(define (problem multirobot_30_50%_c1)
 (:domain multirobot)
 (:objects
  v0 r88
  v1 r110
  v2
  v3
  v4
  v5 r84
  v6 r65
  v7
  v8 r116
  v9 r71
  v10
  v11
  v12
  v13 r107
  v14 r86
  v15
  v16
  v17 r55
  v18
  v19
  v20
  v21
  v22 r69
  v23 r113
  v24 r90
  v25
  v26 r92
  v27 r94
  v28 r124
  v29
  v30 r109
  v31 r62
  v32 r111
  v33 r101
  v34
  v35
  v36
  v37 r54
  v38 r118
  v39 r103
  v40
  v41 r114
  v42 r123
  v43 r79
  v44 r68
  v45 r64
  v46
  v47 r56
  v48 r53
  v49 r105
  v50
  v51
  v52
  v53
  v54 r60
  v55
  v56 r121
  v57
  v58 r102
  v59 r97
  v60 r117
  v61 r77
  v62
  v63
  v64 r78
  v65
  v66 r87
  v67
  v68 r99
  v69 r108
  v70 r89
  v71 r126
  v72 r93
  v73 r96
  v74
  v75
  v76 r115
  v77 r76
  v78 r112
  v79 r72
  v80 r74
  v81 r83
  v82 r125
  v83
  v84 r81
  v85 r106
  v86 r91
  v87
  v88
  v89
  v90 r58
  v91
  v92
  v93
  v94 r98
  v95 r85
  v96
  v97 r73
  v98 r95
  v99
  v100 r104
  v101 r63
  v102
  v103 r66
  v104 r80
  v105 r127
  v106
  v107
  v108 r122
  v109 r82
  v110
  v111 r70
  v112
  v113
  v114 r75
  v115 r61
  v116
  v117
  v118
  v119
  v120 r67
  v121 r119
  v122 r120
  v123
  v124
  v125 r59
  v126 r57
  v127 r100
 )
 (:init
  (at r88 v0)
  (at r110 v1)
  (free v2)
  (free v3)
  (free v4)
  (at r84 v5)
  (at r65 v6)
  (free v7)
  (at r116 v8)
  (at r71 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r107 v13)
  (at r86 v14)
  (free v15)
  (free v16)
  (at r55 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r69 v22)
  (at r113 v23)
  (at r90 v24)
  (free v25)
  (at r92 v26)
  (at r94 v27)
  (at r124 v28)
  (free v29)
  (at r109 v30)
  (at r62 v31)
  (at r111 v32)
  (at r101 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r54 v37)
  (at r118 v38)
  (at r103 v39)
  (free v40)
  (at r114 v41)
  (at r123 v42)
  (at r79 v43)
  (at r68 v44)
  (at r64 v45)
  (free v46)
  (at r56 v47)
  (at r53 v48)
  (at r105 v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (at r60 v54)
  (free v55)
  (at r121 v56)
  (free v57)
  (at r102 v58)
  (at r97 v59)
  (at r117 v60)
  (at r77 v61)
  (free v62)
  (free v63)
  (at r78 v64)
  (free v65)
  (at r87 v66)
  (free v67)
  (at r99 v68)
  (at r108 v69)
  (at r89 v70)
  (at r126 v71)
  (at r93 v72)
  (at r96 v73)
  (free v74)
  (free v75)
  (at r115 v76)
  (at r76 v77)
  (at r112 v78)
  (at r72 v79)
  (at r74 v80)
  (at r83 v81)
  (at r125 v82)
  (free v83)
  (at r81 v84)
  (at r106 v85)
  (at r91 v86)
  (free v87)
  (free v88)
  (free v89)
  (at r58 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r98 v94)
  (at r85 v95)
  (free v96)
  (at r73 v97)
  (at r95 v98)
  (free v99)
  (at r104 v100)
  (at r63 v101)
  (free v102)
  (at r66 v103)
  (at r80 v104)
  (at r127 v105)
  (free v106)
  (free v107)
  (at r122 v108)
  (at r82 v109)
  (free v110)
  (at r70 v111)
  (free v112)
  (free v113)
  (at r75 v114)
  (at r61 v115)
  (free v116)
  (free v117)
  (free v118)
  (free v119)
  (at r67 v120)
  (at r119 v121)
  (at r120 v122)
  (free v123)
  (free v124)
  (at r59 v125)
  (at r57 v126)
  (at r100 v127)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v10)
  (adjacent v0 v28)
  (adjacent v0 v34)
  (adjacent v0 v41)
  (adjacent v1 v2)
  (adjacent v1 v74)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v42)
  (adjacent v2 v81)
  (adjacent v3 v4)
  (adjacent v4 v47)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v20)
  (adjacent v7 v22)
  (adjacent v7 v29)
  (adjacent v8 v9)
  (adjacent v9 v107)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v10 v23)
  (adjacent v10 v49)
  (adjacent v11 v12)
  (adjacent v11 v80)
  (adjacent v12 v13)
  (adjacent v14 v15)
  (adjacent v14 v48)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v29)
  (adjacent v17 v18)
