(define (problem multirobot_31_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r124
  v3
  v4 r55
  v5
  v6
  v7
  v8 r91
  v9 r92
  v10
  v11
  v12
  v13 r71
  v14
  v15 r53
  v16 r97
  v17 r72
  v18 r74
  v19 r54
  v20 r80
  v21
  v22
  v23 r98
  v24 r82
  v25 r102
  v26
  v27 r60
  v28
  v29 r112
  v30
  v31 r81
  v32 r66
  v33 r56
  v34 r127
  v35 r68
  v36 r87
  v37
  v38 r77
  v39
  v40
  v41
  v42
  v43 r119
  v44 r120
  v45 r116
  v46 r88
  v47 r70
  v48
  v49 r128
  v50 r57
  v51
  v52
  v53
  v54
  v55
  v56
  v57
  v58 r104
  v59 r108
  v60 r86
  v61 r111
  v62 r107
  v63 r101
  v64 r117
  v65
  v66 r76
  v67
  v68 r103
  v69 r121
  v70
  v71
  v72 r73
  v73
  v74
  v75 r109
  v76 r83
  v77 r64
  v78 r113
  v79 r105
  v80 r58
  v81 r59
  v82 r75
  v83
  v84 r110
  v85
  v86
  v87
  v88
  v89 r79
  v90 r125
  v91 r61
  v92
  v93 r122
  v94
  v95
  v96 r62
  v97 r63
  v98
  v99 r84
  v100 r65
  v101 r94
  v102 r99
  v103 r114
  v104 r126
  v105
  v106
  v107 r95
  v108
  v109 r69
  v110 r106
  v111
  v112 r115
  v113 r89
  v114
  v115 r123
  v116 r90
  v117 r85
  v118
  v119
  v120 r96
  v121 r78
  v122 r100
  v123 r67
  v124
  v125 r118
  v126
  v127 r93
  v128
 )
 (:init
  (free v0)
  (free v1)
  (at r124 v2)
  (free v3)
  (at r55 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r91 v8)
  (at r92 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r71 v13)
  (free v14)
  (at r53 v15)
  (at r97 v16)
  (at r72 v17)
  (at r74 v18)
  (at r54 v19)
  (at r80 v20)
  (free v21)
  (free v22)
  (at r98 v23)
  (at r82 v24)
  (at r102 v25)
  (free v26)
  (at r60 v27)
  (free v28)
  (at r112 v29)
  (free v30)
  (at r81 v31)
  (at r66 v32)
  (at r56 v33)
  (at r127 v34)
  (at r68 v35)
  (at r87 v36)
  (free v37)
  (at r77 v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r119 v43)
  (at r120 v44)
  (at r116 v45)
  (at r88 v46)
  (at r70 v47)
  (free v48)
  (at r128 v49)
  (at r57 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r104 v58)
  (at r108 v59)
  (at r86 v60)
  (at r111 v61)
  (at r107 v62)
  (at r101 v63)
  (at r117 v64)
  (free v65)
  (at r76 v66)
  (free v67)
  (at r103 v68)
  (at r121 v69)
  (free v70)
  (free v71)
  (at r73 v72)
  (free v73)
  (free v74)
  (at r109 v75)
  (at r83 v76)
  (at r64 v77)
  (at r113 v78)
  (at r105 v79)
  (at r58 v80)
  (at r59 v81)
  (at r75 v82)
  (free v83)
  (at r110 v84)
  (free v85)
  (free v86)
  (free v87)
  (free v88)
  (at r79 v89)
  (at r125 v90)
  (at r61 v91)
  (free v92)
  (at r122 v93)
  (free v94)
  (free v95)
  (at r62 v96)
  (at r63 v97)
  (free v98)
  (at r84 v99)
  (at r65 v100)
  (at r94 v101)
  (at r99 v102)
  (at r114 v103)
  (at r126 v104)
  (free v105)
  (free v106)
  (at r95 v107)
  (free v108)
  (at r69 v109)
  (at r106 v110)
  (free v111)
  (at r115 v112)
  (at r89 v113)
  (free v114)
  (at r123 v115)
  (at r90 v116)
  (at r85 v117)
  (free v118)
  (free v119)
  (at r96 v120)
  (at r78 v121)
  (at r100 v122)
  (at r67 v123)
  (free v124)
  (at r118 v125)
  (free v126)
  (at r93 v127)
  (free v128)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v65)
  (adjacent v0 v80)
  (adjacent v1 v2)
  (adjacent v1 v12)
  (adjacent v1 v18)
  (adjacent v1 v26)
  (adjacent v1 v34)
  (adjacent v1 v86)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v38)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v92)
  (adjacent v4 v9)
  (adjacent v5 v6)
  (adjacent v5 v32)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v8 v9)
  (adjacent v9 v116)
  (adjacent v9 v127)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v13 v14)
  (adjacent v13 v19)
  (adjacent v13 v37)
  (adjacent v14 v15)
  (adjacent v14 v20)
  (adjacent v14 v128)
  (adjacent v15 v16)
  (adjacent v15 v42)
  (adjacent v15 v109)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v17 v18)
  (adjacent v17 v25)
