(define (problem multirobot_27_2_c4)
 (:domain multirobot)
 (:objects
  v0 r90
  v1 r23
  v2 r55
  v3 r44
  v4 r81
  v5 r82
  v6 r28
  v7 r86
  v8 r5
  v9 r79
  v10 r34
  v11 r41
  v12 r67
  v13 r50
  v14 r68
  v15 r8
  v16 r88
  v17 r29
  v18 r75
  v19 r11
  v20 r47
  v21 r17
  v22 r80
  v23 r10
  v24 r20
  v25 r14
  v26 r16
  v27 r32
  v28 r66
  v29 r85
  v30 r21
  v31 r9
  v32 r77
  v33 r53
  v34 r19
  v35
  v36 r4
  v37 r74
  v38 r65
  v39 r22
  v40 r27
  v41 r15
  v42 r7
  v43 r33
  v44 r69
  v45 r24
  v46 r30
  v47 r3
  v48 r48
  v49 r49
  v50 r2
  v51 r70
  v52 r6
  v53 r61
  v54 r76
  v55 r84
  v56 r63
  v57 r57
  v58 r87
  v59 r60
  v60 r71
  v61 r36
  v62 r62
  v63 r12
  v64 r43
  v65 r37
  v66 r39
  v67 r56
  v68 r13
  v69 r78
  v70 r58
  v71 r83
  v72 r42
  v73 r25
  v74 r45
  v75 r26
  v76 r35
  v77 r46
  v78 r59
  v79 r64
  v80 r40
  v81 r73
  v82 r54
  v83 r38
  v84 r18
  v85 r31
  v86 r72
  v87 r51
  v88 r52
  v89 r89
  v90
 )
 (:init
  (at r90 v0)
  (at r23 v1)
  (at r55 v2)
  (at r44 v3)
  (at r81 v4)
  (at r82 v5)
  (at r28 v6)
  (at r86 v7)
  (at r5 v8)
  (at r79 v9)
  (at r34 v10)
  (at r41 v11)
  (at r67 v12)
  (at r50 v13)
  (at r68 v14)
  (at r8 v15)
  (at r88 v16)
  (at r29 v17)
  (at r75 v18)
  (at r11 v19)
  (at r47 v20)
  (at r17 v21)
  (at r80 v22)
  (at r10 v23)
  (at r20 v24)
  (at r14 v25)
  (at r16 v26)
  (at r32 v27)
  (at r66 v28)
  (at r85 v29)
  (at r21 v30)
  (at r9 v31)
  (at r77 v32)
  (at r53 v33)
  (at r19 v34)
  (free v35)
  (at r4 v36)
  (at r74 v37)
  (at r65 v38)
  (at r22 v39)
  (at r27 v40)
  (at r15 v41)
  (at r7 v42)
  (at r33 v43)
  (at r69 v44)
  (at r24 v45)
  (at r30 v46)
  (at r3 v47)
  (at r48 v48)
  (at r49 v49)
  (at r2 v50)
  (at r70 v51)
  (at r6 v52)
  (at r61 v53)
  (at r76 v54)
  (at r84 v55)
  (at r63 v56)
  (at r57 v57)
  (at r87 v58)
  (at r60 v59)
  (at r71 v60)
  (at r36 v61)
  (at r62 v62)
  (at r12 v63)
  (at r43 v64)
  (at r37 v65)
  (at r39 v66)
  (at r56 v67)
  (at r13 v68)
  (at r78 v69)
  (at r58 v70)
  (at r83 v71)
  (at r42 v72)
  (at r25 v73)
  (at r45 v74)
  (at r26 v75)
  (at r35 v76)
  (at r46 v77)
  (at r59 v78)
  (at r64 v79)
  (at r40 v80)
  (at r73 v81)
  (at r54 v82)
  (at r38 v83)
  (at r18 v84)
  (at r31 v85)
  (at r72 v86)
  (at r51 v87)
  (at r52 v88)
  (at r89 v89)
  (free v90)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v8)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v83)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v13)
  (adjacent v3 v39)
  (adjacent v4 v7)
  (adjacent v4 v10)
  (adjacent v4 v24)
  (adjacent v5 v6)
  (adjacent v6 v25)
  (adjacent v7 v70)
  (adjacent v7 v74)
  (adjacent v8 v9)
  (adjacent v8 v11)
  (adjacent v8 v16)
  (adjacent v8 v17)
  (adjacent v8 v26)
  (adjacent v9 v10)
  (adjacent v9 v38)
