(define (problem multirobot_28_90%_c5)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4
  v5
  v6 r72
  v7
  v8
  v9 r70
  v10
  v11
  v12
  v13 r68
  v14
  v15 r66
  v16
  v17
  v18
  v19 r73
  v20
  v21 r79
  v22
  v23
  v24
  v25
  v26
  v27
  v28
  v29
  v30 r60
  v31 r69
  v32 r81
  v33
  v34 r59
  v35 r63
  v36 r77
  v37
  v38 r75
  v39
  v40
  v41 r71
  v42
  v43 r76
  v44
  v45
  v46 r61
  v47
  v48
  v49 r82
  v50
  v51
  v52
  v53
  v54 r65
  v55
  v56 r74
  v57
  v58
  v59
  v60
  v61
  v62
  v63
  v64 r64
  v65 r80
  v66 r78
  v67
  v68
  v69
  v70
  v71
  v72
  v73
  v74
  v75
  v76 r62
  v77
  v78
  v79
  v80 r67
  v81
  v82
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r72 v6)
  (free v7)
  (free v8)
  (at r70 v9)
  (free v10)
  (free v11)
  (free v12)
  (at r68 v13)
  (free v14)
  (at r66 v15)
  (free v16)
  (free v17)
  (free v18)
  (at r73 v19)
  (free v20)
  (at r79 v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r60 v30)
  (at r69 v31)
  (at r81 v32)
  (free v33)
  (at r59 v34)
  (at r63 v35)
  (at r77 v36)
  (free v37)
  (at r75 v38)
  (free v39)
  (free v40)
  (at r71 v41)
  (free v42)
  (at r76 v43)
  (free v44)
  (free v45)
  (at r61 v46)
  (free v47)
  (free v48)
  (at r82 v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (at r65 v54)
  (free v55)
  (at r74 v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (at r64 v64)
  (at r80 v65)
  (at r78 v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r62 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r67 v80)
  (free v81)
  (free v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v7)
  (adjacent v0 v23)
  (adjacent v0 v30)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v9)
  (adjacent v1 v41)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v10)
  (adjacent v2 v15)
  (adjacent v2 v68)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v16)
  (adjacent v3 v29)
  (adjacent v4 v6)
  (adjacent v4 v8)
  (adjacent v4 v30)
  (adjacent v5 v7)
  (adjacent v5 v8)
  (adjacent v5 v9)
  (adjacent v6 v10)
  (adjacent v6 v46)
  (adjacent v7 v60)
  (adjacent v8 v17)
  (adjacent v9 v24)
  (adjacent v9 v37)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v12 v41)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v52)
  (adjacent v20 v21)
  (adjacent v20 v36)
  (adjacent v20 v69)
  (adjacent v21 v22)
  (adjacent v21 v54)
  (adjacent v21 v61)
  (adjacent v21 v70)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v36)
  (adjacent v27 v28)
  (adjacent v27 v31)
  (adjacent v27 v45)
  (adjacent v28 v29)
  (adjacent v29 v40)
  (adjacent v29 v42)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v47)
  (adjacent v34 v35)
  (adjacent v35 v74)
  (adjacent v36 v51)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v44)
  (adjacent v39 v40)
  (adjacent v40 v78)
  (adjacent v40 v81)
  (adjacent v41 v72)
  (adjacent v41 v82)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v55)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v73)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v80)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v70 v77)
  (adjacent v71 v72)
  (adjacent v74 v75)
  (adjacent v74 v82)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v79 v81)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (at r77 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r82 v8)
  (at r81 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r69 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r76 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r75 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r66 v34)
  (at r68 v35)
  (free v36)
  (free v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (at r63 v44)
  (at r61 v45)
  (free v46)
  (at r62 v47)
  (free v48)
  (at r59 v49)
  (free v50)
  (at r78 v51)
  (at r65 v52)
  (at r79 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (at r80 v58)
  (free v59)
  (at r60 v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r64 v65)
  (free v66)
  (free v67)
  (at r72 v68)
  (free v69)
  (at r67 v70)
  (at r71 v71)
  (free v72)
  (free v73)
  (at r74 v74)
  (free v75)
  (free v76)
  (at r70 v77)
  (free v78)
  (free v79)
  (at r73 v80)
  (free v81)
  (free v82)
  )
 )
)