(define (problem multirobot_19_90%_c2)
 (:domain multirobot)
 (:objects
  v0
  v1 r33
  v2 r75
  v3
  v4 r45
  v5 r54
  v6 r44
  v7 r49
  v8
  v9 r81
  v10 r72
  v11 r57
  v12 r86
  v13
  v14 r23
  v15 r50
  v16 r40
  v17 r70
  v18 r46
  v19 r64
  v20
  v21 r52
  v22 r56
  v23 r80
  v24
  v25 r51
  v26 r34
  v27 r29
  v28
  v29 r58
  v30 r28
  v31 r21
  v32 r84
  v33 r30
  v34
  v35 r42
  v36 r36
  v37
  v38
  v39 r85
  v40
  v41 r78
  v42
  v43 r26
  v44 r59
  v45 r25
  v46 r69
  v47
  v48 r27
  v49 r62
  v50 r32
  v51
  v52 r43
  v53 r63
  v54
  v55
  v56
  v57 r67
  v58 r41
  v59 r74
  v60
  v61 r66
  v62 r77
  v63 r31
  v64 r24
  v65 r39
  v66 r73
  v67
  v68 r48
  v69 r83
  v70
  v71 r38
  v72 r82
  v73
  v74 r60
  v75 r61
  v76 r22
  v77 r76
  v78 r37
  v79 r71
  v80 r53
  v81 r79
  v82 r55
  v83 r65
  v84 r68
  v85 r47
  v86 r35
 )
 (:init
  (free v0)
  (at r33 v1)
  (at r75 v2)
  (free v3)
  (at r45 v4)
  (at r54 v5)
  (at r44 v6)
  (at r49 v7)
  (free v8)
  (at r81 v9)
  (at r72 v10)
  (at r57 v11)
  (at r86 v12)
  (free v13)
  (at r23 v14)
  (at r50 v15)
  (at r40 v16)
  (at r70 v17)
  (at r46 v18)
  (at r64 v19)
  (free v20)
  (at r52 v21)
  (at r56 v22)
  (at r80 v23)
  (free v24)
  (at r51 v25)
  (at r34 v26)
  (at r29 v27)
  (free v28)
  (at r58 v29)
  (at r28 v30)
  (at r21 v31)
  (at r84 v32)
  (at r30 v33)
  (free v34)
  (at r42 v35)
  (at r36 v36)
  (free v37)
  (free v38)
  (at r85 v39)
  (free v40)
  (at r78 v41)
  (free v42)
  (at r26 v43)
  (at r59 v44)
  (at r25 v45)
  (at r69 v46)
  (free v47)
  (at r27 v48)
  (at r62 v49)
  (at r32 v50)
  (free v51)
  (at r43 v52)
  (at r63 v53)
  (free v54)
  (free v55)
  (free v56)
  (at r67 v57)
  (at r41 v58)
  (at r74 v59)
  (free v60)
  (at r66 v61)
  (at r77 v62)
  (at r31 v63)
  (at r24 v64)
  (at r39 v65)
  (at r73 v66)
  (free v67)
  (at r48 v68)
  (at r83 v69)
  (free v70)
  (at r38 v71)
  (at r82 v72)
  (free v73)
  (at r60 v74)
  (at r61 v75)
  (at r22 v76)
  (at r76 v77)
  (at r37 v78)
  (at r71 v79)
  (at r53 v80)
  (at r79 v81)
  (at r55 v82)
  (at r65 v83)
  (at r68 v84)
  (at r47 v85)
  (at r35 v86)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v0 v34)
  (adjacent v1 v2)
  (adjacent v1 v12)
  (adjacent v1 v47)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v56)
  (adjacent v3 v4)
  (adjacent v3 v31)
  (adjacent v5 v6)
  (adjacent v5 v60)
  (adjacent v6 v7)
  (adjacent v6 v36)
  (adjacent v6 v52)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v18)
  (adjacent v10 v11)
  (adjacent v10 v35)
  (adjacent v11 v25)
  (adjacent v12 v13)
  (adjacent v12 v81)
  (adjacent v13 v14)
  (adjacent v13 v26)
  (adjacent v13 v86)
  (adjacent v14 v15)
  (adjacent v14 v72)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v55)
  (adjacent v17 v18)
  (adjacent v17 v65)
  (adjacent v18 v19)
  (adjacent v18 v43)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v66)
  (adjacent v22 v23)
  (adjacent v22 v56)
  (adjacent v23 v24)
  (adjacent v23 v32)
  (adjacent v23 v42)
  (adjacent v23 v46)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v53)
  (adjacent v28 v80)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v35)
  (adjacent v31 v82)
  (adjacent v32 v33)
  (adjacent v32 v52)
  (adjacent v33 v34)
  (adjacent v34 v57)
  (adjacent v36 v37)
  (adjacent v36 v51)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v43 v79)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v48 v71)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v59)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v57 v58)
  (adjacent v57 v78)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v81)
  (adjacent v79 v80)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
 )
 (:goal
  (and
  (at r30 v0)
  (at r81 v1)
  (free v2)
  (at r54 v3)
  (at r46 v4)
  (free v5)
  (at r63 v6)
  (at r36 v7)
  (at r73 v8)
  (at r21 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (at r39 v14)
  (at r50 v15)
  (free v16)
  (at r42 v17)
  (at r76 v18)
  (at r74 v19)
  (at r31 v20)
  (at r52 v21)
  (at r32 v22)
  (free v23)
  (free v24)
  (at r60 v25)
  (at r68 v26)
  (at r80 v27)
  (free v28)
  (at r64 v29)
  (at r62 v30)
  (at r69 v31)
  (at r53 v32)
  (at r41 v33)
  (at r48 v34)
  (free v35)
  (free v36)
  (at r57 v37)
  (at r75 v38)
  (at r77 v39)
  (free v40)
  (at r51 v41)
  (at r67 v42)
  (at r83 v43)
  (at r71 v44)
  (at r86 v45)
  (at r65 v46)
  (at r43 v47)
  (at r22 v48)
  (at r29 v49)
  (at r25 v50)
  (at r59 v51)
  (free v52)
  (at r61 v53)
  (at r78 v54)
  (at r44 v55)
  (at r79 v56)
  (at r82 v57)
  (at r84 v58)
  (at r26 v59)
  (free v60)
  (at r56 v61)
  (at r37 v62)
  (at r27 v63)
  (at r23 v64)
  (at r49 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r55 v69)
  (at r40 v70)
  (at r85 v71)
  (at r28 v72)
  (at r24 v73)
  (at r45 v74)
  (at r47 v75)
  (at r72 v76)
  (at r70 v77)
  (at r33 v78)
  (at r38 v79)
  (free v80)
  (at r58 v81)
  (free v82)
  (at r35 v83)
  (free v84)
  (at r66 v85)
  (at r34 v86)
  )
 )
)