(define (problem multirobot_19_90%_c7)
 (:domain multirobot)
 (:objects
  v0 r57
  v1
  v2 r61
  v3
  v4
  v5 r40
  v6 r44
  v7 r42
  v8 r62
  v9 r73
  v10
  v11
  v12 r63
  v13
  v14
  v15 r48
  v16
  v17
  v18
  v19
  v20
  v21 r74
  v22
  v23 r81
  v24
  v25
  v26
  v27 r79
  v28
  v29 r43
  v30 r36
  v31
  v32
  v33
  v34 r68
  v35 r58
  v36
  v37 r55
  v38 r50
  v39
  v40 r64
  v41 r51
  v42 r39
  v43 r56
  v44
  v45 r65
  v46 r35
  v47
  v48 r41
  v49 r54
  v50 r75
  v51 r70
  v52 r80
  v53 r66
  v54 r60
  v55
  v56 r38
  v57 r82
  v58 r78
  v59
  v60
  v61 r45
  v62 r37
  v63 r59
  v64 r77
  v65 r69
  v66
  v67 r71
  v68
  v69 r76
  v70 r52
  v71
  v72 r67
  v73 r49
  v74
  v75 r47
  v76 r53
  v77
  v78 r46
  v79
  v80
  v81
  v82 r72
 )
 (:init
  (at r57 v0)
  (free v1)
  (at r61 v2)
  (free v3)
  (free v4)
  (at r40 v5)
  (at r44 v6)
  (at r42 v7)
  (at r62 v8)
  (at r73 v9)
  (free v10)
  (free v11)
  (at r63 v12)
  (free v13)
  (free v14)
  (at r48 v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (at r74 v21)
  (free v22)
  (at r81 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r79 v27)
  (free v28)
  (at r43 v29)
  (at r36 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r68 v34)
  (at r58 v35)
  (free v36)
  (at r55 v37)
  (at r50 v38)
  (free v39)
  (at r64 v40)
  (at r51 v41)
  (at r39 v42)
  (at r56 v43)
  (free v44)
  (at r65 v45)
  (at r35 v46)
  (free v47)
  (at r41 v48)
  (at r54 v49)
  (at r75 v50)
  (at r70 v51)
  (at r80 v52)
  (at r66 v53)
  (at r60 v54)
  (free v55)
  (at r38 v56)
  (at r82 v57)
  (at r78 v58)
  (free v59)
  (free v60)
  (at r45 v61)
  (at r37 v62)
  (at r59 v63)
  (at r77 v64)
  (at r69 v65)
  (free v66)
  (at r71 v67)
  (free v68)
  (at r76 v69)
  (at r52 v70)
  (free v71)
  (at r67 v72)
  (at r49 v73)
  (free v74)
  (at r47 v75)
  (at r53 v76)
  (free v77)
  (at r46 v78)
  (free v79)
  (free v80)
  (free v81)
  (at r72 v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v22)
  (adjacent v1 v23)
  (adjacent v2 v3)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v48)
  (adjacent v4 v15)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v40)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v13)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v27)
  (adjacent v13 v28)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v34)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v59)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v24)
  (adjacent v21 v22)
  (adjacent v21 v48)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v24 v53)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v28 v49)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v58)
  (adjacent v34 v82)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v47)
  (adjacent v39 v40)
  (adjacent v40 v66)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v60)
  (adjacent v42 v72)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v52)
  (adjacent v48 v61)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v58)
  (adjacent v51 v52)
  (adjacent v52 v57)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v69)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v67)
  (adjacent v58 v76)
  (adjacent v59 v60)
  (adjacent v59 v70)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v71)
  (adjacent v64 v77)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
 )
 (:goal
  (and
  (at r48 v0)
  (free v1)
  (at r45 v2)
  (at r42 v3)
  (free v4)
  (free v5)
  (at r56 v6)
  (free v7)
  (free v8)
  (at r38 v9)
  (free v10)
  (free v11)
  (at r59 v12)
  (free v13)
  (at r55 v14)
  (free v15)
  (at r50 v16)
  (free v17)
  (free v18)
  (at r80 v19)
  (at r65 v20)
  (at r47 v21)
  (at r64 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r70 v27)
  (at r41 v28)
  (at r73 v29)
  (at r72 v30)
  (at r79 v31)
  (free v32)
  (at r52 v33)
  (free v34)
  (at r76 v35)
  (free v36)
  (at r51 v37)
  (at r68 v38)
  (at r74 v39)
  (at r46 v40)
  (at r75 v41)
  (free v42)
  (at r71 v43)
  (free v44)
  (at r82 v45)
  (at r77 v46)
  (at r53 v47)
  (free v48)
  (at r61 v49)
  (at r37 v50)
  (free v51)
  (free v52)
  (at r69 v53)
  (free v54)
  (at r54 v55)
  (at r63 v56)
  (free v57)
  (free v58)
  (at r57 v59)
  (at r44 v60)
  (free v61)
  (free v62)
  (at r81 v63)
  (free v64)
  (at r78 v65)
  (free v66)
  (at r49 v67)
  (at r66 v68)
  (free v69)
  (at r62 v70)
  (at r67 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r40 v75)
  (at r43 v76)
  (at r39 v77)
  (free v78)
  (at r60 v79)
  (at r58 v80)
  (at r36 v81)
  (at r35 v82)
  )
 )
)