(define (problem multirobot_28_50%_c6)
 (:domain multirobot)
 (:objects
  v0 r78
  v1 r56
  v2
  v3
  v4
  v5
  v6 r77
  v7 r51
  v8
  v9 r88
  v10 r73
  v11 r72
  v12
  v13 r69
  v14 r83
  v15
  v16
  v17 r50
  v18
  v19 r71
  v20 r55
  v21
  v22
  v23
  v24 r65
  v25
  v26
  v27 r90
  v28
  v29
  v30 r44
  v31
  v32 r57
  v33
  v34
  v35 r64
  v36
  v37
  v38 r86
  v39 r47
  v40
  v41
  v42
  v43 r76
  v44 r75
  v45 r59
  v46 r89
  v47 r91
  v48
  v49 r68
  v50 r54
  v51
  v52 r62
  v53 r67
  v54
  v55 r66
  v56 r70
  v57
  v58
  v59 r79
  v60
  v61 r63
  v62 r41
  v63
  v64
  v65
  v66 r45
  v67
  v68 r48
  v69
  v70
  v71
  v72
  v73 r53
  v74 r82
  v75 r52
  v76
  v77 r60
  v78
  v79 r84
  v80 r43
  v81 r81
  v82 r46
  v83 r58
  v84 r61
  v85 r87
  v86 r74
  v87 r49
  v88 r42
  v89 r85
  v90
  v91 r80
 )
 (:init
  (at r78 v0)
  (at r56 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r77 v6)
  (at r51 v7)
  (free v8)
  (at r88 v9)
  (at r73 v10)
  (at r72 v11)
  (free v12)
  (at r69 v13)
  (at r83 v14)
  (free v15)
  (free v16)
  (at r50 v17)
  (free v18)
  (at r71 v19)
  (at r55 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r65 v24)
  (free v25)
  (free v26)
  (at r90 v27)
  (free v28)
  (free v29)
  (at r44 v30)
  (free v31)
  (at r57 v32)
  (free v33)
  (free v34)
  (at r64 v35)
  (free v36)
  (free v37)
  (at r86 v38)
  (at r47 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r76 v43)
  (at r75 v44)
  (at r59 v45)
  (at r89 v46)
  (at r91 v47)
  (free v48)
  (at r68 v49)
  (at r54 v50)
  (free v51)
  (at r62 v52)
  (at r67 v53)
  (free v54)
  (at r66 v55)
  (at r70 v56)
  (free v57)
  (free v58)
  (at r79 v59)
  (free v60)
  (at r63 v61)
  (at r41 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r45 v66)
  (free v67)
  (at r48 v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r53 v73)
  (at r82 v74)
  (at r52 v75)
  (free v76)
  (at r60 v77)
  (free v78)
  (at r84 v79)
  (at r43 v80)
  (at r81 v81)
  (at r46 v82)
  (at r58 v83)
  (at r61 v84)
  (at r87 v85)
  (at r74 v86)
  (at r49 v87)
  (at r42 v88)
  (at r85 v89)
  (free v90)
  (at r80 v91)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v12)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v18)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v24)
  (adjacent v3 v4)
  (adjacent v3 v28)
  (adjacent v4 v7)
  (adjacent v4 v17)
  (adjacent v4 v34)
  (adjacent v5 v6)
  (adjacent v5 v8)
  (adjacent v5 v89)
  (adjacent v6 v7)
  (adjacent v6 v90)
  (adjacent v7 v36)
  (adjacent v8 v9)
  (adjacent v8 v40)
  (adjacent v8 v85)
  (adjacent v9 v10)
  (adjacent v9 v23)
  (adjacent v9 v38)
  (adjacent v10 v11)
  (adjacent v12 v13)
  (adjacent v12 v60)
  (adjacent v12 v68)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v27)
  (adjacent v14 v38)
  (adjacent v14 v69)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v44)
  (adjacent v16 v55)
  (adjacent v17 v37)
  (adjacent v18 v19)
  (adjacent v18 v64)
  (adjacent v19 v20)
  (adjacent v19 v39)
  (adjacent v19 v80)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v54)
  (adjacent v23 v91)
  (adjacent v24 v25)
  (adjacent v24 v73)
  (adjacent v25 v26)
  (adjacent v25 v53)
  (adjacent v26 v27)
  (adjacent v27 v39)
  (adjacent v27 v51)
  (adjacent v28 v29)
  (adjacent v28 v35)
  (adjacent v28 v65)
  (adjacent v29 v30)
  (adjacent v29 v37)
  (adjacent v29 v59)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v68)
  (adjacent v31 v86)
  (adjacent v32 v33)
  (adjacent v32 v60)
  (adjacent v33 v34)
  (adjacent v33 v81)
  (adjacent v34 v43)
  (adjacent v34 v54)
  (adjacent v35 v36)
  (adjacent v35 v50)
  (adjacent v35 v84)
  (adjacent v38 v49)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v63)
  (adjacent v42 v43)
  (adjacent v43 v48)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v74)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v66)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v49 v61)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v64)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v65)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v85)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v90 v91)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r52 v2)
  (free v3)
  (at r62 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r76 v8)
  (at r44 v9)
  (at r47 v10)
  (at r51 v11)
  (at r73 v12)
  (at r56 v13)
  (at r69 v14)
  (at r80 v15)
  (free v16)
  (at r88 v17)
  (free v18)
  (at r77 v19)
  (free v20)
  (free v21)
  (at r60 v22)
  (at r45 v23)
  (free v24)
  (free v25)
  (at r43 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r55 v30)
  (free v31)
  (free v32)
  (at r87 v33)
  (free v34)
  (at r89 v35)
  (at r57 v36)
  (free v37)
  (at r49 v38)
  (at r79 v39)
  (at r91 v40)
  (at r90 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r67 v47)
  (at r46 v48)
  (free v49)
  (at r82 v50)
  (at r58 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r59 v59)
  (at r68 v60)
  (free v61)
  (at r75 v62)
  (at r48 v63)
  (free v64)
  (at r41 v65)
  (at r70 v66)
  (at r78 v67)
  (at r71 v68)
  (free v69)
  (at r53 v70)
  (at r84 v71)
  (free v72)
  (free v73)
  (at r83 v74)
  (at r61 v75)
  (at r74 v76)
  (free v77)
  (at r64 v78)
  (at r65 v79)
  (at r72 v80)
  (at r63 v81)
  (at r50 v82)
  (free v83)
  (at r85 v84)
  (at r81 v85)
  (free v86)
  (at r86 v87)
  (free v88)
  (at r66 v89)
  (at r54 v90)
  (at r42 v91)
  )
 )
)