(define (problem multirobot_22_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r34
  v1 r22
  v2 r69
  v3 r75
  v4 r7
  v5
  v6 r70
  v7 r46
  v8 r27
  v9 r32
  v10 r15
  v11 r62
  v12
  v13 r9
  v14 r23
  v15 r83
  v16 r73
  v17 r53
  v18 r71
  v19 r19
  v20 r8
  v21 r26
  v22 r48
  v23 r11
  v24 r56
  v25 r16
  v26 r79
  v27
  v28 r44
  v29 r54
  v30 r61
  v31 r39
  v32 r59
  v33 r21
  v34 r25
  v35 r67
  v36
  v37 r36
  v38 r68
  v39 r74
  v40 r30
  v41 r20
  v42 r13
  v43 r60
  v44 r49
  v45 r55
  v46 r33
  v47 r81
  v48 r64
  v49 r29
  v50 r76
  v51 r63
  v52
  v53 r17
  v54 r52
  v55 r77
  v56 r18
  v57 r35
  v58 r58
  v59
  v60 r65
  v61 r78
  v62 r50
  v63 r42
  v64 r66
  v65 r45
  v66 r37
  v67 r57
  v68 r10
  v69 r38
  v70 r12
  v71 r31
  v72 r14
  v73 r41
  v74 r72
  v75 r84
  v76 r28
  v77 r40
  v78 r80
  v79 r82
  v80
  v81 r24
  v82 r47
  v83 r43
  v84 r51
 )
 (:init
  (at r34 v0)
  (at r22 v1)
  (at r69 v2)
  (at r75 v3)
  (at r7 v4)
  (free v5)
  (at r70 v6)
  (at r46 v7)
  (at r27 v8)
  (at r32 v9)
  (at r15 v10)
  (at r62 v11)
  (free v12)
  (at r9 v13)
  (at r23 v14)
  (at r83 v15)
  (at r73 v16)
  (at r53 v17)
  (at r71 v18)
  (at r19 v19)
  (at r8 v20)
  (at r26 v21)
  (at r48 v22)
  (at r11 v23)
  (at r56 v24)
  (at r16 v25)
  (at r79 v26)
  (free v27)
  (at r44 v28)
  (at r54 v29)
  (at r61 v30)
  (at r39 v31)
  (at r59 v32)
  (at r21 v33)
  (at r25 v34)
  (at r67 v35)
  (free v36)
  (at r36 v37)
  (at r68 v38)
  (at r74 v39)
  (at r30 v40)
  (at r20 v41)
  (at r13 v42)
  (at r60 v43)
  (at r49 v44)
  (at r55 v45)
  (at r33 v46)
  (at r81 v47)
  (at r64 v48)
  (at r29 v49)
  (at r76 v50)
  (at r63 v51)
  (free v52)
  (at r17 v53)
  (at r52 v54)
  (at r77 v55)
  (at r18 v56)
  (at r35 v57)
  (at r58 v58)
  (free v59)
  (at r65 v60)
  (at r78 v61)
  (at r50 v62)
  (at r42 v63)
  (at r66 v64)
  (at r45 v65)
  (at r37 v66)
  (at r57 v67)
  (at r10 v68)
  (at r38 v69)
  (at r12 v70)
  (at r31 v71)
  (at r14 v72)
  (at r41 v73)
  (at r72 v74)
  (at r84 v75)
  (at r28 v76)
  (at r40 v77)
  (at r80 v78)
  (at r82 v79)
  (free v80)
  (at r24 v81)
  (at r47 v82)
  (at r43 v83)
  (at r51 v84)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v1 v2)
  (adjacent v1 v6)
  (adjacent v1 v12)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v18)
  (adjacent v2 v26)
  (adjacent v3 v4)
  (adjacent v4 v5)
  (adjacent v4 v37)
  (adjacent v4 v70)
  (adjacent v5 v6)
  (adjacent v5 v22)
  (adjacent v7 v8)
  (adjacent v7 v53)
  (adjacent v8 v9)
  (adjacent v8 v13)
  (adjacent v8 v14)
  (adjacent v9 v10)
  (adjacent v9 v27)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v11 v12)
  (adjacent v11 v42)
  (adjacent v12 v44)
  (adjacent v13 v59)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v21)
  (adjacent v18 v19)
  (adjacent v18 v32)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v33)
  (adjacent v21 v47)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v45)
  (adjacent v24 v25)
  (adjacent v24 v36)
  (adjacent v25 v26)
  (adjacent v25 v58)
  (adjacent v26 v63)
  (adjacent v26 v78)
  (adjacent v27 v28)
  (adjacent v27 v57)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v71)
  (adjacent v31 v32)
  (adjacent v32 v75)
  (adjacent v33 v34)
  (adjacent v33 v44)
  (adjacent v33 v48)
  (adjacent v33 v54)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v43)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v43)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v55)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v64)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v56)
  (adjacent v51 v52)
  (adjacent v51 v54)
  (adjacent v52 v53)
  (adjacent v53 v64)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v79)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v65)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v84)
  (adjacent v70 v74)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
 )
 (:goal
  (and
  (at r52 v0)
  (at r21 v1)
  (at r13 v2)
  (at r43 v3)
  (at r80 v4)
  (at r75 v5)
  (at r33 v6)
  (at r22 v7)
  (at r30 v8)
  (at r68 v9)
  (at r81 v10)
  (at r20 v11)
  (free v12)
  (at r64 v13)
  (free v14)
  (at r55 v15)
  (at r29 v16)
  (at r84 v17)
  (at r57 v18)
  (at r69 v19)
  (at r67 v20)
  (at r31 v21)
  (at r59 v22)
  (at r70 v23)
  (at r40 v24)
  (at r39 v25)
  (at r7 v26)
  (at r23 v27)
  (at r62 v28)
  (free v29)
  (at r44 v30)
  (at r8 v31)
  (at r72 v32)
  (at r53 v33)
  (free v34)
  (at r83 v35)
  (at r41 v36)
  (at r34 v37)
  (at r63 v38)
  (at r17 v39)
  (at r74 v40)
  (at r28 v41)
  (at r45 v42)
  (at r38 v43)
  (at r50 v44)
  (at r18 v45)
  (at r65 v46)
  (free v47)
  (at r24 v48)
  (at r15 v49)
  (at r48 v50)
  (at r10 v51)
  (at r11 v52)
  (at r51 v53)
  (at r71 v54)
  (at r12 v55)
  (at r19 v56)
  (at r78 v57)
  (at r58 v58)
  (at r82 v59)
  (at r26 v60)
  (at r36 v61)
  (at r61 v62)
  (at r35 v63)
  (at r76 v64)
  (free v65)
  (at r32 v66)
  (at r16 v67)
  (at r79 v68)
  (at r56 v69)
  (at r77 v70)
  (at r49 v71)
  (at r47 v72)
  (at r37 v73)
  (at r42 v74)
  (free v75)
  (at r54 v76)
  (at r14 v77)
  (at r27 v78)
  (at r60 v79)
  (at r46 v80)
  (at r9 v81)
  (at r73 v82)
  (at r66 v83)
  (at r25 v84)
  )
 )
)