(define (problem multirobot_30_2_c2)
 (:domain multirobot)
 (:objects
  v0 r96
  v1 r39
  v2 r106
  v3 r37
  v4 r58
  v5 r85
  v6 r107
  v7 r102
  v8 r99
  v9 r28
  v10 r50
  v11 r8
  v12 r109
  v13 r120
  v14 r2
  v15 r14
  v16 r21
  v17 r75
  v18 r105
  v19 r84
  v20 r119
  v21 r77
  v22 r44
  v23 r82
  v24 r88
  v25 r46
  v26 r114
  v27 r91
  v28 r80
  v29 r79
  v30 r115
  v31 r42
  v32 r67
  v33 r32
  v34 r108
  v35 r65
  v36 r36
  v37 r98
  v38 r104
  v39 r49
  v40
  v41 r41
  v42 r10
  v43 r74
  v44 r93
  v45 r101
  v46 r61
  v47 r9
  v48 r59
  v49 r15
  v50 r117
  v51 r20
  v52 r92
  v53 r60
  v54 r110
  v55 r43
  v56 r35
  v57 r24
  v58 r63
  v59 r56
  v60 r111
  v61 r64
  v62 r103
  v63 r16
  v64 r27
  v65 r47
  v66 r118
  v67 r53
  v68 r71
  v69 r23
  v70 r76
  v71 r52
  v72 r4
  v73 r48
  v74 r38
  v75 r72
  v76 r97
  v77 r19
  v78 r5
  v79 r13
  v80 r78
  v81 r68
  v82 r57
  v83 r29
  v84 r33
  v85 r100
  v86 r22
  v87 r66
  v88 r25
  v89 r17
  v90 r55
  v91 r90
  v92 r83
  v93 r31
  v94 r113
  v95 r69
  v96 r45
  v97 r89
  v98 r116
  v99 r87
  v100 r6
  v101 r30
  v102 r62
  v103
  v104 r18
  v105 r112
  v106 r94
  v107 r7
  v108 r12
  v109 r95
  v110 r51
  v111 r3
  v112 r73
  v113 r40
  v114 r11
  v115 r34
  v116 r70
  v117 r54
  v118 r81
  v119 r26
  v120 r86
 )
 (:init
  (at r96 v0)
  (at r39 v1)
  (at r106 v2)
  (at r37 v3)
  (at r58 v4)
  (at r85 v5)
  (at r107 v6)
  (at r102 v7)
  (at r99 v8)
  (at r28 v9)
  (at r50 v10)
  (at r8 v11)
  (at r109 v12)
  (at r120 v13)
  (at r2 v14)
  (at r14 v15)
  (at r21 v16)
  (at r75 v17)
  (at r105 v18)
  (at r84 v19)
  (at r119 v20)
  (at r77 v21)
  (at r44 v22)
  (at r82 v23)
  (at r88 v24)
  (at r46 v25)
  (at r114 v26)
  (at r91 v27)
  (at r80 v28)
  (at r79 v29)
  (at r115 v30)
  (at r42 v31)
  (at r67 v32)
  (at r32 v33)
  (at r108 v34)
  (at r65 v35)
  (at r36 v36)
  (at r98 v37)
  (at r104 v38)
  (at r49 v39)
  (free v40)
  (at r41 v41)
  (at r10 v42)
  (at r74 v43)
  (at r93 v44)
  (at r101 v45)
  (at r61 v46)
  (at r9 v47)
  (at r59 v48)
  (at r15 v49)
  (at r117 v50)
  (at r20 v51)
  (at r92 v52)
  (at r60 v53)
  (at r110 v54)
  (at r43 v55)
  (at r35 v56)
  (at r24 v57)
  (at r63 v58)
  (at r56 v59)
  (at r111 v60)
  (at r64 v61)
  (at r103 v62)
  (at r16 v63)
  (at r27 v64)
  (at r47 v65)
  (at r118 v66)
  (at r53 v67)
  (at r71 v68)
  (at r23 v69)
  (at r76 v70)
  (at r52 v71)
  (at r4 v72)
  (at r48 v73)
  (at r38 v74)
  (at r72 v75)
  (at r97 v76)
  (at r19 v77)
  (at r5 v78)
  (at r13 v79)
  (at r78 v80)
  (at r68 v81)
  (at r57 v82)
  (at r29 v83)
  (at r33 v84)
  (at r100 v85)
  (at r22 v86)
  (at r66 v87)
  (at r25 v88)
  (at r17 v89)
  (at r55 v90)
  (at r90 v91)
  (at r83 v92)
  (at r31 v93)
  (at r113 v94)
  (at r69 v95)
  (at r45 v96)
  (at r89 v97)
  (at r116 v98)
  (at r87 v99)
  (at r6 v100)
  (at r30 v101)
  (at r62 v102)
  (free v103)
  (at r18 v104)
  (at r112 v105)
  (at r94 v106)
  (at r7 v107)
  (at r12 v108)
  (at r95 v109)
  (at r51 v110)
  (at r3 v111)
  (at r73 v112)
  (at r40 v113)
  (at r11 v114)
  (at r34 v115)
  (at r70 v116)
  (at r54 v117)
  (at r81 v118)
  (at r26 v119)
  (at r86 v120)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v23)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v11)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v52)
  (adjacent v4 v15)
  (adjacent v4 v54)
  (adjacent v6 v7)
  (adjacent v6 v120)
  (adjacent v7 v8)
  (adjacent v7 v92)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v8 v39)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v12)
  (adjacent v11 v16)
  (adjacent v11 v51)
  (adjacent v11 v53)
  (adjacent v12 v13)
  (adjacent v12 v51)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v34)
  (adjacent v14 v66)
