(define (problem multirobot_24_50%_c5)
 (:domain multirobot)
 (:objects
  v0 r74
  v1
  v2
  v3
  v4
  v5
  v6 r80
  v7
  v8 r72
  v9 r83
  v10 r51
  v11 r68
  v12
  v13 r82
  v14 r63
  v15
  v16 r62
  v17 r67
  v18
  v19 r56
  v20 r81
  v21
  v22
  v23
  v24 r53
  v25 r65
  v26 r75
  v27 r54
  v28 r85
  v29
  v30 r44
  v31
  v32 r77
  v33 r73
  v34 r55
  v35
  v36
  v37
  v38 r58
  v39
  v40 r76
  v41 r60
  v42 r79
  v43
  v44 r71
  v45 r46
  v46 r59
  v47 r64
  v48
  v49
  v50 r45
  v51
  v52
  v53
  v54
  v55 r78
  v56 r48
  v57
  v58 r86
  v59
  v60
  v61 r84
  v62 r57
  v63
  v64 r47
  v65
  v66
  v67
  v68
  v69
  v70 r66
  v71
  v72 r50
  v73
  v74
  v75
  v76
  v77 r61
  v78
  v79 r70
  v80
  v81
  v82
  v83
  v84 r49
  v85 r69
  v86 r52
 )
 (:init
  (at r74 v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r80 v6)
  (free v7)
  (at r72 v8)
  (at r83 v9)
  (at r51 v10)
  (at r68 v11)
  (free v12)
  (at r82 v13)
  (at r63 v14)
  (free v15)
  (at r62 v16)
  (at r67 v17)
  (free v18)
  (at r56 v19)
  (at r81 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r53 v24)
  (at r65 v25)
  (at r75 v26)
  (at r54 v27)
  (at r85 v28)
  (free v29)
  (at r44 v30)
  (free v31)
  (at r77 v32)
  (at r73 v33)
  (at r55 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r58 v38)
  (free v39)
  (at r76 v40)
  (at r60 v41)
  (at r79 v42)
  (free v43)
  (at r71 v44)
  (at r46 v45)
  (at r59 v46)
  (at r64 v47)
  (free v48)
  (free v49)
  (at r45 v50)
  (free v51)
  (free v52)
  (free v53)
  (free v54)
  (at r78 v55)
  (at r48 v56)
  (free v57)
  (at r86 v58)
  (free v59)
  (free v60)
  (at r84 v61)
  (at r57 v62)
  (free v63)
  (at r47 v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (at r66 v70)
  (free v71)
  (at r50 v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r61 v77)
  (free v78)
  (at r70 v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (at r49 v84)
  (at r69 v85)
  (at r52 v86)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v9)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v6)
  (adjacent v1 v27)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v48)
  (adjacent v3 v4)
  (adjacent v3 v17)
  (adjacent v3 v30)
  (adjacent v3 v45)
  (adjacent v3 v56)
  (adjacent v5 v8)
  (adjacent v5 v15)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v6 v71)
  (adjacent v7 v8)
  (adjacent v7 v46)
  (adjacent v8 v16)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v35)
  (adjacent v11 v12)
  (adjacent v11 v40)
  (adjacent v11 v68)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v12 v36)
  (adjacent v13 v14)
  (adjacent v13 v18)
  (adjacent v13 v79)
  (adjacent v14 v15)
  (adjacent v16 v17)
  (adjacent v17 v19)
  (adjacent v18 v19)
  (adjacent v18 v26)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v63)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v51)
  (adjacent v24 v25)
  (adjacent v24 v77)
  (adjacent v24 v78)
  (adjacent v25 v26)
  (adjacent v25 v31)
  (adjacent v26 v61)
  (adjacent v27 v28)
  (adjacent v27 v32)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v49)
  (adjacent v30 v31)
  (adjacent v31 v86)
  (adjacent v32 v33)
  (adjacent v32 v50)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v55)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v79)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v80)
  (adjacent v41 v42)
  (adjacent v41 v72)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v69)
  (adjacent v53 v54)
  (adjacent v53 v62)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v62)
  (adjacent v56 v85)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v62 v78)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v86)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
 )
 (:goal
  (and
  (at r49 v0)
  (at r84 v1)
  (at r66 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r71 v8)
  (at r75 v9)
  (at r68 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r65 v18)
  (at r57 v19)
  (at r44 v20)
  (at r56 v21)
  (at r58 v22)
  (at r70 v23)
  (free v24)
  (free v25)
  (free v26)
  (at r81 v27)
  (at r60 v28)
  (free v29)
  (free v30)
  (at r67 v31)
  (free v32)
  (at r73 v33)
  (free v34)
  (free v35)
  (free v36)
  (free v37)
  (at r77 v38)
  (free v39)
  (free v40)
  (at r85 v41)
  (at r47 v42)
  (free v43)
  (free v44)
  (free v45)
  (at r54 v46)
  (free v47)
  (free v48)
  (at r76 v49)
  (at r52 v50)
  (at r59 v51)
  (free v52)
  (at r53 v53)
  (free v54)
  (at r74 v55)
  (at r51 v56)
  (at r83 v57)
  (at r78 v58)
  (free v59)
  (at r82 v60)
  (free v61)
  (at r69 v62)
  (at r50 v63)
  (at r46 v64)
  (at r64 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r63 v69)
  (free v70)
  (free v71)
  (at r55 v72)
  (at r86 v73)
  (free v74)
  (free v75)
  (at r72 v76)
  (at r61 v77)
  (at r45 v78)
  (at r80 v79)
  (free v80)
  (free v81)
  (at r79 v82)
  (at r62 v83)
  (free v84)
  (free v85)
  (at r48 v86)
  )
 )
)