(define (problem multirobot_23_90%_c6)
 (:domain multirobot)
 (:objects
  v0 r53
  v1
  v2
  v3
  v4 r59
  v5 r58
  v6 r49
  v7
  v8 r72
  v9
  v10
  v11
  v12 r50
  v13 r71
  v14
  v15
  v16 r70
  v17
  v18
  v19 r78
  v20 r46
  v21
  v22
  v23
  v24 r60
  v25
  v26
  v27 r51
  v28 r67
  v29
  v30 r73
  v31 r56
  v32
  v33
  v34
  v35 r74
  v36
  v37
  v38
  v39 r65
  v40 r81
  v41 r54
  v42 r55
  v43 r52
  v44 r66
  v45
  v46
  v47 r48
  v48
  v49
  v50 r57
  v51
  v52 r75
  v53 r76
  v54 r63
  v55 r47
  v56
  v57
  v58
  v59
  v60 r62
  v61
  v62 r79
  v63
  v64
  v65 r69
  v66
  v67
  v68
  v69
  v70 r80
  v71
  v72
  v73
  v74 r68
  v75
  v76 r61
  v77
  v78 r77
  v79
  v80
  v81 r64
 )
 (:init
  (at r53 v0)
  (free v1)
  (free v2)
  (free v3)
  (at r59 v4)
  (at r58 v5)
  (at r49 v6)
  (free v7)
  (at r72 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r50 v12)
  (at r71 v13)
  (free v14)
  (free v15)
  (at r70 v16)
  (free v17)
  (free v18)
  (at r78 v19)
  (at r46 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r60 v24)
  (free v25)
  (free v26)
  (at r51 v27)
  (at r67 v28)
  (free v29)
  (at r73 v30)
  (at r56 v31)
  (free v32)
  (free v33)
  (free v34)
  (at r74 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r65 v39)
  (at r81 v40)
  (at r54 v41)
  (at r55 v42)
  (at r52 v43)
  (at r66 v44)
  (free v45)
  (free v46)
  (at r48 v47)
  (free v48)
  (free v49)
  (at r57 v50)
  (free v51)
  (at r75 v52)
  (at r76 v53)
  (at r63 v54)
  (at r47 v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r62 v60)
  (free v61)
  (at r79 v62)
  (free v63)
  (free v64)
  (at r69 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r80 v70)
  (free v71)
  (free v72)
  (free v73)
  (at r68 v74)
  (free v75)
  (at r61 v76)
  (free v77)
  (at r77 v78)
  (free v79)
  (free v80)
  (at r64 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v38)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v14)
  (adjacent v1 v21)
  (adjacent v2 v3)
  (adjacent v2 v67)
  (adjacent v3 v4)
  (adjacent v4 v6)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v15)
  (adjacent v7 v8)
  (adjacent v7 v28)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v8 v29)
  (adjacent v9 v10)
  (adjacent v9 v33)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v12 v52)
  (adjacent v13 v14)
  (adjacent v14 v46)
  (adjacent v15 v16)
  (adjacent v15 v34)
  (adjacent v15 v45)
  (adjacent v16 v17)
  (adjacent v17 v81)
  (adjacent v18 v19)
  (adjacent v18 v32)
  (adjacent v18 v58)
  (adjacent v19 v20)
  (adjacent v19 v22)
  (adjacent v19 v33)
  (adjacent v20 v21)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v37)
  (adjacent v29 v46)
  (adjacent v30 v31)
  (adjacent v30 v38)
  (adjacent v30 v72)
  (adjacent v31 v32)
  (adjacent v32 v80)
  (adjacent v33 v39)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v53)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v38 v71)
  (adjacent v39 v40)
  (adjacent v39 v66)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v47)
  (adjacent v43 v56)
  (adjacent v44 v45)
  (adjacent v44 v51)
  (adjacent v45 v60)
  (adjacent v47 v48)
  (adjacent v47 v52)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v57)
  (adjacent v49 v64)
  (adjacent v49 v79)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v53 v57)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v63)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v78)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v81)
  (adjacent v77 v78)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r64 v0)
  (free v1)
  (free v2)
  (at r75 v3)
  (at r81 v4)
  (free v5)
  (free v6)
  (at r56 v7)
  (free v8)
  (free v9)
  (at r80 v10)
  (at r53 v11)
  (free v12)
  (free v13)
  (at r73 v14)
  (free v15)
  (at r69 v16)
  (at r57 v17)
  (free v18)
  (at r59 v19)
  (at r50 v20)
  (free v21)
  (free v22)
  (at r71 v23)
  (at r49 v24)
  (free v25)
  (free v26)
  (free v27)
  (at r76 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r58 v33)
  (free v34)
  (at r48 v35)
  (free v36)
  (at r46 v37)
  (free v38)
  (at r60 v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (at r77 v46)
  (at r52 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r65 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (at r54 v56)
  (at r51 v57)
  (at r70 v58)
  (free v59)
  (free v60)
  (at r55 v61)
  (at r74 v62)
  (at r68 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r62 v67)
  (free v68)
  (at r61 v69)
  (at r72 v70)
  (at r66 v71)
  (at r67 v72)
  (at r79 v73)
  (free v74)
  (at r47 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r63 v79)
  (free v80)
  (at r78 v81)
  )
 )
)