(define (problem multirobot_31_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r75
  v1 r59
  v2 r65
  v3 r33
  v4 r45
  v5 r49
  v6 r66
  v7 r80
  v8 r38
  v9 r20
  v10
  v11 r84
  v12 r16
  v13 r70
  v14 r27
  v15 r32
  v16
  v17 r73
  v18 r76
  v19 r46
  v20
  v21 r22
  v22 r18
  v23 r29
  v24 r24
  v25 r67
  v26 r55
  v27 r47
  v28
  v29 r35
  v30 r71
  v31 r52
  v32 r72
  v33 r30
  v34 r25
  v35 r34
  v36 r82
  v37 r74
  v38 r19
  v39 r54
  v40 r60
  v41 r53
  v42
  v43
  v44 r56
  v45 r83
  v46 r39
  v47 r61
  v48 r13
  v49 r37
  v50 r15
  v51 r69
  v52 r77
  v53 r31
  v54 r78
  v55
  v56 r28
  v57
  v58
  v59 r68
  v60 r48
  v61 r63
  v62 r51
  v63 r57
  v64 r62
  v65 r79
  v66 r26
  v67 r64
  v68 r23
  v69
  v70
  v71 r58
  v72 r40
  v73 r21
  v74 r17
  v75 r14
  v76 r43
  v77 r81
  v78
  v79 r44
  v80 r50
  v81 r12
  v82 r36
  v83 r42
  v84 r41
 )
 (:init
  (at r75 v0)
  (at r59 v1)
  (at r65 v2)
  (at r33 v3)
  (at r45 v4)
  (at r49 v5)
  (at r66 v6)
  (at r80 v7)
  (at r38 v8)
  (at r20 v9)
  (free v10)
  (at r84 v11)
  (at r16 v12)
  (at r70 v13)
  (at r27 v14)
  (at r32 v15)
  (free v16)
  (at r73 v17)
  (at r76 v18)
  (at r46 v19)
  (free v20)
  (at r22 v21)
  (at r18 v22)
  (at r29 v23)
  (at r24 v24)
  (at r67 v25)
  (at r55 v26)
  (at r47 v27)
  (free v28)
  (at r35 v29)
  (at r71 v30)
  (at r52 v31)
  (at r72 v32)
  (at r30 v33)
  (at r25 v34)
  (at r34 v35)
  (at r82 v36)
  (at r74 v37)
  (at r19 v38)
  (at r54 v39)
  (at r60 v40)
  (at r53 v41)
  (free v42)
  (free v43)
  (at r56 v44)
  (at r83 v45)
  (at r39 v46)
  (at r61 v47)
  (at r13 v48)
  (at r37 v49)
  (at r15 v50)
  (at r69 v51)
  (at r77 v52)
  (at r31 v53)
  (at r78 v54)
  (free v55)
  (at r28 v56)
  (free v57)
  (free v58)
  (at r68 v59)
  (at r48 v60)
  (at r63 v61)
  (at r51 v62)
  (at r57 v63)
  (at r62 v64)
  (at r79 v65)
  (at r26 v66)
  (at r64 v67)
  (at r23 v68)
  (free v69)
  (free v70)
  (at r58 v71)
  (at r40 v72)
  (at r21 v73)
  (at r17 v74)
  (at r14 v75)
  (at r43 v76)
  (at r81 v77)
  (free v78)
  (at r44 v79)
  (at r50 v80)
  (at r12 v81)
  (at r36 v82)
  (at r42 v83)
  (at r41 v84)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v24)
  (adjacent v0 v38)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v8)
  (adjacent v2 v18)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v7 v58)
  (adjacent v7 v72)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v27)
  (adjacent v8 v31)
  (adjacent v8 v81)
  (adjacent v9 v10)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v40)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v12 v51)
  (adjacent v13 v32)
  (adjacent v14 v15)
  (adjacent v14 v30)
  (adjacent v14 v46)
  (adjacent v15 v23)
  (adjacent v15 v26)
  (adjacent v16 v17)
  (adjacent v16 v36)
  (adjacent v16 v67)
  (adjacent v17 v25)
  (adjacent v17 v39)
  (adjacent v17 v77)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v31)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v45)
  (adjacent v23 v26)
  (adjacent v23 v45)
  (adjacent v23 v59)
  (adjacent v23 v70)
  (adjacent v24 v25)
  (adjacent v24 v62)
  (adjacent v25 v37)
  (adjacent v25 v46)
  (adjacent v25 v61)
  (adjacent v25 v68)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v47)
  (adjacent v29 v30)
  (adjacent v29 v65)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v44)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v66)
  (adjacent v36 v37)
  (adjacent v37 v48)
  (adjacent v38 v39)
  (adjacent v38 v49)
  (adjacent v39 v80)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v73)
  (adjacent v47 v48)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v70)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v71)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v59 v82)
  (adjacent v60 v61)
  (adjacent v60 v72)
  (adjacent v60 v84)
  (adjacent v62 v63)
  (adjacent v62 v71)
  (adjacent v63 v64)
  (adjacent v63 v69)
  (adjacent v64 v65)
  (adjacent v64 v66)
  (adjacent v67 v76)
  (adjacent v68 v69)
  (adjacent v68 v82)
  (adjacent v71 v83)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v83 v84)
 )
 (:goal
  (and
  (at r25 v0)
  (at r38 v1)
  (at r37 v2)
  (at r52 v3)
  (at r20 v4)
  (at r66 v5)
  (at r31 v6)
  (at r70 v7)
  (at r69 v8)
  (at r19 v9)
  (at r73 v10)
  (at r32 v11)
  (at r53 v12)
  (at r21 v13)
  (at r63 v14)
  (at r80 v15)
  (at r27 v16)
  (at r57 v17)
  (at r23 v18)
  (at r16 v19)
  (free v20)
  (at r28 v21)
  (at r59 v22)
  (at r60 v23)
  (at r64 v24)
  (at r44 v25)
  (at r72 v26)
  (at r61 v27)
  (free v28)
  (at r47 v29)
  (free v30)
  (at r65 v31)
  (at r49 v32)
  (at r75 v33)
  (at r18 v34)
  (at r68 v35)
  (at r29 v36)
  (at r22 v37)
  (at r78 v38)
  (at r39 v39)
  (free v40)
  (at r84 v41)
  (at r30 v42)
  (at r12 v43)
  (at r77 v44)
  (at r79 v45)
  (at r50 v46)
  (at r67 v47)
  (at r81 v48)
  (at r36 v49)
  (at r42 v50)
  (at r41 v51)
  (at r48 v52)
  (at r54 v53)
  (at r83 v54)
  (free v55)
  (at r15 v56)
  (at r56 v57)
  (at r40 v58)
  (free v59)
  (at r46 v60)
  (at r82 v61)
  (free v62)
  (at r35 v63)
  (at r17 v64)
  (free v65)
  (at r55 v66)
  (at r62 v67)
  (at r14 v68)
  (at r74 v69)
  (free v70)
  (free v71)
  (at r51 v72)
  (at r13 v73)
  (at r76 v74)
  (at r58 v75)
  (at r33 v76)
  (at r24 v77)
  (at r34 v78)
  (at r26 v79)
  (at r45 v80)
  (at r71 v81)
  (at r43 v82)
  (free v83)
  (free v84)
  )
 )
)