(define (problem multirobot_31_50%_c1)
 (:domain multirobot)
 (:objects
  v0 r70
  v1
  v2
  v3 r58
  v4
  v5 r54
  v6 r92
  v7 r74
  v8 r52
  v9
  v10
  v11
  v12 r49
  v13
  v14
  v15 r77
  v16
  v17 r48
  v18
  v19
  v20
  v21
  v22
  v23
  v24 r87
  v25 r99
  v26
  v27 r66
  v28
  v29
  v30
  v31 r57
  v32 r93
  v33 r97
  v34 r61
  v35
  v36
  v37
  v38
  v39 r63
  v40 r73
  v41 r69
  v42 r51
  v43 r81
  v44 r84
  v45 r53
  v46 r86
  v47 r79
  v48 r64
  v49 r89
  v50
  v51
  v52
  v53 r78
  v54
  v55 r55
  v56
  v57
  v58
  v59
  v60 r80
  v61 r91
  v62
  v63
  v64
  v65 r90
  v66 r59
  v67
  v68 r76
  v69 r95
  v70 r56
  v71
  v72
  v73 r98
  v74 r68
  v75 r50
  v76
  v77 r75
  v78
  v79 r65
  v80
  v81 r96
  v82
  v83
  v84 r60
  v85 r88
  v86 r82
  v87 r67
  v88 r72
  v89
  v90 r62
  v91 r94
  v92 r83
  v93
  v94
  v95
  v96 r71
  v97 r85
  v98
  v99
 )
 (:init
  (at r70 v0)
  (free v1)
  (free v2)
  (at r58 v3)
  (free v4)
  (at r54 v5)
  (at r92 v6)
  (at r74 v7)
  (at r52 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r49 v12)
  (free v13)
  (free v14)
  (at r77 v15)
  (free v16)
  (at r48 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r87 v24)
  (at r99 v25)
  (free v26)
  (at r66 v27)
  (free v28)
  (free v29)
  (free v30)
  (at r57 v31)
  (at r93 v32)
  (at r97 v33)
  (at r61 v34)
  (free v35)
  (free v36)
  (free v37)
  (free v38)
  (at r63 v39)
  (at r73 v40)
  (at r69 v41)
  (at r51 v42)
  (at r81 v43)
  (at r84 v44)
  (at r53 v45)
  (at r86 v46)
  (at r79 v47)
  (at r64 v48)
  (at r89 v49)
  (free v50)
  (free v51)
  (free v52)
  (at r78 v53)
  (free v54)
  (at r55 v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r80 v60)
  (at r91 v61)
  (free v62)
  (free v63)
  (free v64)
  (at r90 v65)
  (at r59 v66)
  (free v67)
  (at r76 v68)
  (at r95 v69)
  (at r56 v70)
  (free v71)
  (free v72)
  (at r98 v73)
  (at r68 v74)
  (at r50 v75)
  (free v76)
  (at r75 v77)
  (free v78)
  (at r65 v79)
  (free v80)
  (at r96 v81)
  (free v82)
  (free v83)
  (at r60 v84)
  (at r88 v85)
  (at r82 v86)
  (at r67 v87)
  (at r72 v88)
  (free v89)
  (at r62 v90)
  (at r94 v91)
  (at r83 v92)
  (free v93)
  (free v94)
  (free v95)
  (at r71 v96)
  (at r85 v97)
  (free v98)
  (free v99)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v49)
  (adjacent v0 v88)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v14)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v17)
  (adjacent v2 v28)
  (adjacent v3 v4)
  (adjacent v3 v19)
  (adjacent v3 v37)
  (adjacent v4 v66)
  (adjacent v4 v70)
  (adjacent v4 v80)
  (adjacent v4 v94)
  (adjacent v5 v6)
  (adjacent v5 v67)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v18)
  (adjacent v7 v61)
  (adjacent v8 v38)
  (adjacent v8 v55)
  (adjacent v9 v10)
  (adjacent v9 v46)
  (adjacent v10 v11)
  (adjacent v10 v43)
  (adjacent v11 v12)
  (adjacent v11 v16)
  (adjacent v11 v18)
  (adjacent v11 v20)
  (adjacent v11 v40)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v27)
  (adjacent v13 v44)
  (adjacent v14 v15)
  (adjacent v14 v19)
  (adjacent v14 v23)
  (adjacent v15 v16)
  (adjacent v15 v17)
  (adjacent v16 v24)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v71)
  (adjacent v22 v23)
  (adjacent v22 v99)
  (adjacent v23 v81)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v49)
  (adjacent v25 v80)
  (adjacent v26 v27)
  (adjacent v26 v62)
  (adjacent v27 v34)
  (adjacent v28 v29)
  (adjacent v28 v39)
  (adjacent v28 v53)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v45)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v50)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v38 v88)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v48)
  (adjacent v42 v43)
  (adjacent v42 v50)
  (adjacent v42 v51)
  (adjacent v42 v54)
  (adjacent v42 v89)
  (adjacent v43 v68)
  (adjacent v43 v98)
  (adjacent v44 v45)
  (adjacent v45 v79)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v87)
  (adjacent v58 v59)
  (adjacent v58 v84)
  (adjacent v59 v60)
  (adjacent v59 v95)
  (adjacent v60 v61)
  (adjacent v61 v67)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v74)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v85)
  (adjacent v67 v99)
  (adjacent v68 v69)
  (adjacent v68 v73)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v85 v86)
  (adjacent v86 v87)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v92 v93)
  (adjacent v93 v94)
  (adjacent v95 v96)
  (adjacent v96 v97)
  (adjacent v97 v98)
 )
 (:goal
  (and
  (free v0)
  (at r53 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (at r66 v6)
  (at r54 v7)
  (free v8)
  (at r76 v9)
  (free v10)
  (at r99 v11)
  (free v12)
  (free v13)
  (free v14)
  (at r69 v15)
  (free v16)
  (free v17)
  (at r90 v18)
  (at r77 v19)
  (at r89 v20)
  (at r72 v21)
  (free v22)
  (at r52 v23)
  (free v24)
  (at r86 v25)
  (free v26)
  (at r82 v27)
  (at r78 v28)
  (free v29)
  (at r59 v30)
  (at r48 v31)
  (at r91 v32)
  (free v33)
  (at r98 v34)
  (free v35)
  (at r70 v36)
  (at r95 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r96 v41)
  (at r68 v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r74 v47)
  (free v48)
  (at r80 v49)
  (at r57 v50)
  (free v51)
  (free v52)
  (at r73 v53)
  (at r64 v54)
  (at r97 v55)
  (at r75 v56)
  (at r83 v57)
  (free v58)
  (free v59)
  (at r55 v60)
  (free v61)
  (at r92 v62)
  (free v63)
  (at r50 v64)
  (at r60 v65)
  (at r87 v66)
  (at r62 v67)
  (at r79 v68)
  (free v69)
  (free v70)
  (at r94 v71)
  (free v72)
  (at r81 v73)
  (at r58 v74)
  (at r49 v75)
  (free v76)
  (free v77)
  (at r61 v78)
  (at r63 v79)
  (at r88 v80)
  (free v81)
  (at r67 v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (at r93 v87)
  (free v88)
  (free v89)
  (free v90)
  (free v91)
  (at r85 v92)
  (free v93)
  (free v94)
  (at r65 v95)
  (at r56 v96)
  (at r71 v97)
  (at r84 v98)
  (at r51 v99)
  )
 )
)