(define (problem multirobot_20_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r71
  v1 r60
  v2 r32
  v3 r46
  v4 r35
  v5 r52
  v6 r23
  v7 r36
  v8
  v9 r26
  v10 r49
  v11 r62
  v12 r45
  v13 r66
  v14 r19
  v15 r18
  v16 r69
  v17 r15
  v18
  v19 r38
  v20 r10
  v21 r20
  v22 r65
  v23 r56
  v24 r9
  v25 r29
  v26 r12
  v27 r77
  v28 r40
  v29 r8
  v30 r21
  v31 r67
  v32 r44
  v33 r39
  v34 r70
  v35
  v36 r33
  v37 r13
  v38 r25
  v39 r37
  v40 r72
  v41 r55
  v42 r73
  v43 r16
  v44 r17
  v45 r59
  v46
  v47 r61
  v48 r14
  v49 r24
  v50 r30
  v51 r68
  v52 r22
  v53 r47
  v54 r6
  v55 r58
  v56 r31
  v57 r48
  v58
  v59 r53
  v60 r63
  v61 r80
  v62 r11
  v63 r41
  v64 r50
  v65 r27
  v66 r74
  v67 r76
  v68 r79
  v69 r75
  v70
  v71 r43
  v72 r78
  v73 r54
  v74 r28
  v75 r64
  v76 r42
  v77 r57
  v78 r51
  v79 r7
  v80 r34
 )
 (:init
  (at r71 v0)
  (at r60 v1)
  (at r32 v2)
  (at r46 v3)
  (at r35 v4)
  (at r52 v5)
  (at r23 v6)
  (at r36 v7)
  (free v8)
  (at r26 v9)
  (at r49 v10)
  (at r62 v11)
  (at r45 v12)
  (at r66 v13)
  (at r19 v14)
  (at r18 v15)
  (at r69 v16)
  (at r15 v17)
  (free v18)
  (at r38 v19)
  (at r10 v20)
  (at r20 v21)
  (at r65 v22)
  (at r56 v23)
  (at r9 v24)
  (at r29 v25)
  (at r12 v26)
  (at r77 v27)
  (at r40 v28)
  (at r8 v29)
  (at r21 v30)
  (at r67 v31)
  (at r44 v32)
  (at r39 v33)
  (at r70 v34)
  (free v35)
  (at r33 v36)
  (at r13 v37)
  (at r25 v38)
  (at r37 v39)
  (at r72 v40)
  (at r55 v41)
  (at r73 v42)
  (at r16 v43)
  (at r17 v44)
  (at r59 v45)
  (free v46)
  (at r61 v47)
  (at r14 v48)
  (at r24 v49)
  (at r30 v50)
  (at r68 v51)
  (at r22 v52)
  (at r47 v53)
  (at r6 v54)
  (at r58 v55)
  (at r31 v56)
  (at r48 v57)
  (free v58)
  (at r53 v59)
  (at r63 v60)
  (at r80 v61)
  (at r11 v62)
  (at r41 v63)
  (at r50 v64)
  (at r27 v65)
  (at r74 v66)
  (at r76 v67)
  (at r79 v68)
  (at r75 v69)
  (free v70)
  (at r43 v71)
  (at r78 v72)
  (at r54 v73)
  (at r28 v74)
  (at r64 v75)
  (at r42 v76)
  (at r57 v77)
  (at r51 v78)
  (at r7 v79)
  (at r34 v80)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v2 v43)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v15)
  (adjacent v4 v35)
  (adjacent v4 v68)
  (adjacent v5 v9)
  (adjacent v5 v11)
  (adjacent v6 v7)
  (adjacent v6 v14)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v28)
  (adjacent v10 v52)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v39)
  (adjacent v14 v21)
  (adjacent v15 v16)
  (adjacent v15 v27)
  (adjacent v15 v38)
  (adjacent v16 v17)
  (adjacent v16 v46)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v74)
  (adjacent v19 v75)
  (adjacent v20 v21)
  (adjacent v20 v29)
  (adjacent v20 v54)
  (adjacent v21 v22)
  (adjacent v21 v53)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v33)
  (adjacent v24 v25)
  (adjacent v24 v58)
  (adjacent v25 v26)
  (adjacent v25 v28)
  (adjacent v25 v42)
  (adjacent v26 v27)
  (adjacent v26 v34)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v34)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v51)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v45)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v54 v62)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v59)
  (adjacent v57 v58)
  (adjacent v57 v63)
  (adjacent v58 v64)
  (adjacent v59 v60)
  (adjacent v59 v80)
  (adjacent v60 v61)
  (adjacent v60 v67)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v63 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r61 v0)
  (at r15 v1)
  (at r43 v2)
  (at r13 v3)
  (at r69 v4)
  (at r74 v5)
  (at r48 v6)
  (at r68 v7)
  (at r21 v8)
  (at r66 v9)
  (at r10 v10)
  (at r59 v11)
  (at r51 v12)
  (at r19 v13)
  (at r67 v14)
  (at r39 v15)
  (at r25 v16)
  (at r72 v17)
  (at r33 v18)
  (free v19)
  (at r41 v20)
  (free v21)
  (at r12 v22)
  (at r80 v23)
  (at r73 v24)
  (at r70 v25)
  (at r52 v26)
  (at r62 v27)
  (at r8 v28)
  (at r38 v29)
  (at r60 v30)
  (free v31)
  (at r18 v32)
  (at r6 v33)
  (at r23 v34)
  (at r65 v35)
  (at r22 v36)
  (at r45 v37)
  (at r14 v38)
  (at r76 v39)
  (at r49 v40)
  (at r9 v41)
  (at r44 v42)
  (at r17 v43)
  (at r47 v44)
  (at r77 v45)
  (at r71 v46)
  (at r31 v47)
  (at r36 v48)
  (free v49)
  (at r79 v50)
  (at r30 v51)
  (at r75 v52)
  (at r37 v53)
  (at r46 v54)
  (at r58 v55)
  (at r7 v56)
  (at r20 v57)
  (at r34 v58)
  (at r16 v59)
  (free v60)
  (at r32 v61)
  (at r42 v62)
  (at r54 v63)
  (at r28 v64)
  (at r53 v65)
  (at r11 v66)
  (at r55 v67)
  (at r35 v68)
  (at r56 v69)
  (at r27 v70)
  (at r24 v71)
  (at r63 v72)
  (at r26 v73)
  (at r57 v74)
  (at r64 v75)
  (at r50 v76)
  (at r29 v77)
  (free v78)
  (at r40 v79)
  (at r78 v80)
  )
 )
)