(define (problem multirobot_30_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r117
  v1 r126
  v2 r97
  v3 r56
  v4 r77
  v5 r115
  v6 r57
  v7 r80
  v8 r119
  v9 r32
  v10 r35
  v11
  v12 r113
  v13 r48
  v14 r67
  v15 r40
  v16 r92
  v17 r23
  v18 r26
  v19 r44
  v20 r125
  v21 r58
  v22 r34
  v23
  v24 r85
  v25 r54
  v26 r114
  v27 r118
  v28 r69
  v29
  v30 r105
  v31 r46
  v32 r122
  v33 r78
  v34 r108
  v35 r100
  v36 r84
  v37 r86
  v38 r18
  v39 r38
  v40 r29
  v41 r124
  v42 r12
  v43 r120
  v44 r19
  v45 r99
  v46 r59
  v47 r33
  v48 r127
  v49 r42
  v50
  v51 r28
  v52 r45
  v53 r43
  v54
  v55 r74
  v56 r103
  v57 r15
  v58
  v59 r101
  v60
  v61 r102
  v62 r39
  v63 r111
  v64 r36
  v65 r123
  v66 r70
  v67 r128
  v68 r87
  v69 r50
  v70 r24
  v71 r90
  v72 r20
  v73 r68
  v74 r83
  v75 r17
  v76 r98
  v77 r121
  v78 r60
  v79
  v80 r66
  v81 r95
  v82 r109
  v83 r31
  v84 r72
  v85 r89
  v86 r64
  v87 r62
  v88 r53
  v89 r91
  v90 r41
  v91 r22
  v92 r96
  v93 r129
  v94 r93
  v95 r61
  v96 r110
  v97 r14
  v98 r112
  v99
  v100 r30
  v101 r81
  v102
  v103
  v104 r73
  v105 r107
  v106 r71
  v107 r104
  v108 r63
  v109 r16
  v110 r51
  v111 r13
  v112 r47
  v113 r79
  v114 r88
  v115 r65
  v116 r21
  v117 r94
  v118
  v119 r25
  v120 r116
  v121 r52
  v122 r49
  v123 r27
  v124 r75
  v125 r106
  v126 r37
  v127 r82
  v128 r55
  v129 r76
 )
 (:init
  (at r117 v0)
  (at r126 v1)
  (at r97 v2)
  (at r56 v3)
  (at r77 v4)
  (at r115 v5)
  (at r57 v6)
  (at r80 v7)
  (at r119 v8)
  (at r32 v9)
  (at r35 v10)
  (free v11)
  (at r113 v12)
  (at r48 v13)
  (at r67 v14)
  (at r40 v15)
  (at r92 v16)
  (at r23 v17)
  (at r26 v18)
  (at r44 v19)
  (at r125 v20)
  (at r58 v21)
  (at r34 v22)
  (free v23)
  (at r85 v24)
  (at r54 v25)
  (at r114 v26)
  (at r118 v27)
  (at r69 v28)
  (free v29)
  (at r105 v30)
  (at r46 v31)
  (at r122 v32)
  (at r78 v33)
  (at r108 v34)
  (at r100 v35)
  (at r84 v36)
  (at r86 v37)
  (at r18 v38)
  (at r38 v39)
  (at r29 v40)
  (at r124 v41)
  (at r12 v42)
  (at r120 v43)
  (at r19 v44)
  (at r99 v45)
  (at r59 v46)
  (at r33 v47)
  (at r127 v48)
  (at r42 v49)
  (free v50)
  (at r28 v51)
  (at r45 v52)
  (at r43 v53)
  (free v54)
  (at r74 v55)
  (at r103 v56)
  (at r15 v57)
  (free v58)
  (at r101 v59)
  (free v60)
  (at r102 v61)
  (at r39 v62)
  (at r111 v63)
  (at r36 v64)
  (at r123 v65)
  (at r70 v66)
  (at r128 v67)
  (at r87 v68)
  (at r50 v69)
  (at r24 v70)
  (at r90 v71)
  (at r20 v72)
  (at r68 v73)
  (at r83 v74)
  (at r17 v75)
  (at r98 v76)
  (at r121 v77)
  (at r60 v78)
  (free v79)
  (at r66 v80)
  (at r95 v81)
  (at r109 v82)
  (at r31 v83)
  (at r72 v84)
  (at r89 v85)
  (at r64 v86)
  (at r62 v87)
  (at r53 v88)
  (at r91 v89)
  (at r41 v90)
  (at r22 v91)
  (at r96 v92)
  (at r129 v93)
  (at r93 v94)
  (at r61 v95)
  (at r110 v96)
  (at r14 v97)
  (at r112 v98)
  (free v99)
  (at r30 v100)
  (at r81 v101)
  (free v102)
  (free v103)
  (at r73 v104)
  (at r107 v105)
  (at r71 v106)
  (at r104 v107)
  (at r63 v108)
  (at r16 v109)
  (at r51 v110)
  (at r13 v111)
  (at r47 v112)
  (at r79 v113)
  (at r88 v114)
  (at r65 v115)
  (at r21 v116)
  (at r94 v117)
  (free v118)
  (at r25 v119)
  (at r116 v120)
  (at r52 v121)
  (at r49 v122)
  (at r27 v123)
  (at r75 v124)
  (at r106 v125)
  (at r37 v126)
  (at r82 v127)
  (at r55 v128)
  (at r76 v129)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v84)
  (adjacent v0 v100)
  (adjacent v0 v105)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v12)
  (adjacent v4 v25)
  (adjacent v4 v54)
  (adjacent v4 v90)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v31)
  (adjacent v7 v8)
  (adjacent v7 v38)
  (adjacent v7 v50)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v16)
  (adjacent v9 v17)
  (adjacent v9 v55)
  (adjacent v10 v11)
  (adjacent v11 v24)
  (adjacent v12 v13)
  (adjacent v12 v18)
  (adjacent v12 v44)
  (adjacent v12 v103)
