(define (problem multirobot_28_90%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3 r67
  v4 r60
  v5 r100
  v6
  v7
  v8 r87
  v9 r61
  v10
  v11
  v12 r109
  v13 r51
  v14 r80
  v15 r77
  v16
  v17 r57
  v18
  v19
  v20 r49
  v21 r96
  v22 r95
  v23 r105
  v24 r76
  v25 r58
  v26 r107
  v27
  v28
  v29 r74
  v30 r73
  v31 r78
  v32 r68
  v33
  v34
  v35 r48
  v36 r75
  v37
  v38 r89
  v39 r70
  v40
  v41 r108
  v42
  v43 r114
  v44
  v45
  v46 r99
  v47
  v48
  v49
  v50 r110
  v51 r55
  v52
  v53
  v54 r69
  v55
  v56 r104
  v57 r59
  v58
  v59
  v60 r91
  v61 r72
  v62 r92
  v63
  v64 r83
  v65
  v66 r111
  v67
  v68 r56
  v69 r106
  v70 r65
  v71
  v72
  v73 r98
  v74
  v75 r79
  v76 r81
  v77 r102
  v78 r86
  v79 r113
  v80
  v81 r53
  v82 r85
  v83 r103
  v84 r97
  v85 r94
  v86
  v87 r52
  v88
  v89 r64
  v90 r50
  v91
  v92
  v93 r71
  v94
  v95 r88
  v96 r66
  v97
  v98 r115
  v99
  v100
  v101
  v102 r54
  v103 r90
  v104 r93
  v105 r101
  v106 r63
  v107 r84
  v108
  v109
  v110 r112
  v111 r82
  v112
  v113 r62
  v114
  v115
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (at r67 v3)
  (at r60 v4)
  (at r100 v5)
  (free v6)
  (free v7)
  (at r87 v8)
  (at r61 v9)
  (free v10)
  (free v11)
  (at r109 v12)
  (at r51 v13)
  (at r80 v14)
  (at r77 v15)
  (free v16)
  (at r57 v17)
  (free v18)
  (free v19)
  (at r49 v20)
  (at r96 v21)
  (at r95 v22)
  (at r105 v23)
  (at r76 v24)
  (at r58 v25)
  (at r107 v26)
  (free v27)
  (free v28)
  (at r74 v29)
  (at r73 v30)
  (at r78 v31)
  (at r68 v32)
  (free v33)
  (free v34)
  (at r48 v35)
  (at r75 v36)
  (free v37)
  (at r89 v38)
  (at r70 v39)
  (free v40)
  (at r108 v41)
  (free v42)
  (at r114 v43)
  (free v44)
  (free v45)
  (at r99 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r110 v50)
  (at r55 v51)
  (free v52)
  (free v53)
  (at r69 v54)
  (free v55)
  (at r104 v56)
  (at r59 v57)
  (free v58)
  (free v59)
  (at r91 v60)
  (at r72 v61)
  (at r92 v62)
  (free v63)
  (at r83 v64)
  (free v65)
  (at r111 v66)
  (free v67)
  (at r56 v68)
  (at r106 v69)
  (at r65 v70)
  (free v71)
  (free v72)
  (at r98 v73)
  (free v74)
  (at r79 v75)
  (at r81 v76)
  (at r102 v77)
  (at r86 v78)
  (at r113 v79)
  (free v80)
  (at r53 v81)
  (at r85 v82)
  (at r103 v83)
  (at r97 v84)
  (at r94 v85)
  (free v86)
  (at r52 v87)
  (free v88)
  (at r64 v89)
  (at r50 v90)
  (free v91)
  (free v92)
  (at r71 v93)
  (free v94)
  (at r88 v95)
  (at r66 v96)
  (free v97)
  (at r115 v98)
  (free v99)
  (free v100)
  (free v101)
  (at r54 v102)
  (at r90 v103)
  (at r93 v104)
  (at r101 v105)
  (at r63 v106)
  (at r84 v107)
  (free v108)
  (free v109)
  (at r112 v110)
  (at r82 v111)
  (free v112)
  (at r62 v113)
  (free v114)
  (free v115)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v15)
  (adjacent v0 v16)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v65)
  (adjacent v1 v107)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v25)
  (adjacent v2 v62)
  (adjacent v3 v4)
  (adjacent v3 v76)
  (adjacent v4 v32)
  (adjacent v5 v6)
  (adjacent v5 v51)
  (adjacent v5 v87)
  (adjacent v6 v7)
  (adjacent v6 v9)
  (adjacent v6 v92)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v7 v10)
  (adjacent v7 v77)
  (adjacent v8 v18)
  (adjacent v10 v11)
  (adjacent v10 v31)
  (adjacent v10 v70)
  (adjacent v10 v91)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v98)
