(define (problem multirobot_40_2_c5)
 (:domain multirobot)
 (:objects
  v0 r31
  v1 r103
  v2 r55
  v3 r120
  v4 r18
  v5 r98
  v6 r52
  v7 r26
  v8 r42
  v9 r60
  v10 r79
  v11 r93
  v12 r102
  v13 r95
  v14 r82
  v15 r30
  v16 r24
  v17 r92
  v18 r61
  v19 r119
  v20 r53
  v21 r2
  v22 r44
  v23 r27
  v24 r54
  v25 r32
  v26 r108
  v27 r106
  v28 r23
  v29 r94
  v30 r69
  v31 r3
  v32 r29
  v33 r64
  v34 r115
  v35 r87
  v36 r39
  v37 r58
  v38 r96
  v39 r19
  v40 r71
  v41 r45
  v42 r85
  v43 r117
  v44 r89
  v45 r65
  v46 r49
  v47 r73
  v48 r77
  v49 r63
  v50 r99
  v51 r105
  v52 r41
  v53 r10
  v54 r90
  v55 r9
  v56 r86
  v57 r4
  v58 r101
  v59 r91
  v60 r57
  v61 r59
  v62 r13
  v63 r46
  v64 r51
  v65 r75
  v66 r15
  v67
  v68 r43
  v69 r62
  v70 r66
  v71 r104
  v72 r21
  v73 r36
  v74 r56
  v75 r34
  v76 r20
  v77 r28
  v78 r8
  v79 r109
  v80 r88
  v81 r116
  v82 r12
  v83 r78
  v84 r107
  v85 r16
  v86 r5
  v87 r37
  v88 r48
  v89 r113
  v90 r83
  v91 r38
  v92 r7
  v93
  v94 r70
  v95 r14
  v96 r11
  v97 r47
  v98 r84
  v99 r110
  v100 r22
  v101 r17
  v102 r80
  v103 r25
  v104 r40
  v105 r114
  v106 r118
  v107 r72
  v108 r33
  v109 r35
  v110 r76
  v111 r67
  v112 r74
  v113 r6
  v114 r112
  v115 r100
  v116 r50
  v117 r97
  v118 r68
  v119 r111
  v120 r81
 )
 (:init
  (at r31 v0)
  (at r103 v1)
  (at r55 v2)
  (at r120 v3)
  (at r18 v4)
  (at r98 v5)
  (at r52 v6)
  (at r26 v7)
  (at r42 v8)
  (at r60 v9)
  (at r79 v10)
  (at r93 v11)
  (at r102 v12)
  (at r95 v13)
  (at r82 v14)
  (at r30 v15)
  (at r24 v16)
  (at r92 v17)
  (at r61 v18)
  (at r119 v19)
  (at r53 v20)
  (at r2 v21)
  (at r44 v22)
  (at r27 v23)
  (at r54 v24)
  (at r32 v25)
  (at r108 v26)
  (at r106 v27)
  (at r23 v28)
  (at r94 v29)
  (at r69 v30)
  (at r3 v31)
  (at r29 v32)
  (at r64 v33)
  (at r115 v34)
  (at r87 v35)
  (at r39 v36)
  (at r58 v37)
  (at r96 v38)
  (at r19 v39)
  (at r71 v40)
  (at r45 v41)
  (at r85 v42)
  (at r117 v43)
  (at r89 v44)
  (at r65 v45)
  (at r49 v46)
  (at r73 v47)
  (at r77 v48)
  (at r63 v49)
  (at r99 v50)
  (at r105 v51)
  (at r41 v52)
  (at r10 v53)
  (at r90 v54)
  (at r9 v55)
  (at r86 v56)
  (at r4 v57)
  (at r101 v58)
  (at r91 v59)
  (at r57 v60)
  (at r59 v61)
  (at r13 v62)
  (at r46 v63)
  (at r51 v64)
  (at r75 v65)
  (at r15 v66)
  (free v67)
  (at r43 v68)
  (at r62 v69)
  (at r66 v70)
  (at r104 v71)
  (at r21 v72)
  (at r36 v73)
  (at r56 v74)
  (at r34 v75)
  (at r20 v76)
  (at r28 v77)
  (at r8 v78)
  (at r109 v79)
  (at r88 v80)
  (at r116 v81)
  (at r12 v82)
  (at r78 v83)
  (at r107 v84)
  (at r16 v85)
  (at r5 v86)
  (at r37 v87)
  (at r48 v88)
  (at r113 v89)
  (at r83 v90)
  (at r38 v91)
  (at r7 v92)
  (free v93)
  (at r70 v94)
  (at r14 v95)
  (at r11 v96)
  (at r47 v97)
  (at r84 v98)
  (at r110 v99)
  (at r22 v100)
  (at r17 v101)
  (at r80 v102)
  (at r25 v103)
  (at r40 v104)
  (at r114 v105)
  (at r118 v106)
  (at r72 v107)
  (at r33 v108)
  (at r35 v109)
  (at r76 v110)
  (at r67 v111)
  (at r74 v112)
  (at r6 v113)
  (at r112 v114)
  (at r100 v115)
  (at r50 v116)
  (at r97 v117)
  (at r68 v118)
  (at r111 v119)
  (at r81 v120)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v20)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v22)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v14)
  (adjacent v2 v86)
  (adjacent v2 v94)
  (adjacent v3 v4)
  (adjacent v3 v42)
  (adjacent v3 v69)
  (adjacent v4 v10)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v7 v8)
  (adjacent v7 v68)
  (adjacent v7 v71)
  (adjacent v8 v9)
  (adjacent v8 v23)
  (adjacent v9 v19)
  (adjacent v10 v11)
  (adjacent v10 v57)
  (adjacent v10 v75)
  (adjacent v10 v77)
  (adjacent v10 v80)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v18)
  (adjacent v13 v19)
  (adjacent v13 v24)
  (adjacent v14 v37)
  (adjacent v14 v49)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v27)
  (adjacent v18 v46)
  (adjacent v19 v23)
  (adjacent v19 v26)