  (adjacent v15 v33)
  (adjacent v15 v60)
  (adjacent v16 v17)
  (adjacent v16 v72)
  (adjacent v17 v18)
  (adjacent v17 v28)
  (adjacent v17 v47)
  (adjacent v18 v19)
  (adjacent v18 v45)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v23 v24)
  (adjacent v23 v57)
  (adjacent v24 v25)
  (adjacent v24 v55)
  (adjacent v24 v58)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v44)
  (adjacent v26 v79)
  (adjacent v27 v28)
  (adjacent v27 v48)
  (adjacent v28 v29)
  (adjacent v28 v114)
  (adjacent v29 v30)
  (adjacent v29 v74)
  (adjacent v30 v31)
  (adjacent v30 v59)
  (adjacent v31 v32)
  (adjacent v31 v38)
  (adjacent v32 v33)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v90)
  (adjacent v36 v37)
  (adjacent v36 v39)
  (adjacent v37 v38)
  (adjacent v38 v40)
  (adjacent v40 v41)
  (adjacent v40 v50)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v54)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v49)
  (adjacent v47 v50)
  (adjacent v48 v49)
  (adjacent v50 v108)
  (adjacent v52 v53)
  (adjacent v52 v67)
  (adjacent v55 v56)
  (adjacent v55 v75)
  (adjacent v56 v57)
  (adjacent v56 v61)
  (adjacent v58 v59)
  (adjacent v58 v84)
  (adjacent v59 v102)
  (adjacent v60 v61)
  (adjacent v60 v83)
  (adjacent v61 v62)
  (adjacent v61 v71)
  (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 v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v75 v91)
  (adjacent v76 v77)
  (adjacent v76 v80)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v97)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v96)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v89 v103)
  (adjacent v91 v92)
  (adjacent v91 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v109)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v113)
  (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 v118 v119)
  (adjacent v119 v120)
 )
 (:goal
  (and
  (at r79 v0)
  (at r24 v1)
  (at r85 v2)
  (at r77 v3)
  (at r44 v4)
  (at r27 v5)
  (at r35 v6)
  (at r13 v7)
  (at r58 v8)
  (at r95 v9)
  (at r75 v10)
  (at r14 v11)
  (at r120 v12)
  (at r26 v13)
  (at r18 v14)
  (at r66 v15)
  (at r30 v16)
  (at r80 v17)
  (at r106 v18)
  (at r91 v19)
  (at r90 v20)
  (at r50 v21)
  (at r53 v22)
  (at r107 v23)
  (at r15 v24)
  (at r12 v25)
  (at r98 v26)
  (at r36 v27)
  (at r31 v28)
  (at r40 v29)
  (at r117 v30)
  (at r59 v31)
  (at r113 v32)
  (at r81 v33)
  (at r9 v34)
  (at r19 v35)
  (at r45 v36)
  (at r76 v37)
  (at r112 v38)
  (at r22 v39)
  (at r25 v40)
  (at r56 v41)
  (free v42)
  (at r110 v43)
  (at r88 v44)
  (at r108 v45)
  (at r65 v46)
  (at r96 v47)
  (at r114 v48)
  (at r115 v49)
  (at r74 v50)
  (at r111 v51)
  (at r17 v52)
  (at r84 v53)
  (at r5 v54)
  (at r4 v55)
  (at r116 v56)
  (at r100 v57)
  (at r69 v58)
  (at r103 v59)
  (at r51 v60)
  (at r101 v61)
  (at r102 v62)
  (at r16 v63)
  (at r3 v64)
  (at r54 v65)
  (at r78 v66)
  (at r57 v67)
  (at r29 v68)
  (at r94 v69)
  (at r55 v70)
  (at r71 v71)
  (at r64 v72)
  (at r11 v73)
  (at r43 v74)
  (at r105 v75)
  (at r32 v76)
  (at r72 v77)
  (at r6 v78)
  (at r67 v79)
  (at r49 v80)
  (at r23 v81)
  (at r119 v82)
  (at r37 v83)
  (at r83 v84)
  (at r89 v85)
  (at r118 v86)
  (at r92 v87)
  (at r68 v88)
  (at r87 v89)
  (at r62 v90)
  (at r21 v91)
  (at r46 v92)
  (at r86 v93)
  (at r41 v94)
  (at r42 v95)
  (at r109 v96)
  (at r104 v97)
  (at r34 v98)
  (at r60 v99)
  (at r93 v100)
  (at r99 v101)
  (at r33 v102)
  (at r10 v103)
  (at r28 v104)
  (at r39 v105)
  (at r47 v106)
  (at r7 v107)
  (at r48 v108)
  (at r8 v109)
  (at r52 v110)
  (at r70 v111)
  (at r38 v112)
  (at r20 v113)
  (free v114)
  (at r73 v115)
  (at r2 v116)
  (at r97 v117)
  (at r63 v118)
  (at r82 v119)
  (at r61 v120)
  )
 )
)