(define (problem multirobot_19_90%_c3)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r61
  v3 r78
  v4
  v5 r51
  v6
  v7 r44
  v8
  v9 r50
  v10
  v11
  v12
  v13
  v14
  v15
  v16 r73
  v17 r67
  v18 r65
  v19 r74
  v20
  v21
  v22 r57
  v23
  v24 r54
  v25
  v26 r41
  v27
  v28 r60
  v29
  v30 r47
  v31 r69
  v32
  v33 r77
  v34
  v35 r63
  v36
  v37 r81
  v38
  v39
  v40 r72
  v41
  v42
  v43
  v44 r70
  v45 r80
  v46
  v47
  v48 r45
  v49 r79
  v50 r42
  v51 r62
  v52 r75
  v53 r59
  v54
  v55 r71
  v56
  v57 r76
  v58
  v59 r56
  v60
  v61 r52
  v62 r58
  v63
  v64
  v65
  v66 r64
  v67
  v68
  v69
  v70 r68
  v71
  v72 r55
  v73 r66
  v74 r43
  v75
  v76 r49
  v77 r48
  v78 r46
  v79 r53
  v80
  v81
 )
 (:init
  (free v0)
  (free v1)
  (at r61 v2)
  (at r78 v3)
  (free v4)
  (at r51 v5)
  (free v6)
  (at r44 v7)
  (free v8)
  (at r50 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r73 v16)
  (at r67 v17)
  (at r65 v18)
  (at r74 v19)
  (free v20)
  (free v21)
  (at r57 v22)
  (free v23)
  (at r54 v24)
  (free v25)
  (at r41 v26)
  (free v27)
  (at r60 v28)
  (free v29)
  (at r47 v30)
  (at r69 v31)
  (free v32)
  (at r77 v33)
  (free v34)
  (at r63 v35)
  (free v36)
  (at r81 v37)
  (free v38)
  (free v39)
  (at r72 v40)
  (free v41)
  (free v42)
  (free v43)
  (at r70 v44)
  (at r80 v45)
  (free v46)
  (free v47)
  (at r45 v48)
  (at r79 v49)
  (at r42 v50)
  (at r62 v51)
  (at r75 v52)
  (at r59 v53)
  (free v54)
  (at r71 v55)
  (free v56)
  (at r76 v57)
  (free v58)
  (at r56 v59)
  (free v60)
  (at r52 v61)
  (at r58 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r64 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r68 v70)
  (free v71)
  (at r55 v72)
  (at r66 v73)
  (at r43 v74)
  (free v75)
  (at r49 v76)
  (at r48 v77)
  (at r46 v78)
  (at r53 v79)
  (free v80)
  (free v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v13)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v30)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v37)
  (adjacent v2 v68)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v3 v62)
  (adjacent v4 v5)
  (adjacent v5 v31)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v8 v43)
  (adjacent v8 v81)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v10 v14)
  (adjacent v11 v12)
  (adjacent v11 v21)
  (adjacent v13 v14)
  (adjacent v14 v36)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v24)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v53)
  (adjacent v19 v80)
  (adjacent v20 v21)
  (adjacent v22 v23)
  (adjacent v22 v61)
  (adjacent v23 v24)
  (adjacent v23 v25)
  (adjacent v23 v76)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v42)
  (adjacent v29 v30)
  (adjacent v29 v81)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v69)
  (adjacent v33 v34)
  (adjacent v33 v54)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v47)
  (adjacent v35 v48)
  (adjacent v36 v72)
  (adjacent v37 v38)
  (adjacent v37 v59)
  (adjacent v38 v39)
  (adjacent v38 v60)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v71)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v75)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r58 v0)
  (at r47 v1)
  (free v2)
  (free v3)
  (at r60 v4)
  (at r81 v5)
  (free v6)
  (at r48 v7)
  (free v8)
  (at r73 v9)
  (free v10)
  (free v11)
  (at r79 v12)
  (at r75 v13)
  (at r70 v14)
  (free v15)
  (at r46 v16)
  (free v17)
  (free v18)
  (at r78 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r61 v23)
  (free v24)
  (at r65 v25)
  (free v26)
  (at r49 v27)
  (at r66 v28)
  (free v29)
  (at r45 v30)
  (free v31)
  (at r50 v32)
  (free v33)
  (free v34)
  (at r43 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r72 v39)
  (free v40)
  (at r59 v41)
  (free v42)
  (free v43)
  (at r67 v44)
  (at r57 v45)
  (free v46)
  (free v47)
  (at r74 v48)
  (free v49)
  (free v50)
  (at r51 v51)
  (at r53 v52)
  (at r80 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r56 v58)
  (at r62 v59)
  (free v60)
  (free v61)
  (at r76 v62)
  (at r42 v63)
  (at r64 v64)
  (at r77 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r44 v70)
  (at r54 v71)
  (at r63 v72)
  (at r41 v73)
  (at r71 v74)
  (at r52 v75)
  (free v76)
  (free v77)
  (at r55 v78)
  (at r69 v79)
  (free v80)
  (at r68 v81)
  )
 )
)