  (adjacent v19 v79)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v48)
  (adjacent v23 v78)
  (adjacent v24 v25)
  (adjacent v24 v30)
  (adjacent v24 v31)
  (adjacent v24 v97)
  (adjacent v25 v26)
  (adjacent v27 v28)
  (adjacent v27 v39)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v67)
  (adjacent v29 v69)
  (adjacent v29 v110)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v55)
  (adjacent v32 v106)
  (adjacent v33 v34)
  (adjacent v33 v66)
  (adjacent v34 v35)
  (adjacent v34 v38)
  (adjacent v35 v36)
  (adjacent v35 v105)
  (adjacent v36 v37)
  (adjacent v36 v38)
  (adjacent v36 v41)
  (adjacent v36 v94)
  (adjacent v38 v81)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v47)
  (adjacent v42 v43)
  (adjacent v42 v115)
  (adjacent v42 v117)
  (adjacent v43 v44)
  (adjacent v43 v68)
  (adjacent v43 v84)
  (adjacent v43 v95)
  (adjacent v44 v45)
  (adjacent v44 v67)
  (adjacent v44 v100)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v47 v58)
  (adjacent v48 v54)
  (adjacent v48 v76)
  (adjacent v49 v50)
  (adjacent v49 v64)
  (adjacent v50 v51)
  (adjacent v50 v81)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v53 v116)
  (adjacent v55 v56)
  (adjacent v55 v96)
  (adjacent v56 v57)
  (adjacent v56 v76)
  (adjacent v56 v82)
  (adjacent v57 v114)
  (adjacent v58 v59)
  (adjacent v58 v72)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v65)
  (adjacent v60 v93)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v111)
  (adjacent v67 v70)
  (adjacent v69 v77)
  (adjacent v69 v85)
  (adjacent v70 v71)
  (adjacent v70 v78)
  (adjacent v71 v87)
  (adjacent v71 v114)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v79 v80)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v83 v99)
  (adjacent v85 v86)
  (adjacent v85 v113)
  (adjacent v87 v88)
  (adjacent v87 v118)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v90 v119)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v95 v96)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v104 v120)
  (adjacent v106 v107)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v119 v120)
 )
 (:goal
  (and
  (at r99 v0)
  (at r13 v1)
  (at r74 v2)
  (at r103 v3)
  (at r107 v4)
  (at r56 v5)
  (at r106 v6)
  (at r83 v7)
  (at r51 v8)
  (at r26 v9)
  (at r95 v10)
  (at r111 v11)
  (at r100 v12)
  (at r73 v13)
  (at r17 v14)
  (at r97 v15)
  (at r102 v16)
  (at r27 v17)
  (at r12 v18)
  (at r19 v19)
  (at r50 v20)
  (at r21 v21)
  (at r59 v22)
  (at r25 v23)
  (at r90 v24)
  (at r14 v25)
  (at r41 v26)
  (at r114 v27)
  (at r119 v28)
  (at r36 v29)
  (at r15 v30)
  (at r45 v31)
  (at r63 v32)
  (at r87 v33)
  (at r67 v34)
  (at r24 v35)
  (at r64 v36)
  (at r8 v37)
  (at r94 v38)
  (at r48 v39)
  (at r76 v40)
  (at r71 v41)
  (at r42 v42)
  (at r35 v43)
  (at r101 v44)
  (at r34 v45)
  (at r79 v46)
  (at r9 v47)
  (at r47 v48)
  (at r18 v49)
  (at r104 v50)
  (at r22 v51)
  (free v52)
  (at r82 v53)
  (at r98 v54)
  (at r55 v55)
  (at r58 v56)
  (at r23 v57)
  (at r72 v58)
  (at r54 v59)
  (at r57 v60)
  (at r68 v61)
  (at r16 v62)
  (at r7 v63)
  (at r3 v64)
  (at r113 v65)
  (at r70 v66)
  (at r11 v67)
  (at r10 v68)
  (at r92 v69)
  (at r108 v70)
  (at r120 v71)
  (at r38 v72)
  (at r110 v73)
  (at r112 v74)
  (at r93 v75)
  (at r109 v76)
  (at r37 v77)
  (at r43 v78)
  (at r28 v79)
  (at r2 v80)
  (at r105 v81)
  (at r46 v82)
  (at r77 v83)
  (at r78 v84)
  (at r5 v85)
  (at r33 v86)
  (at r29 v87)
  (at r115 v88)
  (at r81 v89)
  (at r91 v90)
  (at r31 v91)
  (at r65 v92)
  (at r6 v93)
  (at r4 v94)
  (at r118 v95)
  (at r20 v96)
  (at r96 v97)
  (at r52 v98)
  (at r49 v99)
  (at r116 v100)
  (at r89 v101)
  (at r61 v102)
  (at r84 v103)
  (at r39 v104)
  (at r44 v105)
  (at r75 v106)
  (at r69 v107)
  (at r60 v108)
  (at r66 v109)
  (at r40 v110)
  (at r30 v111)
  (at r62 v112)
  (at r80 v113)
  (at r53 v114)
  (at r117 v115)
  (at r32 v116)
  (at r88 v117)
  (at r86 v118)
  (free v119)
  (at r85 v120)
  )
 )
)