(define (problem multirobot_21_90%_c7)
 (:domain multirobot)
 (:objects
  v0 r80
  v1 r59
  v2 r32
  v3
  v4 r67
  v5 r38
  v6
  v7
  v8
  v9
  v10
  v11 r35
  v12 r57
  v13 r69
  v14 r63
  v15
  v16 r54
  v17
  v18 r53
  v19 r71
  v20
  v21
  v22 r44
  v23 r66
  v24
  v25 r34
  v26 r85
  v27 r73
  v28 r84
  v29 r77
  v30 r46
  v31 r50
  v32 r62
  v33
  v34 r79
  v35 r33
  v36
  v37 r86
  v38 r82
  v39
  v40 r65
  v41 r41
  v42 r72
  v43 r43
  v44
  v45 r74
  v46 r78
  v47
  v48
  v49 r47
  v50 r81
  v51 r58
  v52
  v53 r61
  v54 r45
  v55 r39
  v56
  v57 r75
  v58 r36
  v59
  v60 r51
  v61
  v62 r60
  v63 r40
  v64
  v65
  v66
  v67 r76
  v68 r56
  v69 r48
  v70 r42
  v71
  v72 r49
  v73
  v74
  v75 r70
  v76 r52
  v77
  v78
  v79 r64
  v80
  v81
  v82 r68
  v83 r83
  v84 r37
  v85
  v86 r55
 )
 (:init
  (at r80 v0)
  (at r59 v1)
  (at r32 v2)
  (free v3)
  (at r67 v4)
  (at r38 v5)
  (free v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (at r35 v11)
  (at r57 v12)
  (at r69 v13)
  (at r63 v14)
  (free v15)
  (at r54 v16)
  (free v17)
  (at r53 v18)
  (at r71 v19)
  (free v20)
  (free v21)
  (at r44 v22)
  (at r66 v23)
  (free v24)
  (at r34 v25)
  (at r85 v26)
  (at r73 v27)
  (at r84 v28)
  (at r77 v29)
  (at r46 v30)
  (at r50 v31)
  (at r62 v32)
  (free v33)
  (at r79 v34)
  (at r33 v35)
  (free v36)
  (at r86 v37)
  (at r82 v38)
  (free v39)
  (at r65 v40)
  (at r41 v41)
  (at r72 v42)
  (at r43 v43)
  (free v44)
  (at r74 v45)
  (at r78 v46)
  (free v47)
  (free v48)
  (at r47 v49)
  (at r81 v50)
  (at r58 v51)
  (free v52)
  (at r61 v53)
  (at r45 v54)
  (at r39 v55)
  (free v56)
  (at r75 v57)
  (at r36 v58)
  (free v59)
  (at r51 v60)
  (free v61)
  (at r60 v62)
  (at r40 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r76 v67)
  (at r56 v68)
  (at r48 v69)
  (at r42 v70)
  (free v71)
  (at r49 v72)
  (free v73)
  (free v74)
  (at r70 v75)
  (at r52 v76)
  (free v77)
  (free v78)
  (at r64 v79)
  (free v80)
  (free v81)
  (at r68 v82)
  (at r83 v83)
  (at r37 v84)
  (free v85)
  (at r55 v86)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v34)
  (adjacent v0 v43)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v71)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v26)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v4 v5)
  (adjacent v5 v6)
  (adjacent v5 v70)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v7 v17)
  (adjacent v7 v26)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v33)
  (adjacent v10 v50)
  (adjacent v11 v12)
  (adjacent v11 v39)
  (adjacent v11 v79)
  (adjacent v12 v13)
  (adjacent v12 v18)
  (adjacent v12 v25)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v18)
  (adjacent v15 v44)
  (adjacent v15 v51)
  (adjacent v16 v17)
  (adjacent v16 v19)
  (adjacent v17 v32)
  (adjacent v18 v27)
  (adjacent v18 v38)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v35)
  (adjacent v20 v59)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v36)
  (adjacent v23 v57)
  (adjacent v24 v25)
  (adjacent v26 v71)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v35)
  (adjacent v30 v52)
  (adjacent v30 v63)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v34 v64)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v60)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v78)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v51)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v58)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v80)
  (adjacent v59 v72)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v86)
  (adjacent v69 v70)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v79 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
 )
 (:goal
  (and
  (at r74 v0)
  (free v1)
  (at r33 v2)
  (at r32 v3)
  (free v4)
  (at r49 v5)
  (at r81 v6)
  (at r57 v7)
  (at r78 v8)
  (at r58 v9)
  (at r82 v10)
  (at r84 v11)
  (free v12)
  (at r56 v13)
  (at r35 v14)
  (at r72 v15)
  (at r53 v16)
  (free v17)
  (free v18)
  (at r64 v19)
  (at r37 v20)
  (at r67 v21)
  (free v22)
  (at r66 v23)
  (free v24)
  (free v25)
  (at r70 v26)
  (at r43 v27)
  (free v28)
  (at r71 v29)
  (at r51 v30)
  (free v31)
  (at r39 v32)
  (at r34 v33)
  (at r50 v34)
  (free v35)
  (at r48 v36)
  (at r80 v37)
  (at r38 v38)
  (at r75 v39)
  (at r86 v40)
  (free v41)
  (at r79 v42)
  (free v43)
  (free v44)
  (at r45 v45)
  (free v46)
  (free v47)
  (at r68 v48)
  (free v49)
  (free v50)
  (at r54 v51)
  (free v52)
  (free v53)
  (at r42 v54)
  (at r47 v55)
  (free v56)
  (at r44 v57)
  (at r60 v58)
  (free v59)
  (at r36 v60)
  (free v61)
  (at r76 v62)
  (at r41 v63)
  (at r52 v64)
  (free v65)
  (at r62 v66)
  (at r83 v67)
  (free v68)
  (free v69)
  (at r55 v70)
  (at r40 v71)
  (at r69 v72)
  (at r61 v73)
  (at r46 v74)
  (at r85 v75)
  (free v76)
  (at r63 v77)
  (free v78)
  (free v79)
  (at r73 v80)
  (free v81)
  (free v82)
  (at r77 v83)
  (free v84)
  (at r65 v85)
  (at r59 v86)
  )
 )
)