(define (problem multirobot_19_10%_c3)
 (:domain multirobot)
 (:objects
  v0 r17
  v1 r29
  v2 r61
  v3 r78
  v4
  v5 r51
  v6 r8
  v7 r44
  v8
  v9 r50
  v10 r25
  v11 r18
  v12 r12
  v13 r26
  v14 r19
  v15 r11
  v16 r73
  v17 r67
  v18 r65
  v19 r74
  v20
  v21
  v22 r57
  v23
  v24 r54
  v25 r40
  v26 r41
  v27 r21
  v28 r60
  v29 r34
  v30 r47
  v31 r69
  v32 r22
  v33 r77
  v34 r10
  v35 r63
  v36 r24
  v37 r81
  v38 r20
  v39 r14
  v40 r72
  v41 r13
  v42 r38
  v43 r28
  v44 r70
  v45 r80
  v46 r15
  v47 r36
  v48 r45
  v49 r79
  v50 r42
  v51 r62
  v52 r75
  v53 r59
  v54
  v55 r71
  v56
  v57 r76
  v58 r35
  v59 r56
  v60 r23
  v61 r52
  v62 r58
  v63 r16
  v64 r32
  v65 r39
  v66 r64
  v67
  v68 r27
  v69 r33
  v70 r68
  v71 r37
  v72 r55
  v73 r66
  v74 r43
  v75 r30
  v76 r49
  v77 r48
  v78 r46
  v79 r53
  v80 r9
  v81 r31
 )
 (:init
  (at r17 v0)
  (at r29 v1)
  (at r61 v2)
  (at r78 v3)
  (free v4)
  (at r51 v5)
  (at r8 v6)
  (at r44 v7)
  (free v8)
  (at r50 v9)
  (at r25 v10)
  (at r18 v11)
  (at r12 v12)
  (at r26 v13)
  (at r19 v14)
  (at r11 v15)
  (at r73 v16)
  (at r67 v17)
  (at r65 v18)
  (at r74 v19)
  (free v20)
  (free v21)
  (at r57 v22)
  (free v23)
  (at r54 v24)
  (at r40 v25)
  (at r41 v26)
  (at r21 v27)
  (at r60 v28)
  (at r34 v29)
  (at r47 v30)
  (at r69 v31)
  (at r22 v32)
  (at r77 v33)
  (at r10 v34)
  (at r63 v35)
  (at r24 v36)
  (at r81 v37)
  (at r20 v38)
  (at r14 v39)
  (at r72 v40)
  (at r13 v41)
  (at r38 v42)
  (at r28 v43)
  (at r70 v44)
  (at r80 v45)
  (at r15 v46)
  (at r36 v47)
  (at r45 v48)
  (at r79 v49)
  (at r42 v50)
  (at r62 v51)
  (at r75 v52)
  (at r59 v53)
  (free v54)
  (at r71 v55)
  (free v56)
  (at r76 v57)
  (at r35 v58)
  (at r56 v59)
  (at r23 v60)
  (at r52 v61)
  (at r58 v62)
  (at r16 v63)
  (at r32 v64)
  (at r39 v65)
  (at r64 v66)
  (free v67)
  (at r27 v68)
  (at r33 v69)
  (at r68 v70)
  (at r37 v71)
  (at r55 v72)
  (at r66 v73)
  (at r43 v74)
  (at r30 v75)
  (at r49 v76)
  (at r48 v77)
  (at r46 v78)
  (at r53 v79)
  (at r9 v80)
  (at r31 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v13)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v1 v30)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v37)
  (adjacent v2 v68)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v3 v62)
  (adjacent v4 v5)
  (adjacent v5 v31)
  (adjacent v6 v7)
  (adjacent v6 v10)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v22)
  (adjacent v8 v43)
  (adjacent v8 v81)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v10 v14)
  (adjacent v11 v12)
  (adjacent v11 v21)
  (adjacent v13 v14)
  (adjacent v14 v36)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v24)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v53)
  (adjacent v19 v80)
  (adjacent v20 v21)
  (adjacent v22 v23)
  (adjacent v22 v61)
  (adjacent v23 v24)
  (adjacent v23 v25)
  (adjacent v23 v76)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v42)
  (adjacent v29 v30)
  (adjacent v29 v81)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v69)
  (adjacent v33 v34)
  (adjacent v33 v54)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v47)
  (adjacent v35 v48)
  (adjacent v36 v72)
  (adjacent v37 v38)
  (adjacent v37 v59)
  (adjacent v38 v39)
  (adjacent v38 v60)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v71)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v75)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r58 v0)
  (at r47 v1)
  (at r40 v2)
  (at r23 v3)
  (at r60 v4)
  (at r81 v5)
  (at r39 v6)
  (at r48 v7)
  (at r38 v8)
  (at r73 v9)
  (at r28 v10)
  (at r30 v11)
  (at r79 v12)
  (at r75 v13)
  (at r70 v14)
  (at r14 v15)
  (at r46 v16)
  (at r20 v17)
  (at r16 v18)
  (at r78 v19)
  (at r9 v20)
  (free v21)
  (at r12 v22)
  (at r61 v23)
  (at r37 v24)
  (at r65 v25)
  (at r31 v26)
  (at r49 v27)
  (at r66 v28)
  (free v29)
  (at r45 v30)
  (at r26 v31)
  (at r50 v32)
  (at r15 v33)
  (at r33 v34)
  (at r43 v35)
  (at r22 v36)
  (at r17 v37)
  (at r24 v38)
  (at r72 v39)
  (at r18 v40)
  (at r59 v41)
  (at r35 v42)
  (at r36 v43)
  (at r67 v44)
  (at r57 v45)
  (free v46)
  (at r29 v47)
  (at r74 v48)
  (at r8 v49)
  (free v50)
  (at r51 v51)
  (at r53 v52)
  (at r80 v53)
  (at r10 v54)
  (at r13 v55)
  (at r27 v56)
  (at r34 v57)
  (at r56 v58)
  (at r62 v59)
  (at r19 v60)
  (at r32 v61)
  (at r76 v62)
  (at r42 v63)
  (at r64 v64)
  (at r77 v65)
  (at r21 v66)
  (free v67)
  (free v68)
  (free v69)
  (at r44 v70)
  (at r54 v71)
  (at r63 v72)
  (at r41 v73)
  (at r71 v74)
  (at r52 v75)
  (at r11 v76)
  (free v77)
  (at r55 v78)
  (at r69 v79)
  (at r25 v80)
  (at r68 v81)
  )
 )
)