(define (problem multirobot_30_50%_c5)
 (:domain multirobot)
 (:objects
  v0 r117
  v1 r126
  v2 r97
  v3
  v4 r77
  v5 r115
  v6
  v7 r80
  v8 r119
  v9
  v10
  v11
  v12 r113
  v13
  v14 r67
  v15
  v16 r92
  v17
  v18
  v19
  v20 r125
  v21
  v22
  v23
  v24 r85
  v25
  v26 r114
  v27 r118
  v28 r69
  v29
  v30 r105
  v31
  v32 r122
  v33 r78
  v34 r108
  v35 r100
  v36 r84
  v37 r86
  v38
  v39
  v40
  v41 r124
  v42
  v43 r120
  v44
  v45 r99
  v46
  v47
  v48 r127
  v49
  v50
  v51
  v52
  v53
  v54
  v55 r74
  v56 r103
  v57
  v58
  v59 r101
  v60
  v61 r102
  v62
  v63 r111
  v64
  v65 r123
  v66 r70
  v67 r128
  v68 r87
  v69
  v70
  v71 r90
  v72
  v73 r68
  v74 r83
  v75
  v76 r98
  v77 r121
  v78 r60
  v79
  v80 r66
  v81 r95
  v82 r109
  v83
  v84 r72
  v85 r89
  v86 r64
  v87 r62
  v88
  v89 r91
  v90
  v91
  v92 r96
  v93 r129
  v94 r93
  v95 r61
  v96 r110
  v97
  v98 r112
  v99
  v100
  v101 r81
  v102
  v103
  v104 r73
  v105 r107
  v106 r71
  v107 r104
  v108 r63
  v109
  v110
  v111
  v112
  v113 r79
  v114 r88
  v115 r65
  v116
  v117 r94
  v118
  v119
  v120 r116
  v121
  v122
  v123
  v124 r75
  v125 r106
  v126
  v127 r82
  v128
  v129 r76
 )
 (:init
  (at r117 v0)
  (at r126 v1)
  (at r97 v2)
  (free v3)
  (at r77 v4)
  (at r115 v5)
  (free v6)
  (at r80 v7)
  (at r119 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r113 v12)
  (free v13)
  (at r67 v14)
  (free v15)
  (at r92 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r125 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r85 v24)
  (free v25)
  (at r114 v26)
  (at r118 v27)
  (at r69 v28)
  (free v29)
  (at r105 v30)
  (free v31)
  (at r122 v32)
  (at r78 v33)
  (at r108 v34)
  (at r100 v35)
  (at r84 v36)
  (at r86 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r124 v41)
  (free v42)
  (at r120 v43)
  (free v44)
  (at r99 v45)
  (free v46)
  (free v47)
  (at r127 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r74 v55)
  (at r103 v56)
  (free v57)
  (free v58)
  (at r101 v59)
  (free v60)
  (at r102 v61)
  (free v62)
  (at r111 v63)
  (free v64)
  (at r123 v65)
  (at r70 v66)
  (at r128 v67)
  (at r87 v68)
  (free v69)
  (free v70)
  (at r90 v71)
  (free v72)
  (at r68 v73)
  (at r83 v74)
  (free v75)
  (at r98 v76)
  (at r121 v77)
  (at r60 v78)
  (free v79)
  (at r66 v80)
  (at r95 v81)
  (at r109 v82)
  (free v83)
  (at r72 v84)
  (at r89 v85)
  (at r64 v86)
  (at r62 v87)
  (free v88)
  (at r91 v89)
  (free v90)
  (free v91)
  (at r96 v92)
  (at r129 v93)
  (at r93 v94)
  (at r61 v95)
  (at r110 v96)
  (free v97)
  (at r112 v98)
  (free v99)
  (free v100)
  (at r81 v101)
  (free v102)
  (free v103)
  (at r73 v104)
  (at r107 v105)
  (at r71 v106)
  (at r104 v107)
  (at r63 v108)
  (free v109)
  (free v110)
  (free v111)
  (free v112)
  (at r79 v113)
  (at r88 v114)
  (at r65 v115)
  (free v116)
  (at r94 v117)
  (free v118)
  (free v119)
  (at r116 v120)
  (free v121)
  (free v122)
  (free v123)
  (at r75 v124)
  (at r106 v125)
  (free v126)
  (at r82 v127)
  (free 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
  (free v0)
  (free v1)
  (free v2)
  (at r76 v3)
  (free v4)
  (free v5)
  (at r65 v6)
  (at r87 v7)
  (at r129 v8)
  (free v9)
  (at r83 v10)
  (free v11)
  (at r79 v12)
  (free 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)
  (free v24)
  (at r61 v25)
  (at r77 v26)
  (free v27)
  (free v28)
  (at r107 v29)
  (free v30)
  (free v31)
  (at r91 v32)
  (at r90 v33)
  (free v34)
  (free v35)
  (at r120 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r89 v40)
  (at r72 v41)
  (at r121 v42)
  (at r99 v43)
  (at r128 v44)
  (at r86 v45)
  (free v46)
  (free v47)
  (at r81 v48)
  (at r114 v49)
  (at r98 v50)
  (free v51)
  (at r82 v52)
  (free v53)
  (free v54)
  (free v55)
  (at r70 v56)
  (at r84 v57)
  (at r73 v58)
  (at r71 v59)
  (free v60)
  (at r68 v61)
  (at r69 v62)
  (at r113 v63)
  (free v64)
  (free v65)
  (at r95 v66)
  (at r103 v67)
  (free v68)
  (free v69)
  (at r126 v70)
  (free v71)
  (at r80 v72)
  (at r64 v73)
  (at r78 v74)
  (at r111 v75)
  (at r92 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r63 v80)
  (free v81)
  (free v82)
  (at r105 v83)
  (free v84)
  (free v85)
  (free v86)
  (free v87)
  (at r112 v88)
  (at r115 v89)
  (free v90)
  (at r104 v91)
  (at r60 v92)
  (free v93)
  (free v94)
  (at r122 v95)
  (at r75 v96)
  (free v97)
  (free v98)
  (at r74 v99)
  (free v100)
  (at r62 v101)
  (at r85 v102)
  (at r93 v103)
  (free v104)
  (free v105)
  (free v106)
  (free v107)
  (at r127 v108)
  (at r108 v109)
  (free 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)
  (free v120)
  (free v121)
  (at r96 v122)
  (at r116 v123)
  (free v124)
  (free v125)
  (free v126)
  (free v127)
  (free v128)
  (free v129)
  )
 )
)