(define (problem multirobot_20_90%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1 r40
  v2
  v3 r53
  v4
  v5
  v6
  v7
  v8
  v9 r46
  v10
  v11
  v12 r79
  v13 r68
  v14
  v15 r45
  v16 r72
  v17 r57
  v18 r56
  v19 r58
  v20 r73
  v21
  v22 r54
  v23
  v24 r43
  v25
  v26 r74
  v27
  v28
  v29 r61
  v30 r60
  v31 r50
  v32
  v33
  v34 r41
  v35 r62
  v36
  v37 r47
  v38 r42
  v39
  v40 r69
  v41
  v42 r75
  v43
  v44
  v45
  v46
  v47 r76
  v48
  v49 r52
  v50
  v51 r63
  v52
  v53 r48
  v54 r67
  v55 r55
  v56
  v57 r51
  v58
  v59 r59
  v60 r65
  v61
  v62 r49
  v63 r39
  v64
  v65 r64
  v66
  v67
  v68 r77
  v69
  v70 r70
  v71
  v72 r44
  v73 r66
  v74
  v75
  v76
  v77 r71
  v78 r78
  v79
 )
 (:init
  (free v0)
  (at r40 v1)
  (free v2)
  (at r53 v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (free v8)
  (at r46 v9)
  (free v10)
  (free v11)
  (at r79 v12)
  (at r68 v13)
  (free v14)
  (at r45 v15)
  (at r72 v16)
  (at r57 v17)
  (at r56 v18)
  (at r58 v19)
  (at r73 v20)
  (free v21)
  (at r54 v22)
  (free v23)
  (at r43 v24)
  (free v25)
  (at r74 v26)
  (free v27)
  (free v28)
  (at r61 v29)
  (at r60 v30)
  (at r50 v31)
  (free v32)
  (free v33)
  (at r41 v34)
  (at r62 v35)
  (free v36)
  (at r47 v37)
  (at r42 v38)
  (free v39)
  (at r69 v40)
  (free v41)
  (at r75 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r76 v47)
  (free v48)
  (at r52 v49)
  (free v50)
  (at r63 v51)
  (free v52)
  (at r48 v53)
  (at r67 v54)
  (at r55 v55)
  (free v56)
  (at r51 v57)
  (free v58)
  (at r59 v59)
  (at r65 v60)
  (free v61)
  (at r49 v62)
  (at r39 v63)
  (free v64)
  (at r64 v65)
  (free v66)
  (free v67)
  (at r77 v68)
  (free v69)
  (at r70 v70)
  (free v71)
  (at r44 v72)
  (at r66 v73)
  (free v74)
  (free v75)
  (free v76)
  (at r71 v77)
  (at r78 v78)
  (free v79)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v16)
  (adjacent v3 v17)
  (adjacent v4 v37)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v29)
  (adjacent v6 v7)
  (adjacent v6 v23)
  (adjacent v7 v8)
  (adjacent v7 v41)
  (adjacent v7 v50)
  (adjacent v7 v51)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v25)
  (adjacent v9 v70)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v10 v22)
  (adjacent v10 v46)
  (adjacent v10 v77)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v49)
  (adjacent v16 v28)
  (adjacent v16 v63)
  (adjacent v17 v18)
  (adjacent v17 v57)
  (adjacent v18 v19)
  (adjacent v18 v24)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v64)
  (adjacent v21 v71)
  (adjacent v22 v65)
  (adjacent v23 v24)
  (adjacent v23 v62)
  (adjacent v24 v36)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v28 v58)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v79)
  (adjacent v31 v32)
  (adjacent v31 v36)
  (adjacent v32 v33)
  (adjacent v32 v48)
  (adjacent v32 v61)
  (adjacent v33 v34)
  (adjacent v33 v65)
  (adjacent v34 v35)
  (adjacent v37 v38)
  (adjacent v37 v45)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v78)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v66)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v62)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v63 v64)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
 )
 (:goal
  (and
  (at r48 v0)
  (at r54 v1)
  (free v2)
  (at r59 v3)
  (at r66 v4)
  (at r73 v5)
  (at r64 v6)
  (free v7)
  (at r60 v8)
  (at r43 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r63 v14)
  (free v15)
  (at r51 v16)
  (free v17)
  (free v18)
  (at r44 v19)
  (at r58 v20)
  (free v21)
  (at r42 v22)
  (at r57 v23)
  (at r78 v24)
  (at r76 v25)
  (at r56 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r75 v30)
  (free v31)
  (free v32)
  (at r50 v33)
  (at r52 v34)
  (at r71 v35)
  (free v36)
  (free v37)
  (at r67 v38)
  (at r61 v39)
  (free v40)
  (free v41)
  (at r68 v42)
  (at r77 v43)
  (at r65 v44)
  (at r79 v45)
  (free v46)
  (at r39 v47)
  (free v48)
  (free v49)
  (at r45 v50)
  (at r69 v51)
  (free v52)
  (at r72 v53)
  (free v54)
  (at r70 v55)
  (at r46 v56)
  (free v57)
  (at r53 v58)
  (at r47 v59)
  (at r55 v60)
  (at r49 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r74 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r41 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r40 v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (at r62 v79)
  )
 )
)