(define (problem multirobot_23_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r53
  v1
  v2 r17
  v3 r40
  v4 r59
  v5 r58
  v6 r49
  v7 r23
  v8 r72
  v9 r20
  v10
  v11 r41
  v12 r50
  v13 r71
  v14 r32
  v15 r39
  v16 r70
  v17
  v18 r33
  v19 r78
  v20 r46
  v21 r36
  v22 r13
  v23 r16
  v24 r60
  v25 r34
  v26
  v27 r51
  v28 r67
  v29 r18
  v30 r73
  v31 r56
  v32 r26
  v33 r25
  v34 r19
  v35 r74
  v36 r14
  v37
  v38 r24
  v39 r65
  v40 r81
  v41 r54
  v42 r55
  v43 r52
  v44 r66
  v45 r38
  v46 r22
  v47 r48
  v48 r44
  v49 r30
  v50 r57
  v51
  v52 r75
  v53 r76
  v54 r63
  v55 r47
  v56 r12
  v57 r27
  v58 r21
  v59 r9
  v60 r62
  v61
  v62 r79
  v63 r42
  v64
  v65 r69
  v66 r29
  v67 r31
  v68 r15
  v69 r45
  v70 r80
  v71 r37
  v72
  v73 r10
  v74 r68
  v75 r35
  v76 r61
  v77 r43
  v78 r77
  v79 r28
  v80 r11
  v81 r64
 )
 (:init
  (at r53 v0)
  (free v1)
  (at r17 v2)
  (at r40 v3)
  (at r59 v4)
  (at r58 v5)
  (at r49 v6)
  (at r23 v7)
  (at r72 v8)
  (at r20 v9)
  (free v10)
  (at r41 v11)
  (at r50 v12)
  (at r71 v13)
  (at r32 v14)
  (at r39 v15)
  (at r70 v16)
  (free v17)
  (at r33 v18)
  (at r78 v19)
  (at r46 v20)
  (at r36 v21)
  (at r13 v22)
  (at r16 v23)
  (at r60 v24)
  (at r34 v25)
  (free v26)
  (at r51 v27)
  (at r67 v28)
  (at r18 v29)
  (at r73 v30)
  (at r56 v31)
  (at r26 v32)
  (at r25 v33)
  (at r19 v34)
  (at r74 v35)
  (at r14 v36)
  (free v37)
  (at r24 v38)
  (at r65 v39)
  (at r81 v40)
  (at r54 v41)
  (at r55 v42)
  (at r52 v43)
  (at r66 v44)
  (at r38 v45)
  (at r22 v46)
  (at r48 v47)
  (at r44 v48)
  (at r30 v49)
  (at r57 v50)
  (free v51)
  (at r75 v52)
  (at r76 v53)
  (at r63 v54)
  (at r47 v55)
  (at r12 v56)
  (at r27 v57)
  (at r21 v58)
  (at r9 v59)
  (at r62 v60)
  (free v61)
  (at r79 v62)
  (at r42 v63)
  (free v64)
  (at r69 v65)
  (at r29 v66)
  (at r31 v67)
  (at r15 v68)
  (at r45 v69)
  (at r80 v70)
  (at r37 v71)
  (free v72)
  (at r10 v73)
  (at r68 v74)
  (at r35 v75)
  (at r61 v76)
  (at r43 v77)
  (at r77 v78)
  (at r28 v79)
  (at r11 v80)
  (at r64 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v38)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v14)
  (adjacent v1 v21)
  (adjacent v2 v3)
  (adjacent v2 v67)
  (adjacent v3 v4)
  (adjacent v4 v6)
  (adjacent v5 v6)
  (adjacent v5 v7)
  (adjacent v5 v15)
  (adjacent v7 v8)
  (adjacent v7 v28)
  (adjacent v8 v9)
  (adjacent v8 v18)
  (adjacent v8 v29)
  (adjacent v9 v10)
  (adjacent v9 v33)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v12 v52)
  (adjacent v13 v14)
  (adjacent v14 v46)
  (adjacent v15 v16)
  (adjacent v15 v34)
  (adjacent v15 v45)
  (adjacent v16 v17)
  (adjacent v17 v81)
  (adjacent v18 v19)
  (adjacent v18 v32)
  (adjacent v18 v58)
  (adjacent v19 v20)
  (adjacent v19 v22)
  (adjacent v19 v33)
  (adjacent v20 v21)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v29 v30)
  (adjacent v29 v37)
  (adjacent v29 v46)
  (adjacent v30 v31)
  (adjacent v30 v38)
  (adjacent v30 v72)
  (adjacent v31 v32)
  (adjacent v32 v80)
  (adjacent v33 v39)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v53)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v38 v71)
  (adjacent v39 v40)
  (adjacent v39 v66)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v47)
  (adjacent v43 v56)
  (adjacent v44 v45)
  (adjacent v44 v51)
  (adjacent v45 v60)
  (adjacent v47 v48)
  (adjacent v47 v52)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v57)
  (adjacent v49 v64)
  (adjacent v49 v79)
  (adjacent v50 v51)
  (adjacent v53 v54)
  (adjacent v53 v57)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v63)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v78)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v76 v81)
  (adjacent v77 v78)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r64 v0)
  (at r23 v1)
  (free v2)
  (at r75 v3)
  (at r81 v4)
  (at r39 v5)
  (at r18 v6)
  (at r56 v7)
  (at r37 v8)
  (at r24 v9)
  (at r80 v10)
  (at r53 v11)
  (at r33 v12)
  (at r30 v13)
  (at r73 v14)
  (at r9 v15)
  (at r69 v16)
  (at r57 v17)
  (at r36 v18)
  (at r59 v19)
  (at r50 v20)
  (at r29 v21)
  (at r35 v22)
  (at r71 v23)
  (at r49 v24)
  (at r31 v25)
  (at r38 v26)
  (at r16 v27)
  (at r76 v28)
  (at r42 v29)
  (at r14 v30)
  (free v31)
  (free v32)
  (at r58 v33)
  (at r32 v34)
  (at r48 v35)
  (free v36)
  (at r46 v37)
  (at r19 v38)
  (at r60 v39)
  (at r10 v40)
  (at r17 v41)
  (free v42)
  (at r34 v43)
  (free v44)
  (at r11 v45)
  (at r77 v46)
  (at r52 v47)
  (at r27 v48)
  (at r43 v49)
  (at r21 v50)
  (at r65 v51)
  (at r20 v52)
  (at r44 v53)
  (at r40 v54)
  (at r13 v55)
  (at r54 v56)
  (at r51 v57)
  (at r70 v58)
  (free v59)
  (at r28 v60)
  (at r55 v61)
  (at r74 v62)
  (at r68 v63)
  (at r45 v64)
  (free v65)
  (at r15 v66)
  (at r62 v67)
  (at r22 v68)
  (at r61 v69)
  (at r72 v70)
  (at r66 v71)
  (at r67 v72)
  (at r79 v73)
  (at r26 v74)
  (at r47 v75)
  (at r12 v76)
  (free v77)
  (at r41 v78)
  (at r63 v79)
  (at r25 v80)
  (at r78 v81)
  )
 )
)