(define (problem multirobot_21_10%_c5)
 (:domain multirobot)
 (:objects
  v0 r23
  v1 r24
  v2 r11
  v3 r65
  v4 r70
  v5 r37
  v6 r63
  v7 r64
  v8 r17
  v9 r62
  v10 r77
  v11 r12
  v12 r56
  v13
  v14 r41
  v15 r68
  v16 r8
  v17 r43
  v18
  v19 r22
  v20 r73
  v21
  v22 r79
  v23 r18
  v24 r60
  v25 r58
  v26 r57
  v27 r72
  v28 r9
  v29 r33
  v30 r32
  v31 r21
  v32 r15
  v33 r35
  v34 r54
  v35 r51
  v36 r38
  v37 r50
  v38 r19
  v39 r76
  v40 r13
  v41 r45
  v42
  v43 r52
  v44 r61
  v45 r34
  v46 r69
  v47 r66
  v48 r67
  v49 r47
  v50 r7
  v51 r78
  v52 r40
  v53 r48
  v54
  v55 r71
  v56 r29
  v57
  v58 r20
  v59 r27
  v60 r31
  v61 r53
  v62 r49
  v63 r26
  v64 r74
  v65 r30
  v66 r46
  v67 r28
  v68 r16
  v69 r10
  v70 r44
  v71
  v72 r39
  v73 r42
  v74 r25
  v75 r55
  v76 r59
  v77 r75
  v78 r14
  v79 r36
 )
 (:init
  (at r23 v0)
  (at r24 v1)
  (at r11 v2)
  (at r65 v3)
  (at r70 v4)
  (at r37 v5)
  (at r63 v6)
  (at r64 v7)
  (at r17 v8)
  (at r62 v9)
  (at r77 v10)
  (at r12 v11)
  (at r56 v12)
  (free v13)
  (at r41 v14)
  (at r68 v15)
  (at r8 v16)
  (at r43 v17)
  (free v18)
  (at r22 v19)
  (at r73 v20)
  (free v21)
  (at r79 v22)
  (at r18 v23)
  (at r60 v24)
  (at r58 v25)
  (at r57 v26)
  (at r72 v27)
  (at r9 v28)
  (at r33 v29)
  (at r32 v30)
  (at r21 v31)
  (at r15 v32)
  (at r35 v33)
  (at r54 v34)
  (at r51 v35)
  (at r38 v36)
  (at r50 v37)
  (at r19 v38)
  (at r76 v39)
  (at r13 v40)
  (at r45 v41)
  (free v42)
  (at r52 v43)
  (at r61 v44)
  (at r34 v45)
  (at r69 v46)
  (at r66 v47)
  (at r67 v48)
  (at r47 v49)
  (at r7 v50)
  (at r78 v51)
  (at r40 v52)
  (at r48 v53)
  (free v54)
  (at r71 v55)
  (at r29 v56)
  (free v57)
  (at r20 v58)
  (at r27 v59)
  (at r31 v60)
  (at r53 v61)
  (at r49 v62)
  (at r26 v63)
  (at r74 v64)
  (at r30 v65)
  (at r46 v66)
  (at r28 v67)
  (at r16 v68)
  (at r10 v69)
  (at r44 v70)
  (free v71)
  (at r39 v72)
  (at r42 v73)
  (at r25 v74)
  (at r55 v75)
  (at r59 v76)
  (at r75 v77)
  (at r14 v78)
  (at r36 v79)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v22)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v13)
  (adjacent v1 v15)
  (adjacent v2 v3)
  (adjacent v2 v58)
  (adjacent v3 v4)
  (adjacent v3 v13)
  (adjacent v4 v5)
  (adjacent v4 v30)
  (adjacent v5 v6)
  (adjacent v5 v52)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v8 v9)
  (adjacent v8 v44)
  (adjacent v9 v10)
  (adjacent v9 v23)
  (adjacent v10 v52)
  (adjacent v11 v12)
  (adjacent v11 v31)
  (adjacent v12 v23)
  (adjacent v12 v39)
  (adjacent v12 v53)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v14 v20)
  (adjacent v15 v16)
  (adjacent v15 v24)
  (adjacent v15 v56)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v40)
  (adjacent v19 v20)
  (adjacent v19 v21)
  (adjacent v20 v31)
  (adjacent v21 v22)
  (adjacent v21 v32)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v65)
  (adjacent v27 v28)
  (adjacent v27 v34)
  (adjacent v28 v29)
  (adjacent v28 v35)
  (adjacent v29 v30)
  (adjacent v31 v59)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v33 v57)
  (adjacent v33 v67)
  (adjacent v34 v50)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v43)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v49)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v79)
  (adjacent v46 v47)
  (adjacent v46 v75)
  (adjacent v47 v48)
  (adjacent v47 v68)
  (adjacent v48 v49)
  (adjacent v48 v51)
  (adjacent v50 v51)
  (adjacent v50 v64)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v74)
  (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)
 )
 (:goal
  (and
  (at r76 v0)
  (at r41 v1)
  (at r61 v2)
  (at r35 v3)
  (free v4)
  (at r22 v5)
  (at r21 v6)
  (at r30 v7)
  (at r77 v8)
  (at r7 v9)
  (at r54 v10)
  (free v11)
  (at r20 v12)
  (at r14 v13)
  (at r12 v14)
  (at r55 v15)
  (at r75 v16)
  (at r28 v17)
  (at r11 v18)
  (at r43 v19)
  (at r79 v20)
  (at r26 v21)
  (at r68 v22)
  (free v23)
  (at r23 v24)
  (at r58 v25)
  (at r10 v26)
  (at r36 v27)
  (at r38 v28)
  (at r70 v29)
  (at r45 v30)
  (at r74 v31)
  (at r64 v32)
  (at r44 v33)
  (free v34)
  (at r18 v35)
  (at r27 v36)
  (at r66 v37)
  (at r29 v38)
  (at r73 v39)
  (free v40)
  (at r8 v41)
  (at r67 v42)
  (at r13 v43)
  (at r24 v44)
  (at r72 v45)
  (free v46)
  (at r16 v47)
  (at r15 v48)
  (at r52 v49)
  (at r63 v50)
  (at r71 v51)
  (at r37 v52)
  (at r78 v53)
  (at r42 v54)
  (at r39 v55)
  (at r46 v56)
  (at r9 v57)
  (at r57 v58)
  (at r69 v59)
  (at r32 v60)
  (at r40 v61)
  (at r65 v62)
  (at r60 v63)
  (at r62 v64)
  (at r33 v65)
  (at r25 v66)
  (at r19 v67)
  (at r48 v68)
  (at r49 v69)
  (at r34 v70)
  (at r47 v71)
  (at r51 v72)
  (at r59 v73)
  (free v74)
  (at r31 v75)
  (at r50 v76)
  (at r56 v77)
  (at r17 v78)
  (at r53 v79)
  )
 )
)