  (adjacent v9 v46)
  (adjacent v9 v90)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v18)
  (adjacent v12 v54)
  (adjacent v12 v65)
  (adjacent v13 v14)
  (adjacent v13 v30)
  (adjacent v13 v37)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v25)
  (adjacent v16 v53)
  (adjacent v17 v52)
  (adjacent v18 v19)
  (adjacent v18 v38)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v31)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v49)
  (adjacent v27 v71)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v31 v32)
  (adjacent v31 v48)
  (adjacent v31 v69)
  (adjacent v31 v70)
  (adjacent v32 v33)
  (adjacent v32 v75)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v66)
  (adjacent v34 v89)
  (adjacent v35 v36)
  (adjacent v35 v45)
  (adjacent v35 v78)
  (adjacent v35 v84)
  (adjacent v36 v37)
  (adjacent v36 v61)
  (adjacent v36 v77)
  (adjacent v39 v40)
  (adjacent v39 v76)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v53)
  (adjacent v45 v62)
  (adjacent v46 v47)
  (adjacent v46 v63)
  (adjacent v47 v48)
  (adjacent v48 v60)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v90)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v88)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v71 v72)
  (adjacent v71 v77)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v78 v79)
  (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 v89)
 )
 (:goal
  (and
  (at r59 v0)
  (at r53 v1)
  (at r23 v2)
  (at r31 v3)
  (at r84 v4)
  (at r27 v5)
  (at r35 v6)
  (at r25 v7)
  (at r7 v8)
  (free v9)
  (at r77 v10)
  (at r72 v11)
  (at r76 v12)
  (at r71 v13)
  (at r19 v14)
  (at r22 v15)
  (at r13 v16)
  (at r90 v17)
  (at r82 v18)
  (at r83 v19)
  (at r78 v20)
  (at r46 v21)
  (at r42 v22)
  (at r32 v23)
  (at r48 v24)
  (at r79 v25)
  (at r50 v26)
  (at r9 v27)
  (at r87 v28)
  (at r38 v29)
  (at r69 v30)
  (at r51 v31)
  (at r28 v32)
  (at r2 v33)
  (at r68 v34)
  (at r81 v35)
  (at r4 v36)
  (at r63 v37)
  (at r57 v38)
  (at r18 v39)
  (at r24 v40)
  (at r66 v41)
  (at r34 v42)
  (at r74 v43)
  (at r45 v44)
  (at r73 v45)
  (at r10 v46)
  (at r85 v47)
  (at r43 v48)
  (at r11 v49)
  (at r61 v50)
  (at r5 v51)
  (at r58 v52)
  (at r47 v53)
  (at r65 v54)
  (at r20 v55)
  (at r16 v56)
  (at r26 v57)
  (at r41 v58)
  (at r15 v59)
  (at r64 v60)
  (at r89 v61)
  (at r12 v62)
  (at r39 v63)
  (at r21 v64)
  (at r54 v65)
  (at r40 v66)
  (at r80 v67)
  (at r75 v68)
  (at r70 v69)
  (at r33 v70)
  (at r86 v71)
  (at r8 v72)
  (at r14 v73)
  (at r88 v74)
  (at r30 v75)
  (at r62 v76)
  (at r17 v77)
  (at r52 v78)
  (at r29 v79)
  (at r60 v80)
  (free v81)
  (at r44 v82)
  (at r67 v83)
  (at r55 v84)
  (at r6 v85)
  (at r36 v86)
  (at r37 v87)
  (at r49 v88)
  (at r56 v89)
  (at r3 v90)
  )
 )
)