(define (problem multirobot_22_90%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r53
  v3
  v4 r48
  v5
  v6
  v7 r59
  v8
  v9 r47
  v10
  v11 r61
  v12 r60
  v13
  v14 r81
  v15
  v16 r66
  v17
  v18
  v19 r80
  v20
  v21
  v22
  v23 r54
  v24
  v25 r71
  v26
  v27 r83
  v28 r51
  v29 r78
  v30
  v31
  v32 r46
  v33 r67
  v34
  v35
  v36
  v37 r50
  v38
  v39 r40
  v40 r64
  v41 r65
  v42
  v43 r76
  v44 r68
  v45
  v46 r44
  v47
  v48 r70
  v49 r42
  v50 r69
  v51 r55
  v52 r72
  v53
  v54 r73
  v55 r57
  v56 r74
  v57
  v58
  v59 r58
  v60
  v61
  v62 r79
  v63
  v64 r43
  v65 r75
  v66
  v67 r62
  v68
  v69 r82
  v70
  v71
  v72 r52
  v73
  v74 r45
  v75 r63
  v76
  v77 r49
  v78 r41
  v79 r56
  v80
  v81 r77
  v82
  v83
 )
 (:init
  (free v0)
  (free v1)
  (at r53 v2)
  (free v3)
  (at r48 v4)
  (free v5)
  (free v6)
  (at r59 v7)
  (free v8)
  (at r47 v9)
  (free v10)
  (at r61 v11)
  (at r60 v12)
  (free v13)
  (at r81 v14)
  (free v15)
  (at r66 v16)
  (free v17)
  (free v18)
  (at r80 v19)
  (free v20)
  (free v21)
  (free v22)
  (at r54 v23)
  (free v24)
  (at r71 v25)
  (free v26)
  (at r83 v27)
  (at r51 v28)
  (at r78 v29)
  (free v30)
  (free v31)
  (at r46 v32)
  (at r67 v33)
  (free v34)
  (free v35)
  (free v36)
  (at r50 v37)
  (free v38)
  (at r40 v39)
  (at r64 v40)
  (at r65 v41)
  (free v42)
  (at r76 v43)
  (at r68 v44)
  (free v45)
  (at r44 v46)
  (free v47)
  (at r70 v48)
  (at r42 v49)
  (at r69 v50)
  (at r55 v51)
  (at r72 v52)
  (free v53)
  (at r73 v54)
  (at r57 v55)
  (at r74 v56)
  (free v57)
  (free v58)
  (at r58 v59)
  (free v60)
  (free v61)
  (at r79 v62)
  (free v63)
  (at r43 v64)
  (at r75 v65)
  (free v66)
  (at r62 v67)
  (free v68)
  (at r82 v69)
  (free v70)
  (free v71)
  (at r52 v72)
  (free v73)
  (at r45 v74)
  (at r63 v75)
  (free v76)
  (at r49 v77)
  (at r41 v78)
  (at r56 v79)
  (free v80)
  (at r77 v81)
  (free v82)
  (free v83)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v28)
  (adjacent v1 v2)
  (adjacent v1 v12)
  (adjacent v1 v41)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v14)
  (adjacent v3 v25)
  (adjacent v3 v79)
  (adjacent v4 v5)
  (adjacent v4 v7)
  (adjacent v4 v64)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v11)
  (adjacent v6 v14)
  (adjacent v7 v8)
  (adjacent v7 v32)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v63)
  (adjacent v12 v13)
  (adjacent v12 v62)
  (adjacent v13 v20)
  (adjacent v14 v15)
  (adjacent v14 v39)
  (adjacent v14 v54)
  (adjacent v14 v78)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v21)
  (adjacent v19 v29)
  (adjacent v19 v33)
  (adjacent v19 v43)
  (adjacent v20 v24)
  (adjacent v20 v72)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v42)
  (adjacent v24 v60)
  (adjacent v24 v65)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v48)
  (adjacent v35 v74)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v40)
  (adjacent v39 v42)
  (adjacent v39 v53)
  (adjacent v40 v41)
  (adjacent v40 v61)
  (adjacent v40 v66)
  (adjacent v41 v49)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v75)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v83)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v61)
  (adjacent v57 v58)
  (adjacent v57 v71)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
 )
 (:goal
  (and
  (at r47 v0)
  (at r65 v1)
  (at r78 v2)
  (free v3)
  (at r76 v4)
  (at r64 v5)
  (at r54 v6)
  (free v7)
  (free v8)
  (at r61 v9)
  (free v10)
  (at r56 v11)
  (at r62 v12)
  (at r83 v13)
  (at r82 v14)
  (at r81 v15)
  (at r70 v16)
  (free v17)
  (at r53 v18)
  (free v19)
  (at r63 v20)
  (free v21)
  (free v22)
  (at r75 v23)
  (free v24)
  (at r58 v25)
  (free v26)
  (at r69 v27)
  (at r59 v28)
  (free v29)
  (at r60 v30)
  (free v31)
  (at r40 v32)
  (free v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (at r66 v41)
  (at r52 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (at r74 v48)
  (free v49)
  (at r72 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r68 v55)
  (free v56)
  (at r45 v57)
  (at r43 v58)
  (free v59)
  (at r46 v60)
  (free v61)
  (at r79 v62)
  (free v63)
  (free v64)
  (at r73 v65)
  (at r51 v66)
  (free v67)
  (at r55 v68)
  (free v69)
  (at r41 v70)
  (at r44 v71)
  (at r50 v72)
  (free v73)
  (at r48 v74)
  (at r77 v75)
  (at r67 v76)
  (at r57 v77)
  (at r80 v78)
  (free v79)
  (at r49 v80)
  (at r42 v81)
  (at r71 v82)
  (free v83)
  )
 )
)