(define (problem multirobot_23_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r22
  v1 r13
  v2 r69
  v3 r77
  v4 r26
  v5 r65
  v6 r49
  v7 r17
  v8 r71
  v9 r35
  v10 r53
  v11 r78
  v12 r40
  v13 r76
  v14 r59
  v15 r12
  v16 r57
  v17 r56
  v18
  v19 r63
  v20 r50
  v21 r30
  v22
  v23 r31
  v24 r79
  v25 r48
  v26 r80
  v27
  v28 r64
  v29 r32
  v30 r38
  v31 r41
  v32 r72
  v33 r20
  v34 r15
  v35 r16
  v36 r67
  v37 r44
  v38 r62
  v39 r34
  v40 r46
  v41 r54
  v42
  v43 r75
  v44 r61
  v45
  v46 r25
  v47 r28
  v48
  v49 r70
  v50 r8
  v51 r51
  v52 r14
  v53 r74
  v54 r43
  v55 r33
  v56 r37
  v57 r18
  v58 r66
  v59 r45
  v60 r36
  v61 r60
  v62 r29
  v63 r27
  v64 r42
  v65 r11
  v66
  v67
  v68 r24
  v69 r47
  v70 r55
  v71 r52
  v72 r68
  v73 r39
  v74 r73
  v75 r9
  v76 r10
  v77 r58
  v78 r21
  v79 r23
  v80 r19
 )
 (:init
  (at r22 v0)
  (at r13 v1)
  (at r69 v2)
  (at r77 v3)
  (at r26 v4)
  (at r65 v5)
  (at r49 v6)
  (at r17 v7)
  (at r71 v8)
  (at r35 v9)
  (at r53 v10)
  (at r78 v11)
  (at r40 v12)
  (at r76 v13)
  (at r59 v14)
  (at r12 v15)
  (at r57 v16)
  (at r56 v17)
  (free v18)
  (at r63 v19)
  (at r50 v20)
  (at r30 v21)
  (free v22)
  (at r31 v23)
  (at r79 v24)
  (at r48 v25)
  (at r80 v26)
  (free v27)
  (at r64 v28)
  (at r32 v29)
  (at r38 v30)
  (at r41 v31)
  (at r72 v32)
  (at r20 v33)
  (at r15 v34)
  (at r16 v35)
  (at r67 v36)
  (at r44 v37)
  (at r62 v38)
  (at r34 v39)
  (at r46 v40)
  (at r54 v41)
  (free v42)
  (at r75 v43)
  (at r61 v44)
  (free v45)
  (at r25 v46)
  (at r28 v47)
  (free v48)
  (at r70 v49)
  (at r8 v50)
  (at r51 v51)
  (at r14 v52)
  (at r74 v53)
  (at r43 v54)
  (at r33 v55)
  (at r37 v56)
  (at r18 v57)
  (at r66 v58)
  (at r45 v59)
  (at r36 v60)
  (at r60 v61)
  (at r29 v62)
  (at r27 v63)
  (at r42 v64)
  (at r11 v65)
  (free v66)
  (free v67)
  (at r24 v68)
  (at r47 v69)
  (at r55 v70)
  (at r52 v71)
  (at r68 v72)
  (at r39 v73)
  (at r73 v74)
  (at r9 v75)
  (at r10 v76)
  (at r58 v77)
  (at r21 v78)
  (at r23 v79)
  (at r19 v80)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v15)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v18)
  (adjacent v2 v3)
  (adjacent v2 v33)
  (adjacent v2 v69)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v20)
  (adjacent v4 v5)
  (adjacent v4 v34)
  (adjacent v5 v6)
  (adjacent v5 v32)
  (adjacent v5 v37)
  (adjacent v6 v8)
  (adjacent v6 v14)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v8 v25)
  (adjacent v9 v10)
  (adjacent v9 v27)
  (adjacent v9 v52)
  (adjacent v10 v11)
  (adjacent v10 v49)
  (adjacent v10 v76)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v33)
  (adjacent v14 v17)
  (adjacent v14 v48)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v80)
  (adjacent v18 v19)
  (adjacent v18 v78)
  (adjacent v19 v20)
  (adjacent v19 v21)
  (adjacent v19 v59)
  (adjacent v20 v38)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v44)
  (adjacent v24 v26)
  (adjacent v24 v47)
  (adjacent v25 v26)
  (adjacent v25 v45)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v45)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v62)
  (adjacent v33 v46)
  (adjacent v33 v53)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v48)
  (adjacent v36 v37)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v58)
  (adjacent v43 v44)
  (adjacent v45 v63)
  (adjacent v46 v47)
  (adjacent v47 v68)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v72)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v64 v77)
  (adjacent v65 v66)
  (adjacent v65 v73)
  (adjacent v66 v67)
  (adjacent v66 v75)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r71 v0)
  (at r46 v1)
  (at r41 v2)
  (free v3)
  (at r60 v4)
  (at r14 v5)
  (at r74 v6)
  (at r59 v7)
  (at r52 v8)
  (at r25 v9)
  (at r63 v10)
  (at r18 v11)
  (at r16 v12)
  (at r53 v13)
  (at r32 v14)
  (at r22 v15)
  (at r38 v16)
  (at r33 v17)
  (at r65 v18)
  (at r75 v19)
  (at r43 v20)
  (at r35 v21)
  (free v22)
  (at r27 v23)
  (at r10 v24)
  (free v25)
  (at r51 v26)
  (at r13 v27)
  (free v28)
  (at r40 v29)
  (at r19 v30)
  (at r37 v31)
  (free v32)
  (at r69 v33)
  (at r44 v34)
  (at r20 v35)
  (at r78 v36)
  (at r49 v37)
  (at r58 v38)
  (at r31 v39)
  (at r79 v40)
  (at r55 v41)
  (at r8 v42)
  (at r62 v43)
  (at r72 v44)
  (free v45)
  (at r67 v46)
  (at r76 v47)
  (at r42 v48)
  (at r15 v49)
  (at r61 v50)
  (at r80 v51)
  (at r77 v52)
  (at r34 v53)
  (at r70 v54)
  (at r48 v55)
  (at r11 v56)
  (at r50 v57)
  (at r56 v58)
  (free v59)
  (at r66 v60)
  (at r21 v61)
  (free v62)
  (at r39 v63)
  (at r47 v64)
  (at r29 v65)
  (at r28 v66)
  (at r54 v67)
  (at r24 v68)
  (at r23 v69)
  (at r57 v70)
  (at r68 v71)
  (at r36 v72)
  (at r64 v73)
  (at r9 v74)
  (at r30 v75)
  (at r73 v76)
  (at r17 v77)
  (at r45 v78)
  (at r12 v79)
  (at r26 v80)
  )
 )
)