(define (problem multirobot_56_2_c6) (:domain multirobot) (:objects v0 r160 v1 r41 v2 r56 v3 r89 v4 r32 v5 r34 v6 r27 v7 r40 v8 r74 v9 r142 v10 r35 v11 r15 v12 r4 v13 r99 v14 r135 v15 r189 v16 r16 v17 r10 v18 r171 v19 r172 v20 r122 v21 r108 v22 r124 v23 r120 v24 r29 v25 r139 v26 r165 v27 r48 v28 r181 v29 r170 v30 r114 v31 r186 v32 r39 v33 r97 v34 r81 v35 r46 v36 r163 v37 r53 v38 r109 v39 r58 v40 r184 v41 r80 v42 r127 v43 r104 v44 r47 v45 r123 v46 r5 v47 r151 v48 v49 r94 v50 r65 v51 v52 r134 v53 r9 v54 r155 v55 r75 v56 r66 v57 r51 v58 r130 v59 r83 v60 r131 v61 r113 v62 r121 v63 r176 v64 r23 v65 r117 v66 r98 v67 r128 v68 r84 v69 r26 v70 r156 v71 r91 v72 r140 v73 r174 v74 r146 v75 r20 v76 r175 v77 r173 v78 r72 v79 r192 v80 r77 v81 r96 v82 r162 v83 r50 v84 r42 v85 r68 v86 r137 v87 r118 v88 r103 v89 r141 v90 r73 v91 r49 v92 r88 v93 r168 v94 r76 v95 r19 v96 r33 v97 r71 v98 r31 v99 r59 v100 r154 v101 r144 v102 r147 v103 r133 v104 r145 v105 r45 v106 r180 v107 r191 v108 r6 v109 r8 v110 r188 v111 r111 v112 r22 v113 r69 v114 r112 v115 r107 v116 r67 v117 r136 v118 r178 v119 r166 v120 r85 v121 r106 v122 r13 v123 r190 v124 r116 v125 r86 v126 r143 v127 r60 v128 r55 v129 r167 v130 r132 v131 r115 v132 r18 v133 r164 v134 r11 v135 r7 v136 r92 v137 r82 v138 r17 v139 r102 v140 r158 v141 r183 v142 r36 v143 r62 v144 r3 v145 r30 v146 r38 v147 r185 v148 r2 v149 r57 v150 r110 v151 r105 v152 r87 v153 r150 v154 r187 v155 r37 v156 r43 v157 r159 v158 r90 v159 r182 v160 r138 v161 r169 v162 r93 v163 r54 v164 r63 v165 r95 v166 r14 v167 r61 v168 r101 v169 r12 v170 r78 v171 r149 v172 r24 v173 r119 v174 r126 v175 r152 v176 r25 v177 r177 v178 r179 v179 r148 v180 r44 v181 r100 v182 r125 v183 r28 v184 r64 v185 r79 v186 r70 v187 r153 v188 r129 v189 r52 v190 r21 v191 r161 v192 r157 ) (:init (at r160 v0) (at r41 v1) (at r56 v2) (at r89 v3) (at r32 v4) (at r34 v5) (at r27 v6) (at r40 v7) (at r74 v8) (at r142 v9) (at r35 v10) (at r15 v11) (at r4 v12) (at r99 v13) (at r135 v14) (at r189 v15) (at r16 v16) (at r10 v17) (at r171 v18) (at r172 v19) (at r122 v20) (at r108 v21) (at r124 v22) (at r120 v23) (at r29 v24) (at r139 v25) (at r165 v26) (at r48 v27) (at r181 v28) (at r170 v29) (at r114 v30) (at r186 v31) (at r39 v32) (at r97 v33) (at r81 v34) (at r46 v35) (at r163 v36) (at r53 v37) (at r109 v38) (at r58 v39) (at r184 v40) (at r80 v41) (at r127 v42) (at r104 v43) (at r47 v44) (at r123 v45) (at r5 v46) (at r151 v47) (free v48) (at r94 v49) (at r65 v50) (free v51) (at r134 v52) (at r9 v53) (at r155 v54) (at r75 v55) (at r66 v56) (at r51 v57) (at r130 v58) (at r83 v59) (at r131 v60) (at r113 v61) (at r121 v62) (at r176 v63) (at r23 v64) (at r117 v65) (at r98 v66) (at r128 v67) (at r84 v68) (at r26 v69) (at r156 v70) (at r91 v71) (at r140 v72) (at r174 v73) (at r146 v74) (at r20 v75) (at r175 v76) (at r173 v77) (at r72 v78) (at r192 v79) (at r77 v80) (at r96 v81) (at r162 v82) (at r50 v83) (at r42 v84) (at r68 v85) (at r137 v86) (at r118 v87) (at r103 v88) (at r141 v89) (at r73 v90) (at r49 v91) (at