(define (problem multirobot_19_50%_c1)
 (:domain multirobot)
 (:objects
  v0 r78
  v1 r44
  v2 r79
  v3
  v4
  v5
  v6
  v7
  v8 r56
  v9
  v10 r46
  v11 r40
  v12 r51
  v13 r71
  v14
  v15 r76
  v16 r80
  v17
  v18
  v19
  v20 r47
  v21 r61
  v22 r77
  v23
  v24
  v25 r59
  v26
  v27 r39
  v28 r42
  v29 r38
  v30 r43
  v31
  v32 r52
  v33 r67
  v34
  v35 r65
  v36 r53
  v37 r48
  v38 r58
  v39
  v40 r55
  v41
  v42 r50
  v43 r36
  v44
  v45 r63
  v46 r49
  v47 r64
  v48 r45
  v49 r68
  v50
  v51 r69
  v52
  v53
  v54
  v55
  v56
  v57 r41
  v58 r57
  v59 r70
  v60 r62
  v61
  v62 r54
  v63 r66
  v64
  v65 r60
  v66
  v67
  v68
  v69
  v70
  v71 r37
  v72 r73
  v73
  v74 r72
  v75 r74
  v76
  v77
  v78
  v79 r75
  v80
 )
 (:init
  (at r78 v0)
  (at r44 v1)
  (at r79 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r56 v8)
  (free v9)
  (at r46 v10)
  (at r40 v11)
  (at r51 v12)
  (at r71 v13)
  (free v14)
  (at r76 v15)
  (at r80 v16)
  (free v17)
  (free v18)
  (free v19)
  (at r47 v20)
  (at r61 v21)
  (at r77 v22)
  (free v23)
  (free v24)
  (at r59 v25)
  (free v26)
  (at r39 v27)
  (at r42 v28)
  (at r38 v29)
  (at r43 v30)
  (free v31)
  (at r52 v32)
  (at r67 v33)
  (free v34)
  (at r65 v35)
  (at r53 v36)
  (at r48 v37)
  (at r58 v38)
  (free v39)
  (at r55 v40)
  (free v41)
  (at r50 v42)
  (at r36 v43)
  (free v44)
  (at r63 v45)
  (at r49 v46)
  (at r64 v47)
  (at r45 v48)
  (at r68 v49)
  (free v50)
  (at r69 v51)
  (free v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (at r41 v57)
  (at r57 v58)
  (at r70 v59)
  (at r62 v60)
  (free v61)
  (at r54 v62)
  (at r66 v63)
  (free v64)
  (at r60 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (free v70)
  (at r37 v71)
  (at r73 v72)
  (free v73)
  (at r72 v74)
  (at r74 v75)
  (free v76)
  (free v77)
  (free v78)
  (at r75 v79)
  (free v80)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v19)
  (adjacent v0 v24)
  (adjacent v1 v2)
  (adjacent v1 v53)
  (adjacent v1 v59)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v16)
  (adjacent v3 v38)
  (adjacent v4 v11)
  (adjacent v4 v12)
  (adjacent v5 v6)
  (adjacent v5 v18)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v20)
  (adjacent v7 v21)
  (adjacent v8 v9)
  (adjacent v8 v43)
  (adjacent v8 v64)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v12 v13)
  (adjacent v12 v17)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v14 v15)
  (adjacent v14 v20)
  (adjacent v15 v16)
  (adjacent v18 v19)
  (adjacent v18 v31)
  (adjacent v19 v25)
  (adjacent v19 v76)
  (adjacent v20 v76)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v45)
  (adjacent v23 v24)
  (adjacent v23 v52)
  (adjacent v24 v46)
  (adjacent v25 v26)
  (adjacent v25 v69)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v39)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v58)
  (adjacent v31 v32)
  (adjacent v31 v42)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v77)
  (adjacent v38 v80)
  (adjacent v39 v40)
  (adjacent v39 v68)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v67)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v75)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v66)
  (adjacent v59 v60)
  (adjacent v59 v65)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v63 v80)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v71 v79)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v77 v78)
  (adjacent v78 v79)
 )
 (:goal
  (and
  (at r39 v0)
  (at r37 v1)
  (at r36 v2)
  (at r75 v3)
  (free v4)
  (at r71 v5)
  (free v6)
  (free v7)
  (free v8)
  (at r73 v9)
  (at r65 v10)
  (at r64 v11)
  (at r45 v12)
  (at r53 v13)
  (free v14)
  (at r68 v15)
  (at r42 v16)
  (at r47 v17)
  (free v18)
  (free v19)
  (at r52 v20)
  (free v21)
  (at r38 v22)
  (at r57 v23)
  (at r66 v24)
  (free v25)
  (at r72 v26)
  (at r51 v27)
  (at r69 v28)
  (free v29)
  (free v30)
  (at r74 v31)
  (free v32)
  (at r40 v33)
  (free v34)
  (at r76 v35)
  (free v36)
  (free v37)
  (at r59 v38)
  (free v39)
  (free v40)
  (at r79 v41)
  (at r61 v42)
  (free v43)
  (free v44)
  (at r62 v45)
  (free v46)
  (at r70 v47)
  (free v48)
  (at r48 v49)
  (at r80 v50)
  (at r56 v51)
  (at r58 v52)
  (at r78 v53)
  (free v54)
  (at r50 v55)
  (free v56)
  (at r41 v57)
  (free v58)
  (at r63 v59)
  (free v60)
  (free v61)
  (at r49 v62)
  (at r43 v63)
  (free v64)
  (at r46 v65)
  (free v66)
  (free v67)
  (free v68)
  (at r55 v69)
  (free v70)
  (at r67 v71)
  (at r60 v72)
  (at r54 v73)
  (free v74)
  (free v75)
  (at r44 v76)
  (free v77)
  (free v78)
  (free v79)
  (at r77 v80)
  )
 )
)