(define (problem multirobot_17_2_c2)
 (:domain multirobot)
 (:objects
  v0 r52
  v1 r80
  v2 r34
  v3 r26
  v4 r54
  v5 r48
  v6 r12
  v7 r25
  v8 r37
  v9 r10
  v10 r29
  v11 r32
  v12 r39
  v13 r65
  v14 r61
  v15 r23
  v16 r75
  v17 r55
  v18 r63
  v19 r2
  v20 r74
  v21 r56
  v22 r7
  v23 r53
  v24 r35
  v25 r70
  v26 r69
  v27 r64
  v28 r73
  v29 r77
  v30 r30
  v31 r45
  v32 r57
  v33 r50
  v34 r68
  v35 r81
  v36 r9
  v37 r6
  v38 r20
  v39 r4
  v40 r36
  v41 r41
  v42 r38
  v43 r18
  v44 r42
  v45 r13
  v46 r47
  v47 r44
  v48 r59
  v49 r31
  v50 r22
  v51 r72
  v52 r60
  v53 r5
  v54 r27
  v55 r78
  v56 r16
  v57 r51
  v58 r49
  v59 r33
  v60
  v61 r58
  v62 r46
  v63 r76
  v64 r71
  v65 r62
  v66 r40
  v67 r14
  v68 r43
  v69 r11
  v70 r79
  v71 r28
  v72 r19
  v73 r8
  v74 r3
  v75
  v76 r67
  v77 r24
  v78 r15
  v79 r66
  v80 r17
  v81 r21
 )
 (:init
  (at r52 v0)
  (at r80 v1)
  (at r34 v2)
  (at r26 v3)
  (at r54 v4)
  (at r48 v5)
  (at r12 v6)
  (at r25 v7)
  (at r37 v8)
  (at r10 v9)
  (at r29 v10)
  (at r32 v11)
  (at r39 v12)
  (at r65 v13)
  (at r61 v14)
  (at r23 v15)
  (at r75 v16)
  (at r55 v17)
  (at r63 v18)
  (at r2 v19)
  (at r74 v20)
  (at r56 v21)
  (at r7 v22)
  (at r53 v23)
  (at r35 v24)
  (at r70 v25)
  (at r69 v26)
  (at r64 v27)
  (at r73 v28)
  (at r77 v29)
  (at r30 v30)
  (at r45 v31)
  (at r57 v32)
  (at r50 v33)
  (at r68 v34)
  (at r81 v35)
  (at r9 v36)
  (at r6 v37)
  (at r20 v38)
  (at r4 v39)
  (at r36 v40)
  (at r41 v41)
  (at r38 v42)
  (at r18 v43)
  (at r42 v44)
  (at r13 v45)
  (at r47 v46)
  (at r44 v47)
  (at r59 v48)
  (at r31 v49)
  (at r22 v50)
  (at r72 v51)
  (at r60 v52)
  (at r5 v53)
  (at r27 v54)
  (at r78 v55)
  (at r16 v56)
  (at r51 v57)
  (at r49 v58)
  (at r33 v59)
  (free v60)
  (at r58 v61)
  (at r46 v62)
  (at r76 v63)
  (at r71 v64)
  (at r62 v65)
  (at r40 v66)
  (at r14 v67)
  (at r43 v68)
  (at r11 v69)
  (at r79 v70)
  (at r28 v71)
  (at r19 v72)
  (at r8 v73)
  (at r3 v74)
  (free v75)
  (at r67 v76)
  (at r24 v77)
  (at r15 v78)
  (at r66 v79)
  (at r17 v80)
  (at r21 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v27)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v9)
  (adjacent v5 v8)
  (adjacent v5 v68)
  (adjacent v6 v7)
  (adjacent v6 v20)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v8 v14)
  (adjacent v8 v21)
  (adjacent v8 v57)
  (adjacent v8 v65)
  (adjacent v9 v10)
  (adjacent v9 v36)
  (adjacent v9 v69)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v14 v15)
  (adjacent v14 v45)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v35)
  (adjacent v19 v38)
  (adjacent v21 v22)
  (adjacent v21 v35)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v23 v24)
  (adjacent v23 v28)
  (adjacent v24 v25)
  (adjacent v24 v58)
  (adjacent v24 v76)
  (adjacent v25 v26)
  (adjacent v25 v44)
  (adjacent v25 v51)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v28 v52)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v75)
  (adjacent v32 v33)
  (adjacent v32 v39)
  (adjacent v33 v34)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v64)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v40 v81)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v78)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v77)
  (adjacent v47 v48)
  (adjacent v47 v58)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v59)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v76 v77)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
 )
 (:goal
  (and
  (at r73 v0)
  (at r60 v1)
  (at r28 v2)
  (at r7 v3)
  (at r27 v4)
  (at r45 v5)
  (at r62 v6)
  (at r44 v7)
  (at r71 v8)
  (at r5 v9)
  (at r2 v10)
  (at r75 v11)
  (at r14 v12)
  (at r54 v13)
  (at r16 v14)
  (at r65 v15)
  (at r40 v16)
  (at r38 v17)
  (at r34 v18)
  (at r64 v19)
  (at r35 v20)
  (at r12 v21)
  (at r25 v22)
  (at r76 v23)
  (at r80 v24)
  (at r51 v25)
  (free v26)
  (at r13 v27)
  (at r77 v28)
  (at r24 v29)
  (at r42 v30)
  (at r43 v31)
  (at r31 v32)
  (at r59 v33)
  (at r55 v34)
  (at r50 v35)
  (at r9 v36)
  (at r8 v37)
  (at r57 v38)
  (at r46 v39)
  (at r20 v40)
  (at r10 v41)
  (at r19 v42)
  (at r63 v43)
  (at r47 v44)
  (at r26 v45)
  (at r67 v46)
  (at r21 v47)
  (at r17 v48)
  (at r36 v49)
  (at r32 v50)
  (at r81 v51)
  (free v52)
  (at r39 v53)
  (at r79 v54)
  (at r74 v55)
  (at r33 v56)
  (at r29 v57)
  (at r56 v58)
  (at r68 v59)
  (at r22 v60)
  (at r18 v61)
  (at r78 v62)
  (at r70 v63)
  (at r52 v64)
  (at r4 v65)
  (at r72 v66)
  (at r3 v67)
  (at r15 v68)
  (at r37 v69)
  (at r69 v70)
  (at r11 v71)
  (at r6 v72)
  (at r30 v73)
  (at r48 v74)
  (at r66 v75)
  (at r58 v76)
  (at r49 v77)
  (at r41 v78)
  (at r53 v79)
  (at r23 v80)
  (at r61 v81)
  )
 )
)