(define (problem multirobot_20_90%_c7)
 (:domain multirobot)
 (:objects
  v0 r43
  v1 r75
  v2
  v3 r63
  v4 r44
  v5 r62
  v6
  v7
  v8 r66
  v9
  v10
  v11
  v12 r81
  v13 r57
  v14
  v15 r69
  v16 r78
  v17 r58
  v18 r45
  v19 r84
  v20 r48
  v21 r51
  v22 r41
  v23
  v24 r39
  v25 r68
  v26
  v27 r71
  v28 r50
  v29
  v30 r79
  v31
  v32 r83
  v33 r60
  v34
  v35 r54
  v36 r49
  v37
  v38 r85
  v39
  v40 r80
  v41 r42
  v42 r65
  v43
  v44 r73
  v45
  v46 r74
  v47
  v48
  v49
  v50 r59
  v51
  v52 r82
  v53 r70
  v54 r55
  v55
  v56
  v57
  v58
  v59
  v60 r72
  v61 r64
  v62
  v63 r47
  v64
  v65
  v66 r53
  v67 r77
  v68
  v69
  v70
  v71 r46
  v72 r67
  v73
  v74 r76
  v75 r52
  v76 r40
  v77
  v78
  v79
  v80
  v81 r56
  v82 r61
  v83
  v84
  v85
 )
 (:init
  (at r43 v0)
  (at r75 v1)
  (free v2)
  (at r63 v3)
  (at r44 v4)
  (at r62 v5)
  (free v6)
  (free v7)
  (at r66 v8)
  (free v9)
  (free v10)
  (free v11)
  (at r81 v12)
  (at r57 v13)
  (free v14)
  (at r69 v15)
  (at r78 v16)
  (at r58 v17)
  (at r45 v18)
  (at r84 v19)
  (at r48 v20)
  (at r51 v21)
  (at r41 v22)
  (free v23)
  (at r39 v24)
  (at r68 v25)
  (free v26)
  (at r71 v27)
  (at r50 v28)
  (free v29)
  (at r79 v30)
  (free v31)
  (at r83 v32)
  (at r60 v33)
  (free v34)
  (at r54 v35)
  (at r49 v36)
  (free v37)
  (at r85 v38)
  (free v39)
  (at r80 v40)
  (at r42 v41)
  (at r65 v42)
  (free v43)
  (at r73 v44)
  (free v45)
  (at r74 v46)
  (free v47)
  (free v48)
  (free v49)
  (at r59 v50)
  (free v51)
  (at r82 v52)
  (at r70 v53)
  (at r55 v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r72 v60)
  (at r64 v61)
  (free v62)
  (at r47 v63)
  (free v64)
  (free v65)
  (at r53 v66)
  (at r77 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r46 v71)
  (at r67 v72)
  (free v73)
  (at r76 v74)
  (at r52 v75)
  (at r40 v76)
  (free v77)
  (free v78)
  (free v79)
  (free v80)
  (at r56 v81)
  (at r61 v82)
  (free v83)
  (free v84)
  (free v85)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v2 v58)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v13)
  (adjacent v3 v33)
  (adjacent v5 v6)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v61)
  (adjacent v7 v76)
  (adjacent v8 v9)
  (adjacent v8 v10)
  (adjacent v8 v19)
  (adjacent v8 v69)
  (adjacent v9 v12)
  (adjacent v10 v11)
  (adjacent v10 v59)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v11 v64)
  (adjacent v13 v14)
  (adjacent v13 v44)
  (adjacent v14 v15)
  (adjacent v14 v25)
  (adjacent v14 v77)
  (adjacent v15 v16)
  (adjacent v15 v36)
  (adjacent v16 v17)
  (adjacent v16 v51)
  (adjacent v16 v52)
  (adjacent v17 v18)
  (adjacent v17 v58)
  (adjacent v18 v19)
  (adjacent v18 v84)
  (adjacent v19 v68)
  (adjacent v20 v21)
  (adjacent v20 v60)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v28)
  (adjacent v24 v25)
  (adjacent v24 v27)
  (adjacent v25 v26)
  (adjacent v25 v32)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v40)
  (adjacent v33 v34)
  (adjacent v33 v37)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v59)
  (adjacent v37 v38)
  (adjacent v37 v45)
  (adjacent v38 v39)
  (adjacent v38 v76)
  (adjacent v39 v40)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v85)
  (adjacent v48 v49)
  (adjacent v48 v65)
  (adjacent v49 v50)
  (adjacent v49 v57)
  (adjacent v49 v62)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v75)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v83)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v84 v85)
 )
 (:goal
  (and
  (at r46 v0)
  (at r67 v1)
  (free v2)
  (at r53 v3)
  (at r61 v4)
  (free v5)
  (free v6)
  (at r47 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (free v12)
  (at r73 v13)
  (free v14)
  (free v15)
  (at r70 v16)
  (free v17)
  (at r59 v18)
  (free v19)
  (at r56 v20)
  (at r64 v21)
  (at r60 v22)
  (at r49 v23)
  (at r42 v24)
  (at r50 v25)
  (at r85 v26)
  (at r65 v27)
  (at r82 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r83 v33)
  (free v34)
  (at r57 v35)
  (at r48 v36)
  (at r62 v37)
  (at r81 v38)
  (free v39)
  (at r43 v40)
  (at r69 v41)
  (at r84 v42)
  (at r76 v43)
  (free v44)
  (free v45)
  (at r41 v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (at r75 v51)
  (at r45 v52)
  (free v53)
  (at r40 v54)
  (free v55)
  (at r44 v56)
  (at r54 v57)
  (free v58)
  (free v59)
  (at r77 v60)
  (at r80 v61)
  (at r58 v62)
  (free v63)
  (at r63 v64)
  (free v65)
  (at r71 v66)
  (at r39 v67)
  (at r68 v68)
  (free v69)
  (at r51 v70)
  (at r74 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (at r55 v76)
  (free v77)
  (free v78)
  (at r79 v79)
  (at r52 v80)
  (at r72 v81)
  (at r78 v82)
  (free v83)
  (free v84)
  (at r66 v85)
  )
 )
)