  (adjacent v13 v14)
  (adjacent v13 v82)
  (adjacent v14 v15)
  (adjacent v14 v86)
  (adjacent v15 v22)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v38)
  (adjacent v18 v59)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v23)
  (adjacent v22 v26)
  (adjacent v22 v47)
  (adjacent v22 v57)
  (adjacent v23 v24)
  (adjacent v23 v48)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v26 v39)
  (adjacent v26 v61)
  (adjacent v26 v67)
  (adjacent v27 v28)
  (adjacent v27 v69)
  (adjacent v28 v29)
  (adjacent v28 v45)
  (adjacent v28 v108)
  (adjacent v29 v30)
  (adjacent v29 v44)
  (adjacent v29 v100)
  (adjacent v30 v31)
  (adjacent v30 v56)
  (adjacent v32 v33)
  (adjacent v32 v50)
  (adjacent v33 v34)
  (adjacent v33 v53)
  (adjacent v33 v60)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v102)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v54)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v48 v66)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v66)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v101)
  (adjacent v55 v56)
  (adjacent v55 v114)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v101)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v73 v81)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v113)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v93 v99)
  (adjacent v93 v115)
  (adjacent v94 v95)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
  (adjacent v99 v100)
  (adjacent v102 v103)
  (adjacent v103 v104)
  (adjacent v104 v105)
  (adjacent v105 v106)
  (adjacent v106 v107)
  (adjacent v108 v109)
  (adjacent v109 v110)
  (adjacent v110 v111)
  (adjacent v111 v112)
  (adjacent v112 v113)
  (adjacent v114 v115)
 )
 (:goal
  (and
  (at r71 v0)
  (at r107 v1)
  (at r97 v2)
  (at r83 v3)
  (at r78 v4)
  (free v5)
  (at r61 v6)
  (free v7)
  (at r87 v8)
  (at r49 v9)
  (free v10)
  (at r62 v11)
  (at r68 v12)
  (free v13)
  (free v14)
  (at r100 v15)
  (at r113 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r60 v20)
  (free v21)
  (free v22)
  (at r88 v23)
  (free v24)
  (free v25)
  (at r74 v26)
  (free v27)
  (at r93 v28)
  (at r99 v29)
  (free v30)
  (at r108 v31)
  (free v32)
  (at r64 v33)
  (free v34)
  (free v35)
  (at r94 v36)
  (at r104 v37)
  (at r63 v38)
  (free v39)
  (at r70 v40)
  (at r50 v41)
  (at r77 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r102 v47)
  (at r106 v48)
  (free v49)
  (at r86 v50)
  (free v51)
  (at r103 v52)
  (at r98 v53)
  (at r75 v54)
  (at r53 v55)
  (at r54 v56)
  (free v57)
  (at r114 v58)
  (at r52 v59)
  (at r81 v60)
  (free v61)
  (at r51 v62)
  (at r76 v63)
  (free v64)
  (at r80 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r72 v69)
  (free v70)
  (at r79 v71)
  (at r91 v72)
  (at r95 v73)
  (at r105 v74)
  (free v75)
  (free v76)
  (at r111 v77)
  (free v78)
  (at r110 v79)
  (at r89 v80)
  (free v81)
  (at r73 v82)
  (free v83)
  (at r101 v84)
  (at r56 v85)
  (free v86)
  (free v87)
  (at r112 v88)
  (free v89)
  (at r59 v90)
  (free v91)
  (at r90 v92)
  (at r58 v93)
  (at r55 v94)
  (free v95)
  (at r96 v96)
  (free v97)
  (at r85 v98)
  (at r48 v99)
  (free v100)
  (at r84 v101)
  (free v102)
  (at r57 v103)
  (free v104)
  (free v105)
  (at r115 v106)
  (free v107)
  (at r66 v108)
  (at r65 v109)
  (at r69 v110)
  (at r67 v111)
  (free v112)
  (at r82 v113)
  (at r92 v114)
  (at r109 v115)
  )
 )
)