(define (problem multirobot_20_50%_c5)
 (:domain multirobot)
 (:objects
  v0 r69
  v1 r55
  v2 r58
  v3
  v4
  v5 r59
  v6 r43
  v7 r57
  v8
  v9
  v10 r42
  v11 r46
  v12 r50
  v13 r80
  v14
  v15 r79
  v16 r73
  v17 r34
  v18
  v19 r74
  v20
  v21
  v22 r82
  v23
  v24 r60
  v25 r72
  v26
  v27 r63
  v28 r68
  v29
  v30
  v31
  v32
  v33
  v34 r37
  v35 r48
  v36
  v37 r31
  v38 r36
  v39 r83
  v40
  v41 r49
  v42
  v43 r61
  v44 r30
  v45 r33
  v46 r54
  v47 r41
  v48
  v49
  v50 r75
  v51
  v52
  v53 r66
  v54 r71
  v55 r81
  v56
  v57 r53
  v58 r47
  v59
  v60 r70
  v61 r65
  v62 r67
  v63 r77
  v64
  v65 r85
  v66 r32
  v67 r51
  v68 r64
  v69 r52
  v70
  v71 r39
  v72 r44
  v73 r84
  v74
  v75 r76
  v76 r78
  v77 r45
  v78 r40
  v79 r62
  v80 r35
  v81 r56
  v82
  v83
  v84
  v85 r38
 )
 (:init
  (at r69 v0)
  (at r55 v1)
  (at r58 v2)
  (free v3)
  (free v4)
  (at r59 v5)
  (at r43 v6)
  (at r57 v7)
  (free v8)
  (free v9)
  (at r42 v10)
  (at r46 v11)
  (at r50 v12)
  (at r80 v13)
  (free v14)
  (at r79 v15)
  (at r73 v16)
  (at r34 v17)
  (free v18)
  (at r74 v19)
  (free v20)
  (free v21)
  (at r82 v22)
  (free v23)
  (at r60 v24)
  (at r72 v25)
  (free v26)
  (at r63 v27)
  (at r68 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (free v33)
  (at r37 v34)
  (at r48 v35)
  (free v36)
  (at r31 v37)
  (at r36 v38)
  (at r83 v39)
  (free v40)
  (at r49 v41)
  (free v42)
  (at r61 v43)
  (at r30 v44)
  (at r33 v45)
  (at r54 v46)
  (at r41 v47)
  (free v48)
  (free v49)
  (at r75 v50)
  (free v51)
  (free v52)
  (at r66 v53)
  (at r71 v54)
  (at r81 v55)
  (free v56)
  (at r53 v57)
  (at r47 v58)
  (free v59)
  (at r70 v60)
  (at r65 v61)
  (at r67 v62)
  (at r77 v63)
  (free v64)
  (at r85 v65)
  (at r32 v66)
  (at r51 v67)
  (at r64 v68)
  (at r52 v69)
  (free v70)
  (at r39 v71)
  (at r44 v72)
  (at r84 v73)
  (free v74)
  (at r76 v75)
  (at r78 v76)
  (at r45 v77)
  (at r40 v78)
  (at r62 v79)
  (at r35 v80)
  (at r56 v81)
  (free v82)
  (free v83)
  (free v84)
  (at r38 v85)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v6)
  (adjacent v0 v29)
  (adjacent v0 v67)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v72)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v17)
  (adjacent v3 v35)
  (adjacent v3 v36)
  (adjacent v4 v5)
  (adjacent v4 v16)
  (adjacent v5 v58)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v17)
  (adjacent v10 v71)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v80)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v39)
  (adjacent v13 v72)
  (adjacent v14 v15)
  (adjacent v14 v28)
  (adjacent v15 v16)
  (adjacent v15 v25)
  (adjacent v15 v46)
  (adjacent v15 v65)
  (adjacent v16 v18)
  (adjacent v18 v19)
  (adjacent v18 v45)
  (adjacent v18 v73)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v66)
  (adjacent v21 v22)
  (adjacent v21 v51)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v38)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v52)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v47)
  (adjacent v33 v85)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v39 v46)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v68)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v59)
  (adjacent v46 v71)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v67)
  (adjacent v53 v54)
  (adjacent v53 v66)
  (adjacent v54 v55)
  (adjacent v54 v70)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v79)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
 )
 (:goal
  (and
  (at r50 v0)
  (at r46 v1)
  (at r48 v2)
  (at r32 v3)
  (free v4)
  (free v5)
  (at r84 v6)
  (free v7)
  (at r64 v8)
  (at r37 v9)
  (at r56 v10)
  (at r68 v11)
  (at r41 v12)
  (at r55 v13)
  (at r80 v14)
  (at r43 v15)
  (at r65 v16)
  (free v17)
  (free v18)
  (at r53 v19)
  (at r34 v20)
  (free v21)
  (at r30 v22)
  (at r63 v23)
  (free v24)
  (at r33 v25)
  (at r66 v26)
  (free v27)
  (at r42 v28)
  (at r52 v29)
  (at r69 v30)
  (at r59 v31)
  (free v32)
  (at r47 v33)
  (at r85 v34)
  (at r61 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r83 v39)
  (free v40)
  (at r67 v41)
  (at r51 v42)
  (at r39 v43)
  (free v44)
  (free v45)
  (at r40 v46)
  (at r71 v47)
  (at r31 v48)
  (free v49)
  (at r44 v50)
  (at r70 v51)
  (at r54 v52)
  (at r81 v53)
  (at r35 v54)
  (free v55)
  (at r74 v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (at r76 v61)
  (free v62)
  (at r78 v63)
  (at r75 v64)
  (at r36 v65)
  (free v66)
  (at r38 v67)
  (at r82 v68)
  (at r57 v69)
  (free v70)
  (at r62 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r49 v75)
  (at r45 v76)
  (free v77)
  (at r73 v78)
  (free v79)
  (at r77 v80)
  (at r58 v81)
  (at r79 v82)
  (free v83)
  (at r60 v84)
  (at r72 v85)
  )
 )
)