(define (problem multirobot_22_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r68
  v1 r44
  v2 r26
  v3 r25
  v4
  v5 r16
  v6 r11
  v7 r17
  v8 r18
  v9 r80
  v10 r34
  v11 r49
  v12 r32
  v13 r19
  v14 r78
  v15 r28
  v16 r57
  v17 r40
  v18 r63
  v19 r22
  v20
  v21 r56
  v22
  v23 r76
  v24
  v25 r23
  v26 r75
  v27 r13
  v28
  v29 r61
  v30
  v31 r55
  v32 r48
  v33 r43
  v34 r24
  v35 r50
  v36 r35
  v37 r77
  v38 r27
  v39 r12
  v40 r29
  v41 r64
  v42 r58
  v43 r60
  v44 r15
  v45 r73
  v46 r59
  v47 r41
  v48 r69
  v49 r71
  v50
  v51 r46
  v52 r67
  v53 r42
  v54 r33
  v55 r37
  v56 r66
  v57 r14
  v58 r51
  v59 r31
  v60
  v61 r54
  v62 r70
  v63 r21
  v64 r20
  v65 r38
  v66 r36
  v67 r62
  v68 r52
  v69 r30
  v70 r45
  v71 r65
  v72
  v73 r39
  v74 r79
  v75 r47
  v76 r53
  v77 r72
  v78 r81
  v79 r9
  v80 r10
  v81 r74
 )
 (:init
  (at r68 v0)
  (at r44 v1)
  (at r26 v2)
  (at r25 v3)
  (free v4)
  (at r16 v5)
  (at r11 v6)
  (at r17 v7)
  (at r18 v8)
  (at r80 v9)
  (at r34 v10)
  (at r49 v11)
  (at r32 v12)
  (at r19 v13)
  (at r78 v14)
  (at r28 v15)
  (at r57 v16)
  (at r40 v17)
  (at r63 v18)
  (at r22 v19)
  (free v20)
  (at r56 v21)
  (free v22)
  (at r76 v23)
  (free v24)
  (at r23 v25)
  (at r75 v26)
  (at r13 v27)
  (free v28)
  (at r61 v29)
  (free v30)
  (at r55 v31)
  (at r48 v32)
  (at r43 v33)
  (at r24 v34)
  (at r50 v35)
  (at r35 v36)
  (at r77 v37)
  (at r27 v38)
  (at r12 v39)
  (at r29 v40)
  (at r64 v41)
  (at r58 v42)
  (at r60 v43)
  (at r15 v44)
  (at r73 v45)
  (at r59 v46)
  (at r41 v47)
  (at r69 v48)
  (at r71 v49)
  (free v50)
  (at r46 v51)
  (at r67 v52)
  (at r42 v53)
  (at r33 v54)
  (at r37 v55)
  (at r66 v56)
  (at r14 v57)
  (at r51 v58)
  (at r31 v59)
  (free v60)
  (at r54 v61)
  (at r70 v62)
  (at r21 v63)
  (at r20 v64)
  (at r38 v65)
  (at r36 v66)
  (at r62 v67)
  (at r52 v68)
  (at r30 v69)
  (at r45 v70)
  (at r65 v71)
  (free v72)
  (at r39 v73)
  (at r79 v74)
  (at r47 v75)
  (at r53 v76)
  (at r72 v77)
  (at r81 v78)
  (at r9 v79)
  (at r10 v80)
  (at r74 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v0 v77)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v6)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v41)
  (adjacent v4 v7)
  (adjacent v5 v6)
  (adjacent v6 v9)
  (adjacent v6 v19)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v14)
  (adjacent v7 v71)
  (adjacent v7 v76)
  (adjacent v8 v9)
  (adjacent v9 v20)
  (adjacent v10 v11)
  (adjacent v10 v33)
  (adjacent v11 v12)
  (adjacent v11 v26)
  (adjacent v12 v13)
  (adjacent v12 v54)
  (adjacent v13 v32)
  (adjacent v14 v15)
  (adjacent v14 v22)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v15 v42)
  (adjacent v16 v17)
  (adjacent v16 v30)
  (adjacent v16 v59)
  (adjacent v17 v18)
  (adjacent v17 v31)
  (adjacent v18 v19)
  (adjacent v18 v27)
  (adjacent v18 v65)
  (adjacent v19 v39)
  (adjacent v20 v21)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v22 v47)
  (adjacent v23 v24)
  (adjacent v23 v47)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v55)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v28 v29)
  (adjacent v28 v41)
  (adjacent v29 v30)
  (adjacent v29 v40)
  (adjacent v29 v48)
  (adjacent v29 v66)
  (adjacent v31 v32)
  (adjacent v32 v35)
  (adjacent v32 v60)
  (adjacent v33 v34)
  (adjacent v34 v73)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v46)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v61)
  (adjacent v45 v46)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v60)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v81)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v72)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v72)
  (adjacent v70 v71)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
 )
 (:goal
  (and
  (at r40 v0)
  (at r14 v1)
  (at r63 v2)
  (at r31 v3)
  (at r47 v4)
  (at r81 v5)
  (at r11 v6)
  (free v7)
  (at r24 v8)
  (at r73 v9)
  (at r42 v10)
  (at r46 v11)
  (at r26 v12)
  (at r43 v13)
  (at r23 v14)
  (at r50 v15)
  (at r18 v16)
  (at r22 v17)
  (at r48 v18)
  (at r35 v19)
  (free v20)
  (at r30 v21)
  (at r41 v22)
  (at r16 v23)
  (at r51 v24)
  (at r25 v25)
  (at r61 v26)
  (at r36 v27)
  (free v28)
  (at r52 v29)
  (at r65 v30)
  (at r76 v31)
  (at r72 v32)
  (at r79 v33)
  (at r37 v34)
  (at r34 v35)
  (at r78 v36)
  (at r38 v37)
  (at r55 v38)
  (at r17 v39)
  (free v40)
  (free v41)
  (at r57 v42)
  (at r80 v43)
  (at r66 v44)
  (free v45)
  (at r54 v46)
  (at r27 v47)
  (at r71 v48)
  (at r21 v49)
  (at r77 v50)
  (at r68 v51)
  (at r67 v52)
  (at r13 v53)
  (at r10 v54)
  (at r70 v55)
  (at r58 v56)
  (at r59 v57)
  (at r44 v58)
  (at r74 v59)
  (at r45 v60)
  (free v61)
  (at r20 v62)
  (at r28 v63)
  (at r9 v64)
  (at r39 v65)
  (at r32 v66)
  (at r56 v67)
  (free v68)
  (at r75 v69)
  (at r12 v70)
  (at r69 v71)
  (free v72)
  (at r15 v73)
  (at r64 v74)
  (at r29 v75)
  (at r19 v76)
  (at r60 v77)
  (at r53 v78)
  (at r33 v79)
  (at r62 v80)
  (at r49 v81)
  )
 )
)