125)
  (at r166 v126)
  (at r98 v127)
  (at r48 v128)
  (at r74 v129)
  (at r118 v130)
  (at r144 v131)
  (at r82 v132)
  (at r154 v133)
  (at r66 v134)
  (at r46 v135)
  (at r161 v136)
  (at r33 v137)
  (at r86 v138)
  (at r64 v139)
  (at r158 v140)
  (at r22 v141)
  (at r139 v142)
  (at r120 v143)
  (at r145 v144)
  (at r28 v145)
  (at r31 v146)
  (at r175 v147)
  (at r132 v148)
  (at r134 v149)
  (at r5 v150)
  (at r107 v151)
  (at r92 v152)
  (at r14 v153)
  (at r77 v154)
  (at r78 v155)
  (at r149 v156)
  (at r113 v157)
  (at r135 v158)
  (at r37 v159)
  (at r42 v160)
  (at r7 v161)
  (at r8 v162)
  (at r21 v163)
  (at r143 v164)
  (at r95 v165)
  (at r128 v166)
  (at r180 v167)
  (at r138 v168)
  (at r83 v169)
  (at r38 v170)
  (at r19 v171)
  (at r182 v172)
  (at r102 v173)
  (at r15 v174)
  (at r121 v175)
  (at r62 v176)
  (at r173 v177)
  (at r9 v178)
  (at r47 v179)
  (at r164 v180)
  (at r18 v181)
  (at r41 v182)
  (at r94 v183)
  (at r65 v184)
  (at r185 v185)
  (at r131 v186)
  )
 )
)