(define (problem multirobot_23_50%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4 r48
  v5 r69
  v6 r88
  v7
  v8 r60
  v9 r49
  v10 r47
  v11 r76
  v12
  v13
  v14 r83
  v15
  v16 r64
  v17
  v18 r85
  v19 r71
  v20 r84
  v21 r62
  v22 r67
  v23 r66
  v24 r46
  v25 r77
  v26 r72
  v27 r44
  v28
  v29
  v30 r73
  v31 r68
  v32 r52
  v33
  v34 r86
  v35 r59
  v36
  v37
  v38
  v39 r81
  v40 r63
  v41
  v42
  v43
  v44 r75
  v45
  v46 r79
  v47
  v48
  v49
  v50
  v51 r70
  v52
  v53
  v54 r65
  v55 r55
  v56
  v57
  v58 r53
  v59 r56
  v60
  v61
  v62 r78
  v63
  v64 r82
  v65
  v66 r89
  v67 r61
  v68
  v69 r58
  v70 r74
  v71
  v72 r57
  v73
  v74 r45
  v75
  v76
  v77
  v78
  v79
  v80
  v81 r50
  v82 r54
  v83
  v84
  v85 r51
  v86
  v87 r80
  v88 r87
  v89
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (at r48 v4)
  (at r69 v5)
  (at r88 v6)
  (free v7)
  (at r60 v8)
  (at r49 v9)
  (at r47 v10)
  (at r76 v11)
  (free v12)
  (free v13)
  (at r83 v14)
  (free v15)
  (at r64 v16)
  (free v17)
  (at r85 v18)
  (at r71 v19)
  (at r84 v20)
  (at r62 v21)
  (at r67 v22)
  (at r66 v23)
  (at r46 v24)
  (at r77 v25)
  (at r72 v26)
  (at r44 v27)
  (free v28)
  (free v29)
  (at r73 v30)
  (at r68 v31)
  (at r52 v32)
  (free v33)
  (at r86 v34)
  (at r59 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r81 v39)
  (at r63 v40)
  (free v41)
  (free v42)
  (free v43)
  (at r75 v44)
  (free v45)
  (at r79 v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r70 v51)
  (free v52)
  (free v53)
  (at r65 v54)
  (at r55 v55)
  (free v56)
  (free v57)
  (at r53 v58)
  (at r56 v59)
  (free v60)
  (free v61)
  (at r78 v62)
  (free v63)
  (at r82 v64)
  (free v65)
  (at r89 v66)
  (at r61 v67)
  (free v68)
  (at r58 v69)
  (at r74 v70)
  (free v71)
  (at r57 v72)
  (free v73)
  (at r45 v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r50 v81)
  (at r54 v82)
  (free v83)
  (free v84)
  (at r51 v85)
  (free v86)
  (at r80 v87)
  (at r87 v88)
  (free v89)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v50)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v89)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v42)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v15)
  (adjacent v6 v29)
  (adjacent v6 v30)
  (adjacent v6 v73)
  (adjacent v7 v8)
  (adjacent v7 v16)
  (adjacent v7 v17)
  (adjacent v7 v27)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v8 v26)
  (adjacent v8 v35)
  (adjacent v8 v56)
  (adjacent v8 v57)
  (adjacent v9 v10)
  (adjacent v9 v24)
  (adjacent v9 v41)
  (adjacent v10 v11)
  (adjacent v10 v66)
  (adjacent v10 v69)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v16)
  (adjacent v13 v18)
  (adjacent v14 v15)
  (adjacent v15 v19)
  (adjacent v15 v63)
  (adjacent v17 v18)
  (adjacent v18 v36)
  (adjacent v19 v20)
  (adjacent v19 v25)
  (adjacent v20 v21)
  (adjacent v20 v42)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v25 v26)
  (adjacent v26 v80)
  (adjacent v27 v28)
  (adjacent v27 v83)
  (adjacent v28 v29)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v68)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v72)
  (adjacent v39 v40)
  (adjacent v39 v43)
  (adjacent v39 v50)
  (adjacent v40 v41)
  (adjacent v40 v49)
  (adjacent v41 v67)
  (adjacent v42 v75)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v72)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v50 v51)
  (adjacent v50 v64)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v74)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v55 v71)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v69 v81)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v88)
  (adjacent v80 v82)
  (adjacent v80 v89)
  (adjacent v81 v82)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v87 v88)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r78 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r53 v6)
  (at r72 v7)
  (at r80 v8)
  (free v9)
  (free v10)
  (at r84 v11)
  (free v12)
  (at r48 v13)
  (at r75 v14)
  (free v15)
  (at r61 v16)
  (free v17)
  (at r45 v18)
  (at r70 v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r63 v26)
  (free v27)
  (at r66 v28)
  (free v29)
  (at r50 v30)
  (at r86 v31)
  (at r47 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r58 v36)
  (free v37)
  (at r77 v38)
  (free v39)
  (at r60 v40)
  (free v41)
  (at r52 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (at r64 v48)
  (at r62 v49)
  (at r76 v50)
  (free v51)
  (at r74 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r51 v57)
  (free v58)
  (at r65 v59)
  (free v60)
  (at r71 v61)
  (free v62)
  (at r46 v63)
  (at r59 v64)
  (free v65)
  (free v66)
  (at r67 v67)
  (at r89 v68)
  (at r79 v69)
  (at r88 v70)
  (at r44 v71)
  (at r68 v72)
  (at r83 v73)
  (at r85 v74)
  (at r49 v75)
  (at r87 v76)
  (free v77)
  (at r69 v78)
  (at r54 v79)
  (free v80)
  (at r82 v81)
  (free v82)
  (at r81 v83)
  (free v84)
  (free v85)
  (at r57 v86)
  (at r56 v87)
  (at r55 v88)
  (at r73 v89)
  )
 )
)