(define (problem multirobot_21_10%_c6)
 (:domain multirobot)
 (:objects
  v0 r75
  v1 r59
  v2 r56
  v3 r39
  v4 r15
  v5 r31
  v6 r69
  v7 r34
  v8 r45
  v9 r9
  v10 r38
  v11 r64
  v12 r27
  v13 r73
  v14
  v15 r19
  v16 r18
  v17 r61
  v18 r63
  v19 r12
  v20 r52
  v21 r60
  v22 r74
  v23 r57
  v24 r29
  v25 r67
  v26
  v27 r8
  v28 r49
  v29 r71
  v30 r72
  v31 r13
  v32 r35
  v33
  v34 r70
  v35 r23
  v36 r65
  v37 r24
  v38 r81
  v39 r17
  v40 r36
  v41 r20
  v42 r51
  v43 r77
  v44 r43
  v45 r82
  v46
  v47 r47
  v48 r68
  v49 r21
  v50 r44
  v51 r11
  v52 r30
  v53 r66
  v54 r14
  v55 r76
  v56 r40
  v57 r26
  v58 r58
  v59 r48
  v60 r80
  v61 r50
  v62 r41
  v63 r37
  v64 r32
  v65 r55
  v66 r33
  v67 r62
  v68 r46
  v69
  v70 r22
  v71 r54
  v72
  v73 r28
  v74
  v75 r79
  v76 r42
  v77 r10
  v78 r25
  v79 r53
  v80 r16
  v81 r78
  v82
 )
 (:init
  (at r75 v0)
  (at r59 v1)
  (at r56 v2)
  (at r39 v3)
  (at r15 v4)
  (at r31 v5)
  (at r69 v6)
  (at r34 v7)
  (at r45 v8)
  (at r9 v9)
  (at r38 v10)
  (at r64 v11)
  (at r27 v12)
  (at r73 v13)
  (free v14)
  (at r19 v15)
  (at r18 v16)
  (at r61 v17)
  (at r63 v18)
  (at r12 v19)
  (at r52 v20)
  (at r60 v21)
  (at r74 v22)
  (at r57 v23)
  (at r29 v24)
  (at r67 v25)
  (free v26)
  (at r8 v27)
  (at r49 v28)
  (at r71 v29)
  (at r72 v30)
  (at r13 v31)
  (at r35 v32)
  (free v33)
  (at r70 v34)
  (at r23 v35)
  (at r65 v36)
  (at r24 v37)
  (at r81 v38)
  (at r17 v39)
  (at r36 v40)
  (at r20 v41)
  (at r51 v42)
  (at r77 v43)
  (at r43 v44)
  (at r82 v45)
  (free v46)
  (at r47 v47)
  (at r68 v48)
  (at r21 v49)
  (at r44 v50)
  (at r11 v51)
  (at r30 v52)
  (at r66 v53)
  (at r14 v54)
  (at r76 v55)
  (at r40 v56)
  (at r26 v57)
  (at r58 v58)
  (at r48 v59)
  (at r80 v60)
  (at r50 v61)
  (at r41 v62)
  (at r37 v63)
  (at r32 v64)
  (at r55 v65)
  (at r33 v66)
  (at r62 v67)
  (at r46 v68)
  (free v69)
  (at r22 v70)
  (at r54 v71)
  (free v72)
  (at r28 v73)
  (free v74)
  (at r79 v75)
  (at r42 v76)
  (at r10 v77)
  (at r25 v78)
  (at r53 v79)
  (at r16 v80)
  (at r78 v81)
  (free v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v20)
  (adjacent v1 v2)
  (adjacent v1 v13)
  (adjacent v1 v59)
  (adjacent v2 v3)
  (adjacent v2 v73)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v4 v19)
  (adjacent v4 v28)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v5 v40)
  (adjacent v6 v7)
  (adjacent v6 v8)
  (adjacent v6 v39)
  (adjacent v6 v72)
  (adjacent v7 v12)
  (adjacent v7 v40)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v79)
  (adjacent v11 v12)
  (adjacent v12 v60)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v41)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v33)
  (adjacent v18 v19)
  (adjacent v19 v22)
  (adjacent v19 v23)
  (adjacent v20 v21)
  (adjacent v20 v22)
  (adjacent v20 v48)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v32)
  (adjacent v28 v29)
  (adjacent v28 v37)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v36)
  (adjacent v32 v41)
  (adjacent v32 v52)
  (adjacent v33 v34)
  (adjacent v33 v73)
  (adjacent v33 v74)
  (adjacent v34 v35)
  (adjacent v34 v42)
  (adjacent v35 v36)
  (adjacent v36 v77)
  (adjacent v37 v38)
  (adjacent v37 v76)
  (adjacent v37 v82)
  (adjacent v38 v39)
  (adjacent v39 v67)
  (adjacent v39 v78)
  (adjacent v41 v51)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v49)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v56)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v66)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
 )
 (:goal
  (and
  (at r40 v0)
  (at r44 v1)
  (at r47 v2)
  (at r27 v3)
  (at r48 v4)
  (at r53 v5)
  (at r29 v6)
  (free v7)
  (at r67 v8)
  (at r54 v9)
  (at r32 v10)
  (at r36 v11)
  (at r19 v12)
  (at r22 v13)
  (at r49 v14)
  (at r17 v15)
  (at r68 v16)
  (at r9 v17)
  (at r37 v18)
  (at r26 v19)
  (at r51 v20)
  (at r65 v21)
  (at r78 v22)
  (free v23)
  (at r18 v24)
  (at r56 v25)
  (at r58 v26)
  (at r35 v27)
  (at r23 v28)
  (at r52 v29)
  (at r39 v30)
  (at r34 v31)
  (at r80 v32)
  (at r71 v33)
  (at r46 v34)
  (at r75 v35)
  (at r20 v36)
  (at r60 v37)
  (free v38)
  (at r74 v39)
  (at r69 v40)
  (at r59 v41)
  (at r21 v42)
  (at r73 v43)
  (free v44)
  (at r43 v45)
  (at r31 v46)
  (at r66 v47)
  (at r25 v48)
  (at r10 v49)
  (free v50)
  (at r11 v51)
  (at r76 v52)
  (at r28 v53)
  (at r13 v54)
  (at r55 v55)
  (at r82 v56)
  (at r61 v57)
  (at r8 v58)
  (at r42 v59)
  (at r30 v60)
  (at r16 v61)
  (at r12 v62)
  (free v63)
  (at r45 v64)
  (at r57 v65)
  (at r70 v66)
  (at r64 v67)
  (free v68)
  (at r62 v69)
  (free v70)
  (at r77 v71)
  (at r79 v72)
  (at r33 v73)
  (at r50 v74)
  (at r72 v75)
  (at r15 v76)
  (at r24 v77)
  (at r81 v78)
  (at r14 v79)
  (at r41 v80)
  (at r63 v81)
  (at r38 v82)
  )
 )
)