r88 v92) (at r168 v93) (at r76 v94) (at r19 v95) (at r33 v96) (at r71 v97) (at r31 v98) (at r59 v99) (at r154 v100) (at r144 v101) (at r147 v102) (at r133 v103) (at r145 v104) (at r45 v105) (at r180 v106) (at r191 v107) (at r6 v108) (at r8 v109) (at r188 v110) (at r111 v111) (at r22 v112) (at r69 v113) (at r112 v114) (at r107 v115) (at r67 v116) (at r136 v117) (at r178 v118) (at r166 v119) (at r85 v120) (at r106 v121) (at r13 v122) (at r190 v123) (at r116 v124) (at r86 v125) (at r143 v126) (at r60 v127) (at r55 v128) (at r167 v129) (at r132 v130) (at r115 v131) (at r18 v132) (at r164 v133) (at r11 v134) (at r7 v135) (at r92 v136) (at r82 v137) (at r17 v138) (at r102 v139) (at r158 v140) (at r183 v141) (at r36 v142) (at r62 v143) (at r3 v144) (at r30 v145) (at r38 v146) (at r185 v147) (at r2 v148) (at r57 v149) (at r110 v150) (at r105 v151) (at r87 v152) (at r150 v153) (at r187 v154) (at r37 v155) (at r43 v156) (at r159 v157) (at r90 v158) (at r182 v159) (at r138 v160) (at r169 v161) (at r93 v162) (at r54 v163) (at r63 v164) (at r95 v165) (at r14 v166) (at r61 v167) (at r101 v168) (at r12 v169) (at r78 v170) (at r149 v171) (at r24 v172) (at r119 v173) (at r126 v174) (at r152 v175) (at r25 v176) (at r177 v177) (at r179 v178) (at r148 v179) (at r44 v180) (at r100 v181) (at r125 v182) (at r28 v183) (at r64 v184) (at r79 v185) (at r70 v186) (at r153 v187) (at r129 v188) (at r52 v189) (at r21 v190) (at r161 v191) (at r157 v192) (adjacent v0 v1) (adjacent v0 v4) (adjacent v0 v5) (adjacent v0 v53) (adjacent v0 v101) (adjacent v0 v127) (adjacent v1 v2) (adjacent v1 v57) (adjacent v1 v62) (adjacent v1 v93) (adjacent v2 v3) (adjacent v2 v63) (adjacent v2 v162) (adjacent v3 v4) (adjacent v3 v121) (adjacent v3 v132) (adjacent v4 v7) (adjacent v4 v8) (adjacent v4 v13) (adjacent v4 v101) (adjacent v5 v6) (adjacent v5 v12) (adjacent v5 v99) (adjacent v5 v114) (adjacent v6 v7) (adjacent v6 v15) (adjacent v6 v187) (adjacent v8 v9) (adjacent v8 v23) (adjacent v8 v46) (adjacent v8 v86) (adjacent v9 v10) (adjacent v9 v19) (adjacent v9 v145) (adjacent v10 v11) (adjacent v10 v16) (adjacent v10 v20) (adjacent v10 v60) (adjacent v10 v69) (adjacent v10 v113) (adjacent v11 v12) (adjacent v12 v50) (adjacent v13 v14) (adjacent v13 v27) (adjacent v14 v15) (adjacent v14 v29) (adjacent v14 v41) (adjacent v15 v28) (adjacent v15 v33) (adjacent v15 v45) (adjacent v16 v17) (adjacent v17 v18) (adjacent v17 v32) (adjacent v18 v19) (adjacent v19 v24) (adjacent v19 v152) (adjacent v20 v21) (adjacent v21 v22) (adjacent v22 v23) (adjacent v22 v191) (adjacent v23 v26) (adjacent v23 v35) (adjacent v24 v25) (adjacent v24 v83) (adjacent v25 v26) (adjacent v25 v177) (adjacent v26 v82) (adjacent v27 v28) (adjacent v27 v34) (adjacent v27 v162) (adjacent v27 v187) (adjacent v29 v30) (adjacent v29 v40) (adjacent v30 v31) (adjacent v30 v94) (adjacent v30 v153) (adjacent v30 v183) (adjacent v30 v188) (adjacent v31 v32) (adjacent v32 v54) (adjacent v32 v78) (adjacent v32 v119) (adjacent v33 v34) (adjacent v33 