(define (problem multirobot_21_50%_c6)
 (:domain multirobot)
 (:objects
  v0 r75
  v1 r59
  v2 r56
  v3
  v4
  v5
  v6 r69
  v7
  v8 r45
  v9
  v10
  v11 r64
  v12
  v13 r73
  v14
  v15
  v16
  v17 r61
  v18 r63
  v19
  v20 r52
  v21 r60
  v22 r74
  v23 r57
  v24
  v25 r67
  v26
  v27
  v28 r49
  v29 r71
  v30 r72
  v31
  v32
  v33
  v34 r70
  v35
  v36 r65
  v37
  v38 r81
  v39
  v40
  v41
  v42 r51
  v43 r77
  v44 r43
  v45 r82
  v46
  v47 r47
  v48 r68
  v49
  v50 r44
  v51
  v52
  v53 r66
  v54
  v55 r76
  v56 r40
  v57
  v58 r58
  v59 r48
  v60 r80
  v61 r50
  v62 r41
  v63
  v64
  v65 r55
  v66
  v67 r62
  v68 r46
  v69
  v70
  v71 r54
  v72
  v73
  v74
  v75 r79
  v76 r42
  v77
  v78
  v79 r53
  v80
  v81 r78
  v82
 )
 (:init
  (at r75 v0)
  (at r59 v1)
  (at r56 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r69 v6)
  (free v7)
  (at r45 v8)
  (free v9)
  (free v10)
  (at r64 v11)
  (free v12)
  (at r73 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r61 v17)
  (at r63 v18)
  (free v19)
  (at r52 v20)
  (at r60 v21)
  (at r74 v22)
  (at r57 v23)
  (free v24)
  (at r67 v25)
  (free v26)
  (free v27)
  (at r49 v28)
  (at r71 v29)
  (at r72 v30)
  (free v31)
  (free v32)
  (free v33)
  (at r70 v34)
  (free v35)
  (at r65 v36)
  (free v37)
  (at r81 v38)
  (free v39)
  (free v40)
  (free v41)
  (at r51 v42)
  (at r77 v43)
  (at r43 v44)
  (at r82 v45)
  (free v46)
  (at r47 v47)
  (at r68 v48)
  (free v49)
  (at r44 v50)
  (free v51)
  (free v52)
  (at r66 v53)
  (free v54)
  (at r76 v55)
  (at r40 v56)
  (free v57)
  (at r58 v58)
  (at r48 v59)
  (at r80 v60)
  (at r50 v61)
  (at r41 v62)
  (free v63)
  (free v64)
  (at r55 v65)
  (free v66)
  (at r62 v67)
  (at r46 v68)
  (free v69)
  (free v70)
  (at r54 v71)
  (free v72)
  (free v73)
  (free v74)
  (at r79 v75)
  (at r42 v76)
  (free v77)
  (free v78)
  (at r53 v79)
  (free v80)
  (at r78 v81)
  (free v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v20)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v1 v59)
  (adjacent v2 v3)
  (adjacent v2 v73)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v4 v19)
  (adjacent v4 v28)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v5 v40)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v39)
  (adjacent v6 v72)
  (adjacent v7 v12)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v79)
  (adjacent v11 v12)
  (adjacent v12 v60)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v41)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v33)
  (adjacent v18 v19)
  (adjacent v19 v22)
  (adjacent v19 v23)
  (adjacent v20 v21)
  (adjacent v20 v22)
  (adjacent v20 v48)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v32)
  (adjacent v28 v29)
  (adjacent v28 v37)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v36)
  (adjacent v32 v41)
  (adjacent v32 v52)
  (adjacent v33 v34)
  (adjacent v33 v73)
  (adjacent v33 v74)
  (adjacent v34 v35)
  (adjacent v34 v42)
  (adjacent v35 v36)
  (adjacent v36 v77)
  (adjacent v37 v38)
  (adjacent v37 v76)
  (adjacent v37 v82)
  (adjacent v38 v39)
  (adjacent v39 v67)
  (adjacent v39 v78)
  (adjacent v41 v51)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v49)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v56)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v66)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
 )
 (:goal
  (and
  (at r40 v0)
  (at r44 v1)
  (at r47 v2)
  (free v3)
  (at r48 v4)
  (at r53 v5)
  (free v6)
  (free v7)
  (at r67 v8)
  (at r54 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r49 v14)
  (free v15)
  (at r68 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r51 v20)
  (at r65 v21)
  (at r78 v22)
  (free v23)
  (free v24)
  (at r56 v25)
  (at r58 v26)
  (free v27)
  (free v28)
  (at r52 v29)
  (free v30)
  (free v31)
  (at r80 v32)
  (at r71 v33)
  (at r46 v34)
  (at r75 v35)
  (free v36)
  (at r60 v37)
  (free v38)
  (at r74 v39)
  (at r69 v40)
  (at r59 v41)
  (free v42)
  (at r73 v43)
  (free v44)
  (at r43 v45)
  (free v46)
  (at r66 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (at r76 v52)
  (free v53)
  (free v54)
  (at r55 v55)
  (at r82 v56)
  (at r61 v57)
  (free v58)
  (at r42 v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (at r45 v64)
  (at r57 v65)
  (at r70 v66)
  (at r64 v67)
  (free v68)
  (at r62 v69)
  (free v70)
  (at r77 v71)
  (at r79 v72)
  (free v73)
  (at r50 v74)
  (at r72 v75)
  (free v76)
  (free v77)
  (at r81 v78)
  (free v79)
  (at r41 v80)
  (at r63 v81)
  (free v82)
  )
 )
)