(define (problem multirobot_23_90%_c9)
 (:domain multirobot)
 (:objects
  v0
  v1 r75
  v2 r69
  v3 r54
  v4
  v5 r37
  v6 r71
  v7
  v8
  v9 r36
  v10
  v11
  v12 r38
  v13 r52
  v14 r58
  v15 r40
  v16
  v17 r61
  v18 r64
  v19
  v20 r60
  v21 r53
  v22
  v23
  v24 r76
  v25
  v26 r67
  v27 r56
  v28
  v29 r43
  v30 r45
  v31 r57
  v32 r44
  v33
  v34 r50
  v35 r46
  v36 r72
  v37
  v38 r47
  v39 r48
  v40
  v41
  v42
  v43 r70
  v44 r62
  v45 r73
  v46
  v47 r59
  v48
  v49
  v50
  v51 r74
  v52
  v53 r65
  v54
  v55 r51
  v56
  v57
  v58
  v59
  v60
  v61
  v62
  v63 r41
  v64
  v65
  v66
  v67
  v68 r55
  v69 r63
  v70 r42
  v71
  v72 r68
  v73 r49
  v74
  v75 r77
  v76 r39
  v77 r66
 )
 (:init
  (free v0)
  (at r75 v1)
  (at r69 v2)
  (at r54 v3)
  (free v4)
  (at r37 v5)
  (at r71 v6)
  (free v7)
  (free v8)
  (at r36 v9)
  (free v10)
  (free v11)
  (at r38 v12)
  (at r52 v13)
  (at r58 v14)
  (at r40 v15)
  (free v16)
  (at r61 v17)
  (at r64 v18)
  (free v19)
  (at r60 v20)
  (at r53 v21)
  (free v22)
  (free v23)
  (at r76 v24)
  (free v25)
  (at r67 v26)
  (at r56 v27)
  (free v28)
  (at r43 v29)
  (at r45 v30)
  (at r57 v31)
  (at r44 v32)
  (free v33)
  (at r50 v34)
  (at r46 v35)
  (at r72 v36)
  (free v37)
  (at r47 v38)
  (at r48 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r70 v43)
  (at r62 v44)
  (at r73 v45)
  (free v46)
  (at r59 v47)
  (free v48)
  (free v49)
  (free v50)
  (at r74 v51)
  (free v52)
  (at r65 v53)
  (free v54)
  (at r51 v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (at r41 v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r55 v68)
  (at r63 v69)
  (at r42 v70)
  (free v71)
  (at r68 v72)
  (at r49 v73)
  (free v74)
  (at r77 v75)
  (at r39 v76)
  (at r66 v77)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v12)
  (adjacent v1 v14)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v11)
  (adjacent v3 v4)
  (adjacent v3 v15)
  (adjacent v3 v22)
  (adjacent v4 v10)
  (adjacent v4 v11)
  (adjacent v4 v13)
  (adjacent v4 v22)
  (adjacent v5 v6)
  (adjacent v5 v23)
  (adjacent v6 v7)
  (adjacent v6 v17)
  (adjacent v6 v38)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v13)
  (adjacent v8 v9)
  (adjacent v8 v70)
  (adjacent v9 v10)
  (adjacent v9 v34)
  (adjacent v11 v41)
  (adjacent v12 v14)
  (adjacent v13 v23)
  (adjacent v14 v21)
  (adjacent v15 v16)
  (adjacent v15 v18)
  (adjacent v15 v33)
  (adjacent v16 v17)
  (adjacent v17 v24)
  (adjacent v17 v26)
  (adjacent v17 v33)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v37)
  (adjacent v20 v40)
  (adjacent v21 v46)
  (adjacent v23 v25)
  (adjacent v24 v25)
  (adjacent v25 v32)
  (adjacent v25 v35)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v37)
  (adjacent v27 v71)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v47)
  (adjacent v37 v63)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v50)
  (adjacent v43 v44)
  (adjacent v43 v58)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v51)
  (adjacent v47 v48)
  (adjacent v47 v57)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v64)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v64 v77)
  (adjacent v65 v66)
  (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)
 )
 (:goal
  (and
  (at r41 v0)
  (at r53 v1)
  (free v2)
  (at r54 v3)
  (free v4)
  (at r76 v5)
  (free v6)
  (at r39 v7)
  (at r51 v8)
  (at r61 v9)
  (free v10)
  (at r59 v11)
  (free v12)
  (at r40 v13)
  (at r73 v14)
  (free v15)
  (at r48 v16)
  (at r44 v17)
  (free v18)
  (at r56 v19)
  (at r65 v20)
  (at r68 v21)
  (at r72 v22)
  (at r49 v23)
  (free v24)
  (at r52 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r37 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r50 v33)
  (free v34)
  (at r43 v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (at r38 v42)
  (at r42 v43)
  (free v44)
  (at r75 v45)
  (free v46)
  (at r66 v47)
  (at r64 v48)
  (at r60 v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (at r57 v54)
  (at r62 v55)
  (at r36 v56)
  (at r47 v57)
  (free v58)
  (at r70 v59)
  (at r46 v60)
  (at r67 v61)
  (at r58 v62)
  (free v63)
  (free v64)
  (at r69 v65)
  (free v66)
  (free v67)
  (at r55 v68)
  (at r74 v69)
  (at r63 v70)
  (free v71)
  (at r71 v72)
  (free v73)
  (at r45 v74)
  (at r77 v75)
  (free v76)
  (free v77)
  )
 )
)