(define (problem multirobot_23_90%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r69
  v3 r77
  v4
  v5 r65
  v6 r49
  v7
  v8 r71
  v9
  v10 r53
  v11 r78
  v12
  v13 r76
  v14 r59
  v15
  v16 r57
  v17 r56
  v18
  v19 r63
  v20 r50
  v21
  v22
  v23
  v24 r79
  v25 r48
  v26 r80
  v27
  v28 r64
  v29
  v30
  v31
  v32 r72
  v33
  v34
  v35
  v36 r67
  v37 r44
  v38 r62
  v39
  v40 r46
  v41 r54
  v42
  v43 r75
  v44 r61
  v45
  v46
  v47
  v48
  v49 r70
  v50
  v51 r51
  v52
  v53 r74
  v54 r43
  v55
  v56
  v57
  v58 r66
  v59 r45
  v60
  v61 r60
  v62
  v63
  v64 r42
  v65
  v66
  v67
  v68
  v69 r47
  v70 r55
  v71 r52
  v72 r68
  v73
  v74 r73
  v75
  v76
  v77 r58
  v78
  v79
  v80
 )
 (:init
  (free v0)
  (free v1)
  (at r69 v2)
  (at r77 v3)
  (free v4)
  (at r65 v5)
  (at r49 v6)
  (free v7)
  (at r71 v8)
  (free v9)
  (at r53 v10)
  (at r78 v11)
  (free v12)
  (at r76 v13)
  (at r59 v14)
  (free v15)
  (at r57 v16)
  (at r56 v17)
  (free v18)
  (at r63 v19)
  (at r50 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r79 v24)
  (at r48 v25)
  (at r80 v26)
  (free v27)
  (at r64 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r72 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r67 v36)
  (at r44 v37)
  (at r62 v38)
  (free v39)
  (at r46 v40)
  (at r54 v41)
  (free v42)
  (at r75 v43)
  (at r61 v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r70 v49)
  (free v50)
  (at r51 v51)
  (free v52)
  (at r74 v53)
  (at r43 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r66 v58)
  (at r45 v59)
  (free v60)
  (at r60 v61)
  (free v62)
  (free v63)
  (at r42 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r47 v69)
  (at r55 v70)
  (at r52 v71)
  (at r68 v72)
  (free v73)
  (at r73 v74)
  (free v75)
  (free v76)
  (at r58 v77)
  (free v78)
  (free v79)
  (free v80)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v15)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v18)
  (adjacent v2 v3)
  (adjacent v2 v33)
  (adjacent v2 v69)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v20)
  (adjacent v4 v5)
  (adjacent v4 v34)
  (adjacent v5 v6)
  (adjacent v5 v32)
  (adjacent v5 v37)
  (adjacent v6 v8)
  (adjacent v6 v14)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v8 v25)
  (adjacent v9 v10)
  (adjacent v9 v27)
  (adjacent v9 v52)
  (adjacent v10 v11)
  (adjacent v10 v49)
  (adjacent v10 v76)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v33)
  (adjacent v14 v17)
  (adjacent v14 v48)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v80)
  (adjacent v18 v19)
  (adjacent v18 v78)
  (adjacent v19 v20)
  (adjacent v19 v21)
  (adjacent v19 v59)
  (adjacent v20 v38)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v44)
  (adjacent v24 v26)
  (adjacent v24 v47)
  (adjacent v25 v26)
  (adjacent v25 v45)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v45)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v62)
  (adjacent v33 v46)
  (adjacent v33 v53)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v48)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v58)
  (adjacent v43 v44)
  (adjacent v45 v63)
  (adjacent v46 v47)
  (adjacent v47 v68)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v72)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v77)
  (adjacent v65 v66)
  (adjacent v65 v73)
  (adjacent v66 v67)
  (adjacent v66 v75)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r71 v0)
  (at r46 v1)
  (free v2)
  (free v3)
  (at r60 v4)
  (free v5)
  (at r74 v6)
  (at r59 v7)
  (at r52 v8)
  (free v9)
  (at r63 v10)
  (free v11)
  (free v12)
  (at r53 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r65 v18)
  (at r75 v19)
  (at r43 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r51 v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r69 v33)
  (at r44 v34)
  (free v35)
  (at r78 v36)
  (at r49 v37)
  (at r58 v38)
  (free v39)
  (at r79 v40)
  (at r55 v41)
  (free v42)
  (at r62 v43)
  (at r72 v44)
  (free v45)
  (at r67 v46)
  (at r76 v47)
  (at r42 v48)
  (free v49)
  (at r61 v50)
  (at r80 v51)
  (at r77 v52)
  (free v53)
  (at r70 v54)
  (at r48 v55)
  (free v56)
  (at r50 v57)
  (at r56 v58)
  (free v59)
  (at r66 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r47 v64)
  (free v65)
  (free v66)
  (at r54 v67)
  (free v68)
  (free v69)
  (at r57 v70)
  (at r68 v71)
  (free v72)
  (at r64 v73)
  (free v74)
  (free v75)
  (at r73 v76)
  (free v77)
  (at r45 v78)
  (free v79)
  (free v80)
  )
 )
)