  (adjacent v19 v51)
  (adjacent v20 v21)
  (adjacent v20 v45)
  (adjacent v20 v96)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v106)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v26 v41)
  (adjacent v26 v78)
  (adjacent v26 v81)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v81)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v46)
  (adjacent v34 v35)
  (adjacent v34 v87)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v54)
  (adjacent v39 v77)
  (adjacent v40 v41)
  (adjacent v41 v50)
  (adjacent v41 v70)
  (adjacent v42 v43)
  (adjacent v42 v60)
  (adjacent v43 v44)
  (adjacent v43 v55)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v99)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v107)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v61)
  (adjacent v55 v56)
  (adjacent v55 v64)
  (adjacent v55 v99)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v82)
  (adjacent v59 v100)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v65 v126)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v71)
  (adjacent v67 v127)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v71 v116)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v91)
  (adjacent v74 v98)
  (adjacent v74 v128)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v78 v122)
  (adjacent v79 v80)
  (adjacent v80 v95)
  (adjacent v80 v121)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v94 v95)
  (adjacent v95 v115)
  (adjacent v95 v117)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v100 v101)
  (adjacent v101 v102)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v103 v110)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v107 v108)
  (adjacent v108 v109)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v113 v114)
  (adjacent v114 v115)
  (adjacent v117 v118)
  (adjacent v118 v119)
  (adjacent v119 v120)
  (adjacent v120 v121)
  (adjacent v122 v123)
  (adjacent v123 v124)
  (adjacent v124 v125)
  (adjacent v125 v126)
 )
 (:goal
  (and
  (at r79 v0)
  (at r60 v1)
  (at r81 v2)
  (free v3)
  (free v4)
  (at r62 v5)
  (at r86 v6)
  (at r108 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r80 v14)
  (at r96 v15)
  (at r98 v16)
  (free v17)
  (free v18)
  (at r110 v19)
  (at r87 v20)
  (at r97 v21)
  (at r83 v22)
  (at r116 v23)
  (free v24)
  (at r55 v25)
  (free v26)
  (at r90 v27)
  (at r67 v28)
  (at r91 v29)
  (free v30)
  (at r99 v31)
  (at r70 v32)
  (at r57 v33)
  (at r112 v34)
  (at r73 v35)
  (at r75 v36)
  (free v37)
  (at r109 v38)
  (free v39)
  (at r103 v40)
  (free v41)
  (free v42)
  (at r114 v43)
  (free v44)
  (at r106 v45)
  (at r113 v46)
  (free v47)
  (at r104 v48)
  (at r118 v49)
  (at r72 v50)
  (at r56 v51)
  (at r88 v52)
  (free v53)
  (at r92 v54)
  (at r119 v55)
  (at r89 v56)
  (at r102 v57)
  (free v58)
  (at r69 v59)
  (at r120 v60)
  (at r93 v61)
  (at r107 v62)
  (free v63)
  (at r105 v64)
  (free v65)
  (at r123 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (at r85 v72)
  (free v73)
  (at r111 v74)
  (at r65 v75)
  (at r74 v76)
  (free v77)
  (at r61 v78)
  (free v79)
  (at r77 v80)
  (at r126 v81)
  (at r68 v82)
  (at r115 v83)
  (free v84)
  (at r124 v85)
  (free v86)
  (at r94 v87)
  (at r121 v88)
  (at r128 v89)
  (at r66 v90)
  (free v91)
  (free v92)
  (free v93)
  (at r100 v94)
  (at r59 v95)
  (free v96)
  (free v97)
  (free v98)
  (free v99)
  (free v100)
  (at r82 v101)
  (free v102)
  (at r71 v103)
  (at r84 v104)
  (free v105)
  (at r58 v106)
  (free v107)
  (at r127 v108)
  (free v109)
  (at r54 v110)
  (at r125 v111)
  (free v112)
  (at r101 v113)
  (at r122 v114)
  (at r64 v115)
  (free v116)
  (free v117)
  (at r78 v118)
  (free v119)
  (free v120)
  (free v121)
  (free v122)
  (at r117 v123)
  (at r95 v124)
  (at r76 v125)
  (at r63 v126)
  (at r53 v127)
  (free v128)
  )
 )
)