  (adjacent v17 v21)
  (adjacent v17 v84)
  (adjacent v18 v19)
  (adjacent v18 v56)
  (adjacent v19 v20)
  (adjacent v21 v22)
  (adjacent v22 v30)
  (adjacent v23 v24)
  (adjacent v23 v43)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v31)
  (adjacent v25 v44)
  (adjacent v26 v27)
  (adjacent v26 v30)
  (adjacent v26 v95)
  (adjacent v27 v28)
  (adjacent v27 v52)
  (adjacent v27 v63)
  (adjacent v27 v96)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v35)
  (adjacent v32 v57)
  (adjacent v32 v67)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v53)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v61)
  (adjacent v39 v73)
  (adjacent v40 v41)
  (adjacent v40 v68)
  (adjacent v42 v43)
  (adjacent v43 v50)
  (adjacent v43 v108)
  (adjacent v43 v113)
  (adjacent v43 v127)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v60)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v50 v67)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v53 v66)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v106)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v64)
  (adjacent v59 v90)
  (adjacent v59 v112)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v121)
  (adjacent v64 v65)
  (adjacent v64 v101)
  (adjacent v65 v66)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v85)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v75 v107)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v91)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v102)
  (adjacent v96 v97)
  (adjacent v96 v120)
  (adjacent v97 v98)
  (adjacent v98 v99)
  (adjacent v99 v100)
  (adjacent v100 v101)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v105 v117)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v116)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v115 v116)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v121 v122)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
  (adjacent v126 v127)
 )
 (:goal
  (and
  (free v0)
  (at r65 v1)
  (at r102 v2)
  (free v3)
  (at r73 v4)
  (at r71 v5)
  (free v6)
  (at r77 v7)
  (at r56 v8)
  (free v9)
  (free v10)
  (at r109 v11)
  (free v12)
  (at r70 v13)
  (at r119 v14)
  (at r69 v15)
  (at r114 v16)
  (at r95 v17)
  (at r89 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r110 v26)
  (at r91 v27)
  (at r58 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r111 v33)
  (free v34)
  (at r66 v35)
  (at r121 v36)
  (at r94 v37)
  (at r108 v38)
  (at r60 v39)
  (at r96 v40)
  (at r103 v41)
  (free v42)
  (at r80 v43)
  (free v44)
  (at r76 v45)
  (at r100 v46)
  (free v47)
  (free v48)
  (at r93 v49)
  (free v50)
  (at r92 v51)
  (at r123 v52)
  (at r115 v53)
  (at r75 v54)
  (at r126 v55)
  (at r64 v56)
  (free v57)
  (at r84 v58)
  (at r104 v59)
  (at r125 v60)
  (at r53 v61)
  (at r107 v62)
  (at r74 v63)
  (at r99 v64)
  (free v65)
  (at r101 v66)
  (free v67)
  (free v68)
  (at r63 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r117 v76)
  (free v77)
  (at r72 v78)
  (free v79)
  (at r97 v80)
  (free v81)
  (free v82)
  (at r57 v83)
  (free v84)
  (at r78 v85)
  (free v86)
  (free v87)
  (at r61 v88)
  (at r54 v89)
  (at r105 v90)
  (free v91)
  (at r81 v92)
  (at r113 v93)
  (at r124 v94)
  (at r88 v95)
  (at r127 v96)
  (at r68 v97)
  (at r59 v98)
  (at r67 v99)
  (free v100)
  (at r79 v101)
  (free v102)
  (at r83 v103)
  (at r82 v104)
  (at r98 v105)
  (at r116 v106)
  (free v107)
  (at r90 v108)
  (at r86 v109)
  (free v110)
  (free v111)
  (free v112)
  (free v113)
  (free v114)
  (at r87 v115)
  (free v116)
  (at r106 v117)
  (at r55 v118)
  (at r85 v119)
  (free v120)
  (free v121)
  (at r120 v122)
  (at r62 v123)
  (at r118 v124)
  (free v125)
  (at r122 v126)
  (at r112 v127)
  )
 )
)