(define (problem multirobot_21_2_c5)
 (:domain multirobot)
 (:objects
  v0 r71
  v1 r12
  v2 r2
  v3 r38
  v4 r74
  v5 r73
  v6 r52
  v7 r21
  v8 r16
  v9 r6
  v10 r17
  v11 r4
  v12 r68
  v13 r24
  v14 r40
  v15 r28
  v16 r33
  v17 r11
  v18 r64
  v19 r10
  v20 r77
  v21 r54
  v22 r42
  v23 r31
  v24 r35
  v25 r46
  v26 r32
  v27 r20
  v28 r29
  v29 r27
  v30 r67
  v31 r44
  v32 r7
  v33 r50
  v34 r60
  v35 r30
  v36 r62
  v37 r5
  v38 r22
  v39 r26
  v40 r39
  v41 r36
  v42 r61
  v43 r18
  v44 r63
  v45 r3
  v46
  v47 r45
  v48 r65
  v49 r80
  v50 r57
  v51 r53
  v52 r76
  v53 r43
  v54 r47
  v55 r75
  v56
  v57 r34
  v58 r13
  v59 r23
  v60 r48
  v61 r15
  v62 r19
  v63 r55
  v64 r78
  v65 r66
  v66 r58
  v67 r56
  v68 r59
  v69 r79
  v70 r51
  v71 r49
  v72 r72
  v73 r70
  v74 r14
  v75 r25
  v76 r8
  v77 r9
  v78 r69
  v79 r37
  v80 r41
 )
 (:init
  (at r71 v0)
  (at r12 v1)
  (at r2 v2)
  (at r38 v3)
  (at r74 v4)
  (at r73 v5)
  (at r52 v6)
  (at r21 v7)
  (at r16 v8)
  (at r6 v9)
  (at r17 v10)
  (at r4 v11)
  (at r68 v12)
  (at r24 v13)
  (at r40 v14)
  (at r28 v15)
  (at r33 v16)
  (at r11 v17)
  (at r64 v18)
  (at r10 v19)
  (at r77 v20)
  (at r54 v21)
  (at r42 v22)
  (at r31 v23)
  (at r35 v24)
  (at r46 v25)
  (at r32 v26)
  (at r20 v27)
  (at r29 v28)
  (at r27 v29)
  (at r67 v30)
  (at r44 v31)
  (at r7 v32)
  (at r50 v33)
  (at r60 v34)
  (at r30 v35)
  (at r62 v36)
  (at r5 v37)
  (at r22 v38)
  (at r26 v39)
  (at r39 v40)
  (at r36 v41)
  (at r61 v42)
  (at r18 v43)
  (at r63 v44)
  (at r3 v45)
  (free v46)
  (at r45 v47)
  (at r65 v48)
  (at r80 v49)
  (at r57 v50)
  (at r53 v51)
  (at r76 v52)
  (at r43 v53)
  (at r47 v54)
  (at r75 v55)
  (free v56)
  (at r34 v57)
  (at r13 v58)
  (at r23 v59)
  (at r48 v60)
  (at r15 v61)
  (at r19 v62)
  (at r55 v63)
  (at r78 v64)
  (at r66 v65)
  (at r58 v66)
  (at r56 v67)
  (at r59 v68)
  (at r79 v69)
  (at r51 v70)
  (at r49 v71)
  (at r72 v72)
  (at r70 v73)
  (at r14 v74)
  (at r25 v75)
  (at r8 v76)
  (at r9 v77)
  (at r69 v78)
  (at r37 v79)
  (at r41 v80)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v24)
  (adjacent v0 v57)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v2 v3)
  (adjacent v2 v13)
  (adjacent v2 v42)
  (adjacent v2 v68)
  (adjacent v2 v73)
  (adjacent v3 v4)
  (adjacent v3 v14)
  (adjacent v3 v38)
  (adjacent v3 v39)
  (adjacent v3 v55)
  (adjacent v3 v60)
  (adjacent v5 v6)
  (adjacent v5 v8)
  (adjacent v6 v7)
  (adjacent v6 v21)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v50)
  (adjacent v10 v11)
  (adjacent v10 v22)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v12 v13)
  (adjacent v12 v54)
  (adjacent v13 v40)
  (adjacent v13 v80)
  (adjacent v14 v15)
  (adjacent v14 v31)
  (adjacent v15 v16)
  (adjacent v15 v23)
  (adjacent v15 v30)
  (adjacent v16 v17)
  (adjacent v16 v69)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v65)
  (adjacent v22 v23)
  (adjacent v22 v31)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v50)
  (adjacent v26 v58)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v28 v51)
  (adjacent v28 v66)
  (adjacent v29 v30)
  (adjacent v29 v32)
  (adjacent v29 v49)
  (adjacent v32 v33)
  (adjacent v32 v39)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v35 v43)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v59)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v59)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v58)
  (adjacent v57 v64)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v65)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v74)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
 )
 (:goal
  (and
  (at r15 v0)
  (at r46 v1)
  (at r22 v2)
  (at r10 v3)
  (at r52 v4)
  (at r6 v5)
  (at r25 v6)
  (at r17 v7)
  (at r40 v8)
  (at r54 v9)
  (at r56 v10)
  (at r57 v11)
  (at r4 v12)
  (at r28 v13)
  (at r27 v14)
  (free v15)
  (at r66 v16)
  (at r44 v17)
  (at r5 v18)
  (at r67 v19)
  (at r74 v20)
  (at r20 v21)
  (at r45 v22)
  (at r51 v23)
  (at r30 v24)
  (at r72 v25)
  (at r9 v26)
  (at r53 v27)
  (at r55 v28)
  (free v29)
  (at r41 v30)
  (at r64 v31)
  (at r7 v32)
  (at r26 v33)
  (at r62 v34)
  (at r29 v35)
  (at r48 v36)
  (at r58 v37)
  (at r14 v38)
  (at r8 v39)
  (at r43 v40)
  (at r59 v41)
  (at r42 v42)
  (at r69 v43)
  (at r38 v44)
  (at r70 v45)
  (at r79 v46)
  (at r47 v47)
  (at r49 v48)
  (at r76 v49)
  (at r80 v50)
  (at r39 v51)
  (at r65 v52)
  (at r34 v53)
  (at r32 v54)
  (at r24 v55)
  (at r60 v56)
  (at r35 v57)
  (at r23 v58)
  (at r2 v59)
  (at r77 v60)
  (at r18 v61)
  (at r73 v62)
  (at r75 v63)
  (at r12 v64)
  (at r61 v65)
  (at r31 v66)
  (at r50 v67)
  (at r11 v68)
  (at r13 v69)
  (at r3 v70)
  (at r33 v71)
  (at r37 v72)
  (at r21 v73)
  (at r78 v74)
  (at r16 v75)
  (at r36 v76)
  (at r71 v77)
  (at r63 v78)
  (at r19 v79)
  (at r68 v80)
  )
 )
)