(define (problem multirobot_24_50%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1 r76
  v2 r73
  v3 r71
  v4
  v5 r62
  v6
  v7
  v8 r59
  v9 r75
  v10 r82
  v11 r65
  v12
  v13 r69
  v14
  v15
  v16
  v17 r72
  v18
  v19
  v20 r67
  v21
  v22
  v23
  v24
  v25 r57
  v26 r74
  v27 r80
  v28 r49
  v29
  v30
  v31 r53
  v32
  v33 r83
  v34
  v35 r79
  v36 r81
  v37
  v38 r55
  v39 r54
  v40 r56
  v41
  v42 r61
  v43
  v44
  v45
  v46 r85
  v47
  v48 r64
  v49
  v50 r58
  v51 r78
  v52 r70
  v53 r47
  v54
  v55
  v56 r45
  v57 r63
  v58
  v59
  v60
  v61 r68
  v62
  v63
  v64 r52
  v65
  v66 r48
  v67
  v68
  v69 r50
  v70 r46
  v71
  v72
  v73
  v74
  v75
  v76
  v77 r51
  v78 r84
  v79 r77
  v80 r44
  v81
  v82 r66
  v83
  v84 r60
  v85
 )
 (:init
  (free v0)
  (at r76 v1)
  (at r73 v2)
  (at r71 v3)
  (free v4)
  (at r62 v5)
  (free v6)
  (free v7)
  (at r59 v8)
  (at r75 v9)
  (at r82 v10)
  (at r65 v11)
  (free v12)
  (at r69 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r72 v17)
  (free v18)
  (free v19)
  (at r67 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (at r57 v25)
  (at r74 v26)
  (at r80 v27)
  (at r49 v28)
  (free v29)
  (free v30)
  (at r53 v31)
  (free v32)
  (at r83 v33)
  (free v34)
  (at r79 v35)
  (at r81 v36)
  (free v37)
  (at r55 v38)
  (at r54 v39)
  (at r56 v40)
  (free v41)
  (at r61 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r85 v46)
  (free v47)
  (at r64 v48)
  (free v49)
  (at r58 v50)
  (at r78 v51)
  (at r70 v52)
  (at r47 v53)
  (free v54)
  (free v55)
  (at r45 v56)
  (at r63 v57)
  (free v58)
  (free v59)
  (free v60)
  (at r68 v61)
  (free v62)
  (free v63)
  (at r52 v64)
  (free v65)
  (at r48 v66)
  (free v67)
  (free v68)
  (at r50 v69)
  (at r46 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r51 v77)
  (at r84 v78)
  (at r77 v79)
  (at r44 v80)
  (free v81)
  (at r66 v82)
  (free v83)
  (at r60 v84)
  (free v85)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v20)
  (adjacent v1 v51)
  (adjacent v1 v85)
  (adjacent v2 v3)
  (adjacent v2 v10)
  (adjacent v2 v21)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v55)
  (adjacent v3 v81)
  (adjacent v4 v42)
  (adjacent v5 v6)
  (adjacent v5 v68)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v7 v8)
  (adjacent v7 v14)
  (adjacent v8 v9)
  (adjacent v8 v12)
  (adjacent v8 v26)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v9 v48)
  (adjacent v10 v66)
  (adjacent v11 v15)
  (adjacent v12 v13)
  (adjacent v12 v47)
  (adjacent v13 v14)
  (adjacent v13 v75)
  (adjacent v15 v16)
  (adjacent v15 v33)
  (adjacent v15 v50)
  (adjacent v15 v65)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v25)
  (adjacent v18 v19)
  (adjacent v18 v43)
  (adjacent v18 v59)
  (adjacent v19 v20)
  (adjacent v19 v32)
  (adjacent v19 v35)
  (adjacent v20 v33)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v36)
  (adjacent v29 v30)
  (adjacent v29 v37)
  (adjacent v30 v31)
  (adjacent v30 v69)
  (adjacent v31 v32)
  (adjacent v32 v38)
  (adjacent v32 v84)
  (adjacent v34 v35)
  (adjacent v34 v54)
  (adjacent v34 v82)
  (adjacent v35 v69)
  (adjacent v36 v37)
  (adjacent v37 v70)
  (adjacent v37 v84)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v53)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v76)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v58)
  (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 v63 v85)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v83)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
 )
 (:goal
  (and
  (at r72 v0)
  (at r76 v1)
  (free v2)
  (free v3)
  (at r84 v4)
  (free v5)
  (at r70 v6)
  (at r79 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r53 v12)
  (at r46 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r51 v18)
  (at r48 v19)
  (at r54 v20)
  (at r82 v21)
  (at r49 v22)
  (free v23)
  (at r71 v24)
  (free v25)
  (at r64 v26)
  (at r47 v27)
  (free v28)
  (at r59 v29)
  (at r80 v30)
  (at r83 v31)
  (at r57 v32)
  (at r50 v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (at r63 v38)
  (free v39)
  (at r69 v40)
  (free v41)
  (free v42)
  (at r55 v43)
  (at r85 v44)
  (at r58 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (at r67 v50)
  (at r52 v51)
  (at r68 v52)
  (free v53)
  (at r45 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r44 v58)
  (at r74 v59)
  (free v60)
  (free v61)
  (at r60 v62)
  (at r75 v63)
  (at r78 v64)
  (at r56 v65)
  (free v66)
  (at r65 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (at r66 v72)
  (free v73)
  (at r73 v74)
  (at r77 v75)
  (at r81 v76)
  (free v77)
  (at r62 v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (at r61 v83)
  (free v84)
  (free v85)
  )
 )
)