(define (problem multirobot_21_90%_c9)
 (:domain multirobot)
 (:objects
  v0
  v1 r64
  v2
  v3
  v4
  v5
  v6
  v7 r76
  v8 r59
  v9 r66
  v10 r52
  v11
  v12 r86
  v13
  v14
  v15 r60
  v16 r82
  v17 r58
  v18
  v19 r46
  v20
  v21 r73
  v22
  v23 r48
  v24
  v25
  v26 r44
  v27 r65
  v28 r69
  v29
  v30 r70
  v31
  v32 r75
  v33
  v34
  v35 r77
  v36 r79
  v37 r56
  v38
  v39
  v40
  v41 r78
  v42
  v43 r85
  v44
  v45 r63
  v46 r83
  v47
  v48 r61
  v49 r72
  v50
  v51 r74
  v52
  v53
  v54 r67
  v55 r71
  v56 r50
  v57 r62
  v58
  v59
  v60
  v61 r81
  v62 r45
  v63
  v64
  v65 r54
  v66 r84
  v67
  v68 r57
  v69 r53
  v70
  v71
  v72 r55
  v73
  v74 r68
  v75
  v76
  v77 r80
  v78 r49
  v79 r47
  v80 r51
  v81
  v82
  v83
  v84
  v85
  v86
 )
 (:init
  (free v0)
  (at r64 v1)
  (free v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (at r76 v7)
  (at r59 v8)
  (at r66 v9)
  (at r52 v10)
  (free v11)
  (at r86 v12)
  (free v13)
  (free v14)
  (at r60 v15)
  (at r82 v16)
  (at r58 v17)
  (free v18)
  (at r46 v19)
  (free v20)
  (at r73 v21)
  (free v22)
  (at r48 v23)
  (free v24)
  (free v25)
  (at r44 v26)
  (at r65 v27)
  (at r69 v28)
  (free v29)
  (at r70 v30)
  (free v31)
  (at r75 v32)
  (free v33)
  (free v34)
  (at r77 v35)
  (at r79 v36)
  (at r56 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r78 v41)
  (free v42)
  (at r85 v43)
  (free v44)
  (at r63 v45)
  (at r83 v46)
  (free v47)
  (at r61 v48)
  (at r72 v49)
  (free v50)
  (at r74 v51)
  (free v52)
  (free v53)
  (at r67 v54)
  (at r71 v55)
  (at r50 v56)
  (at r62 v57)
  (free v58)
  (free v59)
  (free v60)
  (at r81 v61)
  (at r45 v62)
  (free v63)
  (free v64)
  (at r54 v65)
  (at r84 v66)
  (free v67)
  (at r57 v68)
  (at r53 v69)
  (free v70)
  (free v71)
  (at r55 v72)
  (free v73)
  (at r68 v74)
  (free v75)
  (free v76)
  (at r80 v77)
  (at r49 v78)
  (at r47 v79)
  (at r51 v80)
  (free v81)
  (free v82)
  (free v83)
  (free v84)
  (free v85)
  (free v86)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v33)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v3 v27)
  (adjacent v3 v28)
  (adjacent v4 v9)
  (adjacent v4 v16)
  (adjacent v4 v22)
  (adjacent v5 v6)
  (adjacent v5 v32)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v6 v15)
  (adjacent v6 v69)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v7 v21)
  (adjacent v7 v73)
  (adjacent v8 v9)
  (adjacent v9 v46)
  (adjacent v9 v52)
  (adjacent v9 v74)
  (adjacent v10 v11)
  (adjacent v11 v35)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v16 v17)
  (adjacent v16 v45)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v63)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v41)
  (adjacent v24 v25)
  (adjacent v24 v77)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v82)
  (adjacent v27 v40)
  (adjacent v27 v51)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v76)
  (adjacent v35 v36)
  (adjacent v35 v41)
  (adjacent v35 v64)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v42)
  (adjacent v37 v50)
  (adjacent v37 v58)
  (adjacent v38 v39)
  (adjacent v38 v70)
  (adjacent v39 v40)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v78)
  (adjacent v44 v45)
  (adjacent v44 v57)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v51)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v58 v86)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v75)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v81)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
 )
 (:goal
  (and
  (free v0)
  (at r79 v1)
  (free v2)
  (free v3)
  (at r85 v4)
  (at r64 v5)
  (free v6)
  (at r65 v7)
  (at r70 v8)
  (free v9)
  (at r52 v10)
  (free v11)
  (at r62 v12)
  (at r44 v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (at r82 v18)
  (at r57 v19)
  (free v20)
  (at r66 v21)
  (at r74 v22)
  (at r83 v23)
  (free v24)
  (at r61 v25)
  (at r55 v26)
  (free v27)
  (at r54 v28)
  (at r60 v29)
  (free v30)
  (at r81 v31)
  (free v32)
  (free v33)
  (at r53 v34)
  (free v35)
  (free v36)
  (free v37)
  (at r68 v38)
  (free v39)
  (at r59 v40)
  (free v41)
  (at r72 v42)
  (free v43)
  (at r76 v44)
  (at r50 v45)
  (at r63 v46)
  (at r48 v47)
  (free v48)
  (at r67 v49)
  (free v50)
  (free v51)
  (at r84 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r58 v57)
  (at r51 v58)
  (at r49 v59)
  (free v60)
  (at r86 v61)
  (free v62)
  (at r45 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r78 v67)
  (free v68)
  (free v69)
  (free v70)
  (at r46 v71)
  (at r77 v72)
  (free v73)
  (free v74)
  (at r80 v75)
  (at r56 v76)
  (free v77)
  (at r71 v78)
  (free v79)
  (free v80)
  (at r73 v81)
  (free v82)
  (at r47 v83)
  (at r75 v84)
  (at r69 v85)
  (free v86)
  )
 )
)