  (adjacent v13 v14)
  (adjacent v13 v110)
  (adjacent v14 v15)
  (adjacent v14 v79)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v16 v129)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v56)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v31)
  (adjacent v21 v45)
  (adjacent v21 v67)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v30)
  (adjacent v25 v26)
  (adjacent v25 v72)
  (adjacent v25 v99)
  (adjacent v26 v27)
  (adjacent v26 v60)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v52)
  (adjacent v30 v37)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v66)
  (adjacent v33 v78)
  (adjacent v34 v35)
  (adjacent v34 v94)
  (adjacent v34 v113)
  (adjacent v35 v36)
  (adjacent v35 v94)
  (adjacent v36 v37)
  (adjacent v36 v111)
  (adjacent v37 v43)
  (adjacent v38 v39)
  (adjacent v38 v44)
  (adjacent v38 v59)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v55)
  (adjacent v42 v43)
  (adjacent v42 v51)
  (adjacent v43 v73)
  (adjacent v44 v107)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v51)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v108)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v56 v57)
  (adjacent v56 v126)
  (adjacent v57 v58)
  (adjacent v57 v118)
  (adjacent v58 v59)
  (adjacent v58 v93)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v83)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v87 v125)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v91)
  (adjacent v90 v95)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v95 v96)
  (adjacent v95 v104)
  (adjacent v95 v112)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v102)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v119)
  (adjacent v111 v112)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v116 v117)
  (adjacent v117 v118)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v126 v127)
  (adjacent v127 v128)
  (adjacent v128 v129)
 )
 (:goal
  (and
  (at r17 v0)
  (at r18 v1)
  (at r23 v2)
  (at r76 v3)
  (at r59 v4)
  (at r37 v5)
  (at r65 v6)
  (at r87 v7)
  (at r129 v8)
  (at r24 v9)
  (at r83 v10)
  (at r41 v11)
  (at r79 v12)
  (at r35 v13)
  (at r110 v14)
  (at r109 v15)
  (at r124 v16)
  (at r88 v17)
  (at r94 v18)
  (free v19)
  (at r119 v20)
  (at r101 v21)
  (at r106 v22)
  (at r66 v23)
  (at r47 v24)
  (at r61 v25)
  (at r77 v26)
  (free v27)
  (free v28)
  (at r107 v29)
  (free v30)
  (at r34 v31)
  (at r91 v32)
  (at r90 v33)
  (at r40 v34)
  (at r53 v35)
  (at r120 v36)
  (at r43 v37)
  (at r52 v38)
  (at r28 v39)
  (at r89 v40)
  (at r72 v41)
  (at r121 v42)
  (at r99 v43)
  (at r128 v44)
  (at r86 v45)
  (at r49 v46)
  (free v47)
  (at r81 v48)
  (at r114 v49)
  (at r98 v50)
  (free v51)
  (at r82 v52)
  (at r58 v53)
  (at r31 v54)
  (at r27 v55)
  (at r70 v56)
  (at r84 v57)
  (at r73 v58)
  (at r71 v59)
  (at r55 v60)
  (at r68 v61)
  (at r69 v62)
  (at r113 v63)
  (at r44 v64)
  (at r33 v65)
  (at r95 v66)
  (at r103 v67)
  (at r48 v68)
  (at r54 v69)
  (at r126 v70)
  (at r26 v71)
  (at r80 v72)
  (at r64 v73)
  (at r78 v74)
  (at r111 v75)
  (at r92 v76)
  (at r13 v77)
  (free v78)
  (at r29 v79)
  (at r63 v80)
  (at r21 v81)
  (at r38 v82)
  (at r105 v83)
  (at r15 v84)
  (free v85)
  (at r30 v86)
  (at r45 v87)
  (at r112 v88)
  (at r115 v89)
  (at r42 v90)
  (at r104 v91)
  (at r60 v92)
  (at r50 v93)
  (at r32 v94)
  (at r122 v95)
  (at r75 v96)
  (at r57 v97)
  (free v98)
  (at r74 v99)
  (at r16 v100)
  (at r62 v101)
  (at r85 v102)
  (at r93 v103)
  (at r19 v104)
  (at r39 v105)
  (free v106)
  (at r36 v107)
  (at r127 v108)
  (at r108 v109)
  (at r12 v110)
  (at r118 v111)
  (free v112)
  (at r123 v113)
  (at r117 v114)
  (at r97 v115)
  (at r67 v116)
  (at r100 v117)
  (at r125 v118)
  (at r102 v119)
  (at r25 v120)
  (at r56 v121)
  (at r96 v122)
  (at r116 v123)
  (at r14 v124)
  (at r51 v125)
  (at r46 v126)
  (at r20 v127)
  (free v128)
  (at r22 v129)
  )
 )
)