(define (problem multirobot_23_50%_c1)
 (:domain multirobot)
 (:objects
  v0
  v1 r64
  v2
  v3
  v4
  v5
  v6 r44
  v7 r80
  v8 r57
  v9
  v10 r70
  v11 r85
  v12
  v13 r48
  v14 r52
  v15 r51
  v16
  v17
  v18
  v19
  v20 r59
  v21
  v22
  v23
  v24 r47
  v25 r65
  v26 r71
  v27
  v28
  v29 r49
  v30 r55
  v31
  v32
  v33 r69
  v34
  v35 r40
  v36
  v37
  v38
  v39 r81
  v40
  v41
  v42 r78
  v43 r42
  v44 r82
  v45
  v46 r66
  v47 r61
  v48 r62
  v49
  v50
  v51 r54
  v52
  v53 r73
  v54
  v55
  v56
  v57 r45
  v58 r67
  v59 r63
  v60 r74
  v61 r75
  v62
  v63 r77
  v64 r50
  v65 r60
  v66 r43
  v67 r68
  v68
  v69
  v70 r72
  v71 r58
  v72
  v73 r79
  v74 r46
  v75 r83
  v76
  v77
  v78 r76
  v79
  v80 r41
  v81 r53
  v82
  v83 r84
  v84 r56
  v85
 )
 (:init
  (free v0)
  (at r64 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r44 v6)
  (at r80 v7)
  (at r57 v8)
  (free v9)
  (at r70 v10)
  (at r85 v11)
  (free v12)
  (at r48 v13)
  (at r52 v14)
  (at r51 v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (at r59 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r47 v24)
  (at r65 v25)
  (at r71 v26)
  (free v27)
  (free v28)
  (at r49 v29)
  (at r55 v30)
  (free v31)
  (free v32)
  (at r69 v33)
  (free v34)
  (at r40 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r81 v39)
  (free v40)
  (free v41)
  (at r78 v42)
  (at r42 v43)
  (at r82 v44)
  (free v45)
  (at r66 v46)
  (at r61 v47)
  (at r62 v48)
  (free v49)
  (free v50)
  (at r54 v51)
  (free v52)
  (at r73 v53)
  (free v54)
  (free v55)
  (free v56)
  (at r45 v57)
  (at r67 v58)
  (at r63 v59)
  (at r74 v60)
  (at r75 v61)
  (free v62)
  (at r77 v63)
  (at r50 v64)
  (at r60 v65)
  (at r43 v66)
  (at r68 v67)
  (free v68)
  (free v69)
  (at r72 v70)
  (at r58 v71)
  (free v72)
  (at r79 v73)
  (at r46 v74)
  (at r83 v75)
  (free v76)
  (free v77)
  (at r76 v78)
  (free v79)
  (at r41 v80)
  (at r53 v81)
  (free v82)
  (at r84 v83)
  (at r56 v84)
  (free v85)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v42)
  (adjacent v0 v49)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v19)
  (adjacent v2 v33)
  (adjacent v2 v56)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v15)
  (adjacent v3 v32)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v28)
  (adjacent v5 v31)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v58)
  (adjacent v7 v78)
  (adjacent v8 v20)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v9 v25)
  (adjacent v9 v34)
  (adjacent v9 v69)
  (adjacent v9 v80)
  (adjacent v11 v12)
  (adjacent v11 v29)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v85)
  (adjacent v15 v16)
  (adjacent v15 v26)
  (adjacent v16 v17)
  (adjacent v16 v38)
  (adjacent v17 v18)
  (adjacent v17 v27)
  (adjacent v18 v19)
  (adjacent v18 v28)
  (adjacent v18 v48)
  (adjacent v19 v79)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v78)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v76)
  (adjacent v26 v27)
  (adjacent v26 v65)
  (adjacent v27 v55)
  (adjacent v29 v30)
  (adjacent v29 v50)
  (adjacent v30 v31)
  (adjacent v30 v39)
  (adjacent v30 v60)
  (adjacent v32 v33)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v70)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v75)
  (adjacent v39 v40)
  (adjacent v39 v43)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v59)
  (adjacent v46 v47)
  (adjacent v46 v49)
  (adjacent v47 v48)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v61)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v74 v77)
  (adjacent v76 v77)
  (adjacent v77 v79)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
 )
 (:goal
  (and
  (at r45 v0)
  (at r41 v1)
  (at r71 v2)
  (free v3)
  (at r82 v4)
  (at r47 v5)
  (free v6)
  (free v7)
  (at r78 v8)
  (free v9)
  (free v10)
  (at r73 v11)
  (free v12)
  (free v13)
  (at r81 v14)
  (free v15)
  (at r48 v16)
  (free v17)
  (at r65 v18)
  (at r44 v19)
  (at r76 v20)
  (at r58 v21)
  (free v22)
  (at r79 v23)
  (at r64 v24)
  (at r50 v25)
  (at r85 v26)
  (at r84 v27)
  (free v28)
  (at r42 v29)
  (free v30)
  (free v31)
  (free v32)
  (at r77 v33)
  (free v34)
  (at r60 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r54 v39)
  (free v40)
  (free v41)
  (at r57 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r40 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r63 v50)
  (free v51)
  (at r80 v52)
  (at r68 v53)
  (free v54)
  (at r61 v55)
  (at r51 v56)
  (at r56 v57)
  (at r46 v58)
  (at r74 v59)
  (at r43 v60)
  (free v61)
  (at r49 v62)
  (free v63)
  (free v64)
  (free v65)
  (at r67 v66)
  (at r83 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r62 v71)
  (free v72)
  (at r55 v73)
  (at r70 v74)
  (at r69 v75)
  (at r66 v76)
  (free v77)
  (free v78)
  (at r53 v79)
  (free v80)
  (free v81)
  (at r72 v82)
  (at r75 v83)
  (at r52 v84)
  (at r59 v85)
  )
 )
)