v87) (adjacent v35 v36) (adjacent v35 v118) (adjacent v36 v37) (adjacent v36 v169) (adjacent v37 v38) (adjacent v37 v48) (adjacent v37 v61) (adjacent v37 v138) (adjacent v38 v39) (adjacent v39 v40) (adjacent v40 v68) (adjacent v41 v42) (adjacent v41 v71) (adjacent v42 v43) (adjacent v42 v144) (adjacent v42 v156) (adjacent v43 v44) (adjacent v43 v76) (adjacent v44 v45) (adjacent v44 v137) (adjacent v45 v47) (adjacent v46 v47) (adjacent v46 v49) (adjacent v46 v100) (adjacent v46 v146) (adjacent v46 v186) (adjacent v48 v49) (adjacent v48 v157) (adjacent v50 v51) (adjacent v51 v52) (adjacent v52 v53) (adjacent v53 v58) (adjacent v53 v108) (adjacent v54 v55) (adjacent v55 v56) (adjacent v55 v98) (adjacent v56 v57) (adjacent v58 v59) (adjacent v58 v91) (adjacent v59 v60) (adjacent v61 v62) (adjacent v61 v70) (adjacent v61 v77) (adjacent v63 v64) (adjacent v64 v65) (adjacent v65 v66) (adjacent v66 v67) (adjacent v67 v68) (adjacent v69 v70) (adjacent v70 v120) (adjacent v70 v129) (adjacent v71 v72) (adjacent v72 v73) (adjacent v73 v74) (adjacent v73 v77) (adjacent v74 v75) (adjacent v74 v103) (adjacent v75 v76) (adjacent v77 v146) (adjacent v78 v79) (adjacent v78 v102) (adjacent v79 v80) (adjacent v80 v81) (adjacent v80 v90) (adjacent v81 v82) (adjacent v83 v84) (adjacent v84 v85) (adjacent v84 v136) (adjacent v85 v86) (adjacent v87 v88) (adjacent v88 v89) (adjacent v88 v109) (adjacent v89 v90) (adjacent v89 v128) (adjacent v91 v92) (adjacent v92 v93) (adjacent v94 v95) (adjacent v95 v96) (adjacent v95 v136) (adjacent v96 v97) (adjacent v96 v171) (adjacent v97 v98) (adjacent v97 v153) (adjacent v99 v100) (adjacent v100 v104) (adjacent v100 v147) (adjacent v101 v135) (adjacent v101 v192) (adjacent v102 v103) (adjacent v104 v105) (adjacent v105 v106) (adjacent v106 v107) (adjacent v106 v184) (adjacent v107 v108) (adjacent v108 v133) (adjacent v109 v110) (adjacent v110 v111) (adjacent v111 v112) (adjacent v112 v113) (adjacent v114 v115) (adjacent v115 v116) (adjacent v116 v117) (adjacent v117 v118) (adjacent v117 v137) (adjacent v118 v176) (adjacent v119 v120) (adjacent v121 v122) (adjacent v122 v123) (adjacent v123 v124) (adjacent v123 v128) (adjacent v123 v145) (adjacent v123 v154) (adjacent v124 v125) (adjacent v125 v126) (adjacent v126 v127) (adjacent v129 v130) (adjacent v130 v131) (adjacent v131 v132) (adjacent v132 v188) (adjacent v133 v134) (adjacent v134 v135) (adjacent v135 v189) (adjacent v138 v139) (adjacent v138 v161) (adjacent v139 v140) (adjacent v140 v141) (adjacent v141 v142) (adjacent v142 v143) (adjacent v143 v144) (adjacent v147 v148) (adjacent v148 v149) (adjacent v149 v150) (adjacent v150 v151) (adjacent v151 v152) (adjacent v154 v155) (adjacent v155 v156) (adjacent v155 v163) (adjacent v156 v170) (adjacent v156 v192) (adjacent v157 v158) (adjacent v158 v159) (adjacent v159 v160) (adjacent v160 v161) (adjacent v163 v164) (adjacent v164 v165) (adjacent v165 v166) (adjacent v166 v167) (adjacent v166 v170) (adjacent v167 v168) (adjacent v168 