(define (problem multirobot_31_50%_c6)
 (:domain multirobot)
 (:objects
  v0 r75
  v1
  v2 r65
  v3
  v4
  v5
  v6 r66
  v7 r80
  v8
  v9
  v10
  v11 r84
  v12
  v13 r70
  v14
  v15
  v16
  v17 r73
  v18 r76
  v19
  v20
  v21
  v22
  v23
  v24
  v25 r67
  v26
  v27
  v28
  v29
  v30 r71
  v31
  v32 r72
  v33
  v34
  v35
  v36 r82
  v37 r74
  v38
  v39
  v40
  v41
  v42
  v43
  v44
  v45 r83
  v46
  v47
  v48
  v49
  v50
  v51 r69
  v52 r77
  v53
  v54 r78
  v55
  v56
  v57
  v58
  v59 r68
  v60
  v61
  v62
  v63
  v64
  v65 r79
  v66
  v67 r64
  v68
  v69
  v70
  v71
  v72
  v73
  v74
  v75
  v76
  v77 r81
  v78
  v79
  v80
  v81
  v82
  v83
  v84
 )
 (:init
  (at r75 v0)
  (free v1)
  (at r65 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r66 v6)
  (at r80 v7)
  (free v8)
  (free v9)
  (free v10)
  (at r84 v11)
  (free v12)
  (at r70 v13)
  (free v14)
  (free v15)
  (free v16)
  (at r73 v17)
  (at r76 v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (at r67 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r71 v30)
  (free v31)
  (at r72 v32)
  (free v33)
  (free v34)
  (free v35)
  (at r82 v36)
  (at r74 v37)
  (free v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (free v44)
  (at r83 v45)
  (free v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r69 v51)
  (at r77 v52)
  (free v53)
  (at r78 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r68 v59)
  (free v60)
  (free v61)
  (free v62)
  (free v63)
  (free v64)
  (at r79 v65)
  (free v66)
  (at r64 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (at r81 v77)
  (free v78)
  (free v79)
  (free v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v24)
  (adjacent v0 v38)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v8)
  (adjacent v2 v18)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v16)
  (adjacent v7 v58)
  (adjacent v7 v72)
  (adjacent v8 v9)
  (adjacent v8 v15)
  (adjacent v8 v27)
  (adjacent v8 v31)
  (adjacent v8 v81)
  (adjacent v9 v10)
  (adjacent v9 v81)
  (adjacent v10 v11)
  (adjacent v10 v40)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v12 v51)
  (adjacent v13 v32)
  (adjacent v14 v15)
  (adjacent v14 v30)
  (adjacent v14 v46)
  (adjacent v15 v23)
  (adjacent v15 v26)
  (adjacent v16 v17)
  (adjacent v16 v36)
  (adjacent v16 v67)
  (adjacent v17 v25)
  (adjacent v17 v39)
  (adjacent v17 v77)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v31)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v45)
  (adjacent v23 v26)
  (adjacent v23 v45)
  (adjacent v23 v59)
  (adjacent v23 v70)
  (adjacent v24 v25)
  (adjacent v24 v62)
  (adjacent v25 v37)
  (adjacent v25 v46)
  (adjacent v25 v61)
  (adjacent v25 v68)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v47)
  (adjacent v29 v30)
  (adjacent v29 v65)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v44)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v66)
  (adjacent v36 v37)
  (adjacent v37 v48)
  (adjacent v38 v39)
  (adjacent v38 v49)
  (adjacent v39 v80)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v73)
  (adjacent v47 v48)
  (adjacent v48 v67)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v70)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v71)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v59 v82)
  (adjacent v60 v61)
  (adjacent v60 v72)
  (adjacent v60 v84)
  (adjacent v62 v63)
  (adjacent v62 v71)
  (adjacent v63 v64)
  (adjacent v63 v69)
  (adjacent v64 v65)
  (adjacent v64 v66)
  (adjacent v67 v76)
  (adjacent v68 v69)
  (adjacent v68 v82)
  (adjacent v71 v83)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v83 v84)
 )
 (:goal
  (and
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (free v4)
  (at r66 v5)
  (free v6)
  (at r70 v7)
  (at r69 v8)
  (free v9)
  (at r73 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (at r80 v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r64 v24)
  (free v25)
  (at r72 v26)
  (free v27)
  (free v28)
  (free v29)
  (free v30)
  (at r65 v31)
  (free v32)
  (at r75 v33)
  (free v34)
  (at r68 v35)
  (free v36)
  (free v37)
  (at r78 v38)
  (free v39)
  (free v40)
  (at r84 v41)
  (free v42)
  (free v43)
  (at r77 v44)
  (at r79 v45)
  (free v46)
  (at r67 v47)
  (at r81 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (free v53)
  (at r83 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (free v60)
  (at r82 v61)
  (free v62)
  (free v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (free v68)
  (at r74 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r76 v74)
  (free v75)
  (free v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r71 v81)
  (free v82)
  (free v83)
  (free v84)
  )
 )
)