(define (problem multirobot_19_10%_c7)
 (:domain multirobot)
 (:objects
  v0 r57
  v1 r13
  v2 r61
  v3
  v4 r15
  v5 r40
  v6 r44
  v7 r42
  v8 r62
  v9 r73
  v10 r27
  v11 r12
  v12 r63
  v13 r7
  v14 r26
  v15 r48
  v16 r34
  v17
  v18
  v19 r19
  v20 r32
  v21 r74
  v22 r8
  v23 r81
  v24 r20
  v25 r30
  v26 r31
  v27 r79
  v28 r21
  v29 r43
  v30 r36
  v31 r17
  v32 r10
  v33
  v34 r68
  v35 r58
  v36 r22
  v37 r55
  v38 r50
  v39 r29
  v40 r64
  v41 r51
  v42 r39
  v43 r56
  v44
  v45 r65
  v46 r35
  v47 r16
  v48 r41
  v49 r54
  v50 r75
  v51 r70
  v52 r80
  v53 r66
  v54 r60
  v55
  v56 r38
  v57 r82
  v58 r78
  v59 r24
  v60 r25
  v61 r45
  v62 r37
  v63 r59
  v64 r77
  v65 r69
  v66 r18
  v67 r71
  v68 r9
  v69 r76
  v70 r52
  v71 r14
  v72 r67
  v73 r49
  v74 r28
  v75 r47
  v76 r53
  v77 r33
  v78 r46
  v79 r11
  v80
  v81 r23
  v82 r72
 )
 (:init
  (at r57 v0)
  (at r13 v1)
  (at r61 v2)
  (free v3)
  (at r15 v4)
  (at r40 v5)
  (at r44 v6)
  (at r42 v7)
  (at r62 v8)
  (at r73 v9)
  (at r27 v10)
  (at r12 v11)
  (at r63 v12)
  (at r7 v13)
  (at r26 v14)
  (at r48 v15)
  (at r34 v16)
  (free v17)
  (free v18)
  (at r19 v19)
  (at r32 v20)
  (at r74 v21)
  (at r8 v22)
  (at r81 v23)
  (at r20 v24)
  (at r30 v25)
  (at r31 v26)
  (at r79 v27)
  (at r21 v28)
  (at r43 v29)
  (at r36 v30)
  (at r17 v31)
  (at r10 v32)
  (free v33)
  (at r68 v34)
  (at r58 v35)
  (at r22 v36)
  (at r55 v37)
  (at r50 v38)
  (at r29 v39)
  (at r64 v40)
  (at r51 v41)
  (at r39 v42)
  (at r56 v43)
  (free v44)
  (at r65 v45)
  (at r35 v46)
  (at r16 v47)
  (at r41 v48)
  (at r54 v49)
  (at r75 v50)
  (at r70 v51)
  (at r80 v52)
  (at r66 v53)
  (at r60 v54)
  (free v55)
  (at r38 v56)
  (at r82 v57)
  (at r78 v58)
  (at r24 v59)
  (at r25 v60)
  (at r45 v61)
  (at r37 v62)
  (at r59 v63)
  (at r77 v64)
  (at r69 v65)
  (at r18 v66)
  (at r71 v67)
  (at r9 v68)
  (at r76 v69)
  (at r52 v70)
  (at r14 v71)
  (at r67 v72)
  (at r49 v73)
  (at r28 v74)
  (at r47 v75)
  (at r53 v76)
  (at r33 v77)
  (at r46 v78)
  (at r11 v79)
  (free v80)
  (at r23 v81)
  (at r72 v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v22)
  (adjacent v1 v23)
  (adjacent v2 v3)
  (adjacent v2 v35)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v3 v48)
  (adjacent v4 v15)
  (adjacent v5 v6)
  (adjacent v5 v14)
  (adjacent v5 v40)
  (adjacent v5 v41)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v13)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v27)
  (adjacent v13 v28)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v34)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v59)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v24)
  (adjacent v21 v22)
  (adjacent v21 v48)
  (adjacent v22 v23)
  (adjacent v24 v25)
  (adjacent v24 v53)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v28 v49)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v58)
  (adjacent v34 v82)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v47)
  (adjacent v39 v40)
  (adjacent v40 v66)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v60)
  (adjacent v42 v72)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v52)
  (adjacent v48 v61)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v50 v58)
  (adjacent v51 v52)
  (adjacent v52 v57)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v69)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v67)
  (adjacent v58 v76)
  (adjacent v59 v60)
  (adjacent v59 v70)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v71)
  (adjacent v64 v77)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
 )
 (:goal
  (and
  (at r48 v0)
  (at r24 v1)
  (at r45 v2)
  (at r42 v3)
  (free v4)
  (at r14 v5)
  (at r56 v6)
  (at r16 v7)
  (at r31 v8)
  (at r38 v9)
  (at r25 v10)
  (at r21 v11)
  (at r59 v12)
  (at r12 v13)
  (at r55 v14)
  (free v15)
  (at r50 v16)
  (at r33 v17)
  (at r9 v18)
  (at r80 v19)
  (at r65 v20)
  (at r47 v21)
  (at r64 v22)
  (at r7 v23)
  (at r15 v24)
  (at r28 v25)
  (free v26)
  (at r70 v27)
  (at r41 v28)
  (at r73 v29)
  (at r72 v30)
  (at r79 v31)
  (at r34 v32)
  (at r52 v33)
  (at r10 v34)
  (at r76 v35)
  (at r23 v36)
  (at r51 v37)
  (at r68 v38)
  (at r74 v39)
  (at r46 v40)
  (at r75 v41)
  (at r18 v42)
  (at r71 v43)
  (free v44)
  (at r82 v45)
  (at r77 v46)
  (at r53 v47)
  (at r27 v48)
  (at r61 v49)
  (at r37 v50)
  (at r8 v51)
  (at r17 v52)
  (at r69 v53)
  (at r11 v54)
  (at r54 v55)
  (at r63 v56)
  (at r13 v57)
  (at r22 v58)
  (at r57 v59)
  (at r44 v60)
  (at r30 v61)
  (at r29 v62)
  (at r81 v63)
  (free v64)
  (at r78 v65)
  (free v66)
  (at r49 v67)
  (at r66 v68)
  (free v69)
  (at r62 v70)
  (at r67 v71)
  (at r32 v72)
  (at r19 v73)
  (at r26 v74)
  (at r40 v75)
  (at r43 v76)
  (at r39 v77)
  (at r20 v78)
  (at r60 v79)
  (at r58 v80)
  (at r36 v81)
  (at r35 v82)
  )
 )
)