(define (problem multirobot_22_50%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2 r69
  v3 r75
  v4
  v5
  v6 r70
  v7 r46
  v8
  v9
  v10
  v11 r62
  v12
  v13
  v14
  v15 r83
  v16 r73
  v17 r53
  v18 r71
  v19
  v20
  v21
  v22 r48
  v23
  v24 r56
  v25
  v26 r79
  v27
  v28 r44
  v29 r54
  v30 r61
  v31 r39
  v32 r59
  v33
  v34
  v35 r67
  v36
  v37
  v38 r68
  v39 r74
  v40
  v41
  v42
  v43 r60
  v44 r49
  v45 r55
  v46
  v47 r81
  v48 r64
  v49
  v50 r76
  v51 r63
  v52
  v53
  v54 r52
  v55 r77
  v56
  v57
  v58 r58
  v59
  v60 r65
  v61 r78
  v62 r50
  v63 r42
  v64 r66
  v65 r45
  v66
  v67 r57
  v68
  v69
  v70
  v71
  v72
  v73 r41
  v74 r72
  v75 r84
  v76
  v77 r40
  v78 r80
  v79 r82
  v80
  v81
  v82 r47
  v83 r43
  v84 r51
 )
 (:init
  (free v0)
  (free v1)
  (at r69 v2)
  (at r75 v3)
  (free v4)
  (free v5)
  (at r70 v6)
  (at r46 v7)
  (free v8)
  (free v9)
  (free v10)
  (at r62 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r83 v15)
  (at r73 v16)
  (at r53 v17)
  (at r71 v18)
  (free v19)
  (free v20)
  (free v21)
  (at r48 v22)
  (free v23)
  (at r56 v24)
  (free v25)
  (at r79 v26)
  (free v27)
  (at r44 v28)
  (at r54 v29)
  (at r61 v30)
  (at r39 v31)
  (at r59 v32)
  (free v33)
  (free v34)
  (at r67 v35)
  (free v36)
  (free v37)
  (at r68 v38)
  (at r74 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r60 v43)
  (at r49 v44)
  (at r55 v45)
  (free v46)
  (at r81 v47)
  (at r64 v48)
  (free v49)
  (at r76 v50)
  (at r63 v51)
  (free v52)
  (free v53)
  (at r52 v54)
  (at r77 v55)
  (free v56)
  (free v57)
  (at r58 v58)
  (free v59)
  (at r65 v60)
  (at r78 v61)
  (at r50 v62)
  (at r42 v63)
  (at r66 v64)
  (at r45 v65)
  (free v66)
  (at r57 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (at r41 v73)
  (at r72 v74)
  (at r84 v75)
  (free v76)
  (at r40 v77)
  (at r80 v78)
  (at r82 v79)
  (free v80)
  (free 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)
  (free v1)
  (free v2)
  (at r43 v3)
  (at r80 v4)
  (at r75 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r68 v9)
  (at r81 v10)
  (free v11)
  (free v12)
  (at r64 v13)
  (free v14)
  (at r55 v15)
  (free v16)
  (at r84 v17)
  (at r57 v18)
  (at r69 v19)
  (at r67 v20)
  (free v21)
  (at r59 v22)
  (at r70 v23)
  (at r40 v24)
  (at r39 v25)
  (free v26)
  (free v27)
  (at r62 v28)
  (free v29)
  (at r44 v30)
  (free v31)
  (at r72 v32)
  (at r53 v33)
  (free v34)
  (at r83 v35)
  (at r41 v36)
  (free v37)
  (at r63 v38)
  (free v39)
  (at r74 v40)
  (free v41)
  (at r45 v42)
  (free v43)
  (at r50 v44)
  (free v45)
  (at r65 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r48 v50)
  (free v51)
  (free v52)
  (at r51 v53)
  (at r71 v54)
  (free v55)
  (free v56)
  (at r78 v57)
  (at r58 v58)
  (at r82 v59)
  (free v60)
  (free v61)
  (at r61 v62)
  (free v63)
  (at r76 v64)
  (free v65)
  (free v66)
  (free v67)
  (at r79 v68)
  (at r56 v69)
  (at r77 v70)
  (at r49 v71)
  (at r47 v72)
  (free v73)
  (at r42 v74)
  (free v75)
  (at r54 v76)
  (free v77)
  (free v78)
  (at r60 v79)
  (at r46 v80)
  (free v81)
  (at r73 v82)
  (at r66 v83)
  (free v84)
  )
 )
)