(define (problem multirobot_20_10%_c0)
 (:domain multirobot)
 (:objects
  v0
  v1 r40
  v2 r33
  v3 r53
  v4 r37
  v5 r25
  v6 r11
  v7 r15
  v8
  v9 r46
  v10 r16
  v11
  v12 r79
  v13 r68
  v14 r17
  v15 r45
  v16 r72
  v17 r57
  v18 r56
  v19 r58
  v20 r73
  v21 r20
  v22 r54
  v23 r10
  v24 r43
  v25 r31
  v26 r74
  v27 r35
  v28 r18
  v29 r61
  v30 r60
  v31 r50
  v32 r30
  v33 r29
  v34 r41
  v35 r62
  v36 r8
  v37 r47
  v38 r42
  v39 r24
  v40 r69
  v41
  v42 r75
  v43 r12
  v44 r13
  v45 r36
  v46 r21
  v47 r76
  v48 r26
  v49 r52
  v50
  v51 r63
  v52 r7
  v53 r48
  v54 r67
  v55 r55
  v56 r27
  v57 r51
  v58 r23
  v59 r59
  v60 r65
  v61
  v62 r49
  v63 r39
  v64 r9
  v65 r64
  v66 r28
  v67 r22
  v68 r77
  v69 r14
  v70 r70
  v71 r19
  v72 r44
  v73 r66
  v74 r32
  v75 r38
  v76
  v77 r71
  v78 r78
  v79 r34
 )
 (:init
  (free v0)
  (at r40 v1)
  (at r33 v2)
  (at r53 v3)
  (at r37 v4)
  (at r25 v5)
  (at r11 v6)
  (at r15 v7)
  (free v8)
  (at r46 v9)
  (at r16 v10)
  (free v11)
  (at r79 v12)
  (at r68 v13)
  (at r17 v14)
  (at r45 v15)
  (at r72 v16)
  (at r57 v17)
  (at r56 v18)
  (at r58 v19)
  (at r73 v20)
  (at r20 v21)
  (at r54 v22)
  (at r10 v23)
  (at r43 v24)
  (at r31 v25)
  (at r74 v26)
  (at r35 v27)
  (at r18 v28)
  (at r61 v29)
  (at r60 v30)
  (at r50 v31)
  (at r30 v32)
  (at r29 v33)
  (at r41 v34)
  (at r62 v35)
  (at r8 v36)
  (at r47 v37)
  (at r42 v38)
  (at r24 v39)
  (at r69 v40)
  (free v41)
  (at r75 v42)
  (at r12 v43)
  (at r13 v44)
  (at r36 v45)
  (at r21 v46)
  (at r76 v47)
  (at r26 v48)
  (at r52 v49)
  (free v50)
  (at r63 v51)
  (at r7 v52)
  (at r48 v53)
  (at r67 v54)
  (at r55 v55)
  (at r27 v56)
  (at r51 v57)
  (at r23 v58)
  (at r59 v59)
  (at r65 v60)
  (free v61)
  (at r49 v62)
  (at r39 v63)
  (at r9 v64)
  (at r64 v65)
  (at r28 v66)
  (at r22 v67)
  (at r77 v68)
  (at r14 v69)
  (at r70 v70)
  (at r19 v71)
  (at r44 v72)
  (at r66 v73)
  (at r32 v74)
  (at r38 v75)
  (free v76)
  (at r71 v77)
  (at r78 v78)
  (at r34 v79)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v16)
  (adjacent v3 v17)
  (adjacent v4 v37)
  (adjacent v5 v6)
  (adjacent v5 v12)
  (adjacent v5 v29)
  (adjacent v6 v7)
  (adjacent v6 v23)
  (adjacent v7 v8)
  (adjacent v7 v41)
  (adjacent v7 v50)
  (adjacent v7 v51)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v25)
  (adjacent v9 v70)
  (adjacent v10 v11)
  (adjacent v10 v21)
  (adjacent v10 v22)
  (adjacent v10 v46)
  (adjacent v10 v77)
  (adjacent v12 v13)
  (adjacent v12 v35)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v49)
  (adjacent v16 v28)
  (adjacent v16 v63)
  (adjacent v17 v18)
  (adjacent v17 v57)
  (adjacent v18 v19)
  (adjacent v18 v24)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v64)
  (adjacent v21 v71)
  (adjacent v22 v65)
  (adjacent v23 v24)
  (adjacent v23 v62)
  (adjacent v24 v36)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v42)
  (adjacent v28 v58)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v79)
  (adjacent v31 v32)
  (adjacent v31 v36)
  (adjacent v32 v33)
  (adjacent v32 v48)
  (adjacent v32 v61)
  (adjacent v33 v34)
  (adjacent v33 v65)
  (adjacent v34 v35)
  (adjacent v37 v38)
  (adjacent v37 v45)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v78)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v51 v66)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v62)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v63 v64)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v78 v79)
 )
 (:goal
  (and
  (at r48 v0)
  (at r54 v1)
  (at r29 v2)
  (at r59 v3)
  (at r66 v4)
  (at r73 v5)
  (at r64 v6)
  (at r20 v7)
  (at r60 v8)
  (at r43 v9)
  (at r23 v10)
  (at r15 v11)
  (at r17 v12)
  (free v13)
  (at r63 v14)
  (at r8 v15)
  (at r51 v16)
  (at r33 v17)
  (at r30 v18)
  (at r44 v19)
  (at r58 v20)
  (at r10 v21)
  (at r42 v22)
  (at r57 v23)
  (at r78 v24)
  (at r76 v25)
  (at r56 v26)
  (at r14 v27)
  (at r16 v28)
  (free v29)
  (at r75 v30)
  (at r28 v31)
  (at r13 v32)
  (at r50 v33)
  (at r52 v34)
  (at r71 v35)
  (at r24 v36)
  (at r26 v37)
  (at r67 v38)
  (at r61 v39)
  (free v40)
  (at r37 v41)
  (at r68 v42)
  (at r77 v43)
  (at r65 v44)
  (at r79 v45)
  (at r12 v46)
  (at r39 v47)
  (at r27 v48)
  (at r38 v49)
  (at r45 v50)
  (at r69 v51)
  (free v52)
  (at r72 v53)
  (at r34 v54)
  (at r70 v55)
  (at r46 v56)
  (at r22 v57)
  (at r53 v58)
  (at r47 v59)
  (at r55 v60)
  (at r49 v61)
  (at r19 v62)
  (at r21 v63)
  (at r35 v64)
  (at r74 v65)
  (free v66)
  (at r7 v67)
  (at r36 v68)
  (at r11 v69)
  (at r41 v70)
  (free v71)
  (at r9 v72)
  (free v73)
  (at r40 v74)
  (at r31 v75)
  (at r32 v76)
  (at r18 v77)
  (at r25 v78)
  (at r62 v79)
  )
 )
)