(define (problem multirobot_22_2_c7)
 (:domain multirobot)
 (:objects
  v0 r9
  v1 r69
  v2 r35
  v3 r64
  v4 r42
  v5 r39
  v6 r36
  v7 r18
  v8 r28
  v9 r8
  v10 r17
  v11 r13
  v12 r4
  v13 r48
  v14 r78
  v15 r77
  v16 r11
  v17 r50
  v18 r20
  v19 r22
  v20 r47
  v21 r38
  v22 r75
  v23 r51
  v24 r68
  v25 r65
  v26 r15
  v27 r41
  v28 r33
  v29 r34
  v30 r21
  v31 r76
  v32 r79
  v33 r54
  v34 r73
  v35 r71
  v36 r19
  v37 r5
  v38 r58
  v39 r6
  v40 r23
  v41 r74
  v42 r67
  v43 r72
  v44 r44
  v45 r45
  v46 r61
  v47 r56
  v48 r55
  v49 r70
  v50
  v51 r26
  v52 r30
  v53 r57
  v54 r2
  v55 r49
  v56 r40
  v57
  v58 r31
  v59 r43
  v60 r60
  v61 r24
  v62 r63
  v63 r3
  v64 r29
  v65 r53
  v66 r25
  v67 r37
  v68 r27
  v69 r12
  v70 r52
  v71 r66
  v72 r32
  v73 r62
  v74 r16
  v75 r46
  v76 r14
  v77 r59
  v78 r7
  v79 r10
 )
 (:init
  (at r9 v0)
  (at r69 v1)
  (at r35 v2)
  (at r64 v3)
  (at r42 v4)
  (at r39 v5)
  (at r36 v6)
  (at r18 v7)
  (at r28 v8)
  (at r8 v9)
  (at r17 v10)
  (at r13 v11)
  (at r4 v12)
  (at r48 v13)
  (at r78 v14)
  (at r77 v15)
  (at r11 v16)
  (at r50 v17)
  (at r20 v18)
  (at r22 v19)
  (at r47 v20)
  (at r38 v21)
  (at r75 v22)
  (at r51 v23)
  (at r68 v24)
  (at r65 v25)
  (at r15 v26)
  (at r41 v27)
  (at r33 v28)
  (at r34 v29)
  (at r21 v30)
  (at r76 v31)
  (at r79 v32)
  (at r54 v33)
  (at r73 v34)
  (at r71 v35)
  (at r19 v36)
  (at r5 v37)
  (at r58 v38)
  (at r6 v39)
  (at r23 v40)
  (at r74 v41)
  (at r67 v42)
  (at r72 v43)
  (at r44 v44)
  (at r45 v45)
  (at r61 v46)
  (at r56 v47)
  (at r55 v48)
  (at r70 v49)
  (free v50)
  (at r26 v51)
  (at r30 v52)
  (at r57 v53)
  (at r2 v54)
  (at r49 v55)
  (at r40 v56)
  (free v57)
  (at r31 v58)
  (at r43 v59)
  (at r60 v60)
  (at r24 v61)
  (at r63 v62)
  (at r3 v63)
  (at r29 v64)
  (at r53 v65)
  (at r25 v66)
  (at r37 v67)
  (at r27 v68)
  (at r12 v69)
  (at r52 v70)
  (at r66 v71)
  (at r32 v72)
  (at r62 v73)
  (at r16 v74)
  (at r46 v75)
  (at r14 v76)
  (at r59 v77)
  (at r7 v78)
  (at r10 v79)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v6)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v7)
  (adjacent v1 v20)
  (adjacent v1 v51)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v2 v15)
  (adjacent v3 v4)
  (adjacent v4 v14)
  (adjacent v4 v30)
  (adjacent v5 v38)
  (adjacent v6 v7)
  (adjacent v6 v28)
  (adjacent v6 v36)
  (adjacent v6 v70)
  (adjacent v7 v69)
  (adjacent v7 v76)
  (adjacent v8 v9)
  (adjacent v8 v50)
  (adjacent v9 v10)
  (adjacent v9 v34)
  (adjacent v9 v37)
  (adjacent v9 v41)
  (adjacent v10 v11)
  (adjacent v10 v25)
  (adjacent v11 v12)
  (adjacent v11 v24)
  (adjacent v12 v13)
  (adjacent v12 v44)
  (adjacent v12 v74)
  (adjacent v13 v14)
  (adjacent v14 v21)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v27)
  (adjacent v17 v79)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v31)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v53)
  (adjacent v22 v62)
  (adjacent v23 v24)
  (adjacent v25 v26)
  (adjacent v25 v33)
  (adjacent v25 v43)
  (adjacent v26 v27)
  (adjacent v26 v55)
  (adjacent v27 v52)
  (adjacent v28 v29)
  (adjacent v28 v40)
  (adjacent v29 v30)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v37)
  (adjacent v34 v35)
  (adjacent v34 v71)
  (adjacent v35 v36)
  (adjacent v38 v39)
  (adjacent v38 v56)
  (adjacent v39 v40)
  (adjacent v41 v42)
  (adjacent v41 v75)
  (adjacent v42 v43)
  (adjacent v42 v73)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v71)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v56 v70)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v63)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v66 v72)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
 )
 (:goal
  (and
  (at r21 v0)
  (at r58 v1)
  (at r33 v2)
  (at r70 v3)
  (at r62 v4)
  (at r4 v5)
  (at r48 v6)
  (at r45 v7)
  (at r47 v8)
  (at r65 v9)
  (at r74 v10)
  (free v11)
  (at r23 v12)
  (at r20 v13)
  (at r64 v14)
  (at r26 v15)
  (at r67 v16)
  (at r17 v17)
  (at r76 v18)
  (at r5 v19)
  (at r37 v20)
  (at r7 v21)
  (at r31 v22)
  (at r50 v23)
  (at r71 v24)
  (at r61 v25)
  (at r13 v26)
  (at r16 v27)
  (at r34 v28)
  (at r11 v29)
  (at r42 v30)
  (at r28 v31)
  (at r24 v32)
  (at r22 v33)
  (at r75 v34)
  (at r12 v35)
  (at r9 v36)
  (at r8 v37)
  (at r49 v38)
  (at r55 v39)
  (at r10 v40)
  (free v41)
  (at r27 v42)
  (at r43 v43)
  (at r52 v44)
  (at r38 v45)
  (at r29 v46)
  (at r44 v47)
  (at r60 v48)
  (at r18 v49)
  (at r79 v50)
  (at r30 v51)
  (at r69 v52)
  (at r54 v53)
  (at r51 v54)
  (at r77 v55)
  (at r56 v56)
  (at r46 v57)
  (at r36 v58)
  (at r25 v59)
  (at r41 v60)
  (at r59 v61)
  (at r78 v62)
  (at r3 v63)
  (at r57 v64)
  (at r32 v65)
  (at r66 v66)
  (at r63 v67)
  (at r35 v68)
  (at r15 v69)
  (at r19 v70)
  (at r73 v71)
  (at r72 v72)
  (at r39 v73)
  (at r6 v74)
  (at r53 v75)
  (at r2 v76)
  (at r40 v77)
  (at r14 v78)
  (at r68 v79)
  )
 )
)