v169) (adjacent v171 v172) (adjacent v172 v173) (adjacent v173 v174) (adjacent v174 v175) (adjacent v175 v176) (adjacent v177 v178) (adjacent v178 v179) (adjacent v179 v180) (adjacent v180 v181) (adjacent v181 v182) (adjacent v182 v183) (adjacent v184 v185) (adjacent v185 v186) (adjacent v189 v190) (adjacent v190 v191) ) (:goal (and (at r127 v0) (at r33 v1) (at r153 v2) (at r102 v3) (at r117 v4) (at r88 v5) (at r10 v6) (at r106 v7) (at r164 v8) (at r9 v9) (at r103 v10) (at r192 v11) (at r177 v12) (at r168 v13) (at r105 v14) (at r151 v15) (at r181 v16) (at r169 v17) (at r51 v18) (at r173 v19) (at r158 v20) (at r4 v21) (at r83 v22) (at r74 v23) (at r123 v24) (at r108 v25) (at r188 v26) (at r38 v27) (at r43 v28) (at r21 v29) (at r179 v30) (at r23 v31) (at r97 v32) (at r26 v33) (at r133 v34) (at r189 v35) (at r34 v36) (at r115 v37) (at r172 v38) (at r182 v39) (at r25 v40) (at r16 v41) (at r42 v42) (at r98 v43) (at r48 v44) (at r138 v45) (at r18 v46) (at r14 v47) (at r13 v48) (at r61 v49) (at r136 v50) (at r72 v51) (at r94 v52) (at r141 v53) (at r132 v54) (at r31 v55) (at r156 v56) (at r185 v57) (free v58) (at r36 v59) (at r49 v60) (free v61) (at r47 v62) (at r41 v63) (at r2 v64) (at r148 v65) (at r66 v66) (at r76 v67) (at r121 v68) (at r95 v69) (at r100 v70) (at r128 v71) (at r93 v72) (at r171 v73) (at r184 v74) (at r122 v75) (at r12 v76) (at r44 v77) (at r56 v78) (at r191 v79) (at r124 v80) (at r104 v81) (at r109 v82) (at r50 v83) (at r101 v84) (at r58 v85) (at r139 v86) (at r57 v87) (at r29 v88) (at r91 v89) (at r118 v90) (at r190 v91) (at r154 v92) (at r110 v93) (at r65 v94) (at r52 v95) (at r79 v96) (at r119 v97) (at r67 v98) (at r130 v99) (at r30 v100) (at r78 v101) (at r7 v102) (at r142 v103) (at r5 v104) (at r167 v105) (at r6 v106) (at r113 v107) (at r129 v108) (at r20 v109) (at r125 v110) (at r86 v111) (at r149 v112) (at r99 v113) (at r19 v114) (at r55 v115) (at r62 v116) (at r80 v117) (at r53 v118) (at r11 v119) (at r137 v120) (at r15 v121) (at r152 v122) (at r186 v123) (at r69 v124) (at r68 v125) (at r27 v126) (at r70 v127) (at r82 v128) (at r89 v129) (at r37 v130) (at r162 v131) (at r176 v132) (at r8 v133) (at r75 v134) (at r32 v135) (at r87 v136) (at r166 v137) (at r165 v138) (at r144 v139) (at r54 v140) (at r134 v141) (at r159 v142) (at r96 v143) (at r160 v144) (at r175 v145) (at r59 v146) (at r40 v147) (at r120 v148) (at r157 v149) (at r135 v150) (at r60 v151) (at r112 v152) (at r24 v153) (at r71 v154) (at r126 v155) (at r150 v156) (at r92 v157) (at r183 v158) (at r45 v159) (at r39 v160) (at r63 v161) (at r90 v162) (at r116 v163) (at r111 v164) (at r163 v165) (at r3 v166) (at r84 v167) (at r17 v168) (at r77 v169) (at r155 v170) (at r180 v171) (at r46 v172) (at r146 v173) (at r143 v174) (at r187 v175) (at r28 v176) (at r174 v177) (at r140 v178) (at r178 v179) (at r147 v180) (at r22 v181) (at r73 v182) (at r107 v183) (at r85 v184) (at r114 v185) (at r145 v186) (at r170 v187) (at r161 v188) (at r64 v189) (at r35 v190) (at r131 v191) (at r81 v192) ) ) )