(define (problem multirobot_20_10%_c8)
 (:domain multirobot)
 (:objects
  v0 r28
  v1 r26
  v2 r74
  v3 r45
  v4 r37
  v5 r65
  v6 r11
  v7 r47
  v8 r24
  v9 r10
  v10 r56
  v11 r69
  v12 r58
  v13 r40
  v14 r72
  v15 r73
  v16 r9
  v17 r14
  v18 r31
  v19
  v20
  v21 r64
  v22 r12
  v23 r46
  v24 r50
  v25 r70
  v26 r63
  v27 r29
  v28 r36
  v29 r60
  v30 r16
  v31 r71
  v32 r68
  v33 r61
  v34 r8
  v35
  v36 r41
  v37 r32
  v38 r48
  v39 r21
  v40 r54
  v41 r15
  v42 r53
  v43 r76
  v44 r43
  v45
  v46 r18
  v47 r67
  v48
  v49 r22
  v50 r59
  v51 r25
  v52 r42
  v53
  v54 r38
  v55 r34
  v56 r77
  v57 r49
  v58 r55
  v59 r62
  v60 r30
  v61
  v62
  v63 r13
  v64 r51
  v65 r17
  v66 r75
  v67 r39
  v68 r57
  v69 r20
  v70 r35
  v71 r33
  v72 r23
  v73 r44
  v74 r27
  v75 r66
  v76 r52
  v77 r19
 )
 (:init
  (at r28 v0)
  (at r26 v1)
  (at r74 v2)
  (at r45 v3)
  (at r37 v4)
  (at r65 v5)
  (at r11 v6)
  (at r47 v7)
  (at r24 v8)
  (at r10 v9)
  (at r56 v10)
  (at r69 v11)
  (at r58 v12)
  (at r40 v13)
  (at r72 v14)
  (at r73 v15)
  (at r9 v16)
  (at r14 v17)
  (at r31 v18)
  (free v19)
  (free v20)
  (at r64 v21)
  (at r12 v22)
  (at r46 v23)
  (at r50 v24)
  (at r70 v25)
  (at r63 v26)
  (at r29 v27)
  (at r36 v28)
  (at r60 v29)
  (at r16 v30)
  (at r71 v31)
  (at r68 v32)
  (at r61 v33)
  (at r8 v34)
  (free v35)
  (at r41 v36)
  (at r32 v37)
  (at r48 v38)
  (at r21 v39)
  (at r54 v40)
  (at r15 v41)
  (at r53 v42)
  (at r76 v43)
  (at r43 v44)
  (free v45)
  (at r18 v46)
  (at r67 v47)
  (free v48)
  (at r22 v49)
  (at r59 v50)
  (at r25 v51)
  (at r42 v52)
  (free v53)
  (at r38 v54)
  (at r34 v55)
  (at r77 v56)
  (at r49 v57)
  (at r55 v58)
  (at r62 v59)
  (at r30 v60)
  (free v61)
  (free v62)
  (at r13 v63)
  (at r51 v64)
  (at r17 v65)
  (at r75 v66)
  (at r39 v67)
  (at r57 v68)
  (at r20 v69)
  (at r35 v70)
  (at r33 v71)
  (at r23 v72)
  (at r44 v73)
  (at r27 v74)
  (at r66 v75)
  (at r52 v76)
  (at r19 v77)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v15)
  (adjacent v0 v43)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v28)
  (adjacent v4 v8)
  (adjacent v4 v23)
  (adjacent v4 v31)
  (adjacent v4 v48)
  (adjacent v5 v6)
  (adjacent v7 v8)
  (adjacent v8 v12)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v22)
  (adjacent v11 v34)
  (adjacent v12 v13)
  (adjacent v12 v16)
  (adjacent v13 v14)
  (adjacent v13 v37)
  (adjacent v14 v15)
  (adjacent v14 v68)
  (adjacent v16 v17)
  (adjacent v16 v47)
  (adjacent v17 v18)
  (adjacent v17 v30)
  (adjacent v17 v72)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v42)
  (adjacent v20 v21)
  (adjacent v20 v53)
  (adjacent v21 v22)
  (adjacent v21 v54)
  (adjacent v21 v67)
  (adjacent v22 v29)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v33)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v38)
  (adjacent v31 v32)
  (adjacent v31 v39)
  (adjacent v32 v33)
  (adjacent v33 v36)
  (adjacent v33 v77)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v44)
  (adjacent v36 v55)
  (adjacent v37 v38)
  (adjacent v37 v41)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v61)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v56)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v73)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v62)
  (adjacent v60 v74)
  (adjacent v61 v71)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
 )
 (:goal
  (and
  (at r63 v0)
  (at r70 v1)
  (at r69 v2)
  (at r72 v3)
  (at r10 v4)
  (at r40 v5)
  (at r44 v6)
  (at r11 v7)
  (free v8)
  (at r27 v9)
  (at r14 v10)
  (at r31 v11)
  (at r53 v12)
  (at r22 v13)
  (at r12 v14)
  (at r60 v15)
  (at r49 v16)
  (at r25 v17)
  (at r76 v18)
  (at r57 v19)
  (at r33 v20)
  (free v21)
  (at r54 v22)
  (free v23)
  (at r61 v24)
  (at r48 v25)
  (at r20 v26)
  (at r37 v27)
  (at r64 v28)
  (at r29 v29)
  (at r67 v30)
  (at r74 v31)
  (at r41 v32)
  (free v33)
  (at r52 v34)
  (at r59 v35)
  (at r68 v36)
  (free v37)
  (free v38)
  (at r18 v39)
  (at r21 v40)
  (at r9 v41)
  (at r43 v42)
  (at r15 v43)
  (at r35 v44)
  (at r34 v45)
  (at r36 v46)
  (at r8 v47)
  (free v48)
  (at r42 v49)
  (at r73 v50)
  (at r51 v51)
  (at r65 v52)
  (at r32 v53)
  (at r17 v54)
  (at r66 v55)
  (at r45 v56)
  (at r62 v57)
  (at r50 v58)
  (at r38 v59)
  (at r23 v60)
  (at r46 v61)
  (at r55 v62)
  (at r47 v63)
  (at r16 v64)
  (free v65)
  (at r58 v66)
  (at r19 v67)
  (at r13 v68)
  (at r30 v69)
  (at r28 v70)
  (at r71 v71)
  (at r26 v72)
  (at r77 v73)
  (at r56 v74)
  (at r24 v75)
  (at r75 v76)
  (at r39 v77)
  )
 )
)