(define (problem multirobot_19_2_c0)
 (:domain multirobot)
 (:objects
  v0 r51
  v1 r42
  v2 r55
  v3 r39
  v4 r46
  v5 r37
  v6 r73
  v7 r62
  v8 r59
  v9 r74
  v10 r2
  v11 r24
  v12 r56
  v13 r31
  v14 r52
  v15 r12
  v16 r27
  v17 r63
  v18 r71
  v19 r47
  v20 r9
  v21 r13
  v22 r26
  v23 r11
  v24 r49
  v25 r65
  v26 r16
  v27 r32
  v28 r7
  v29 r8
  v30 r78
  v31 r76
  v32 r77
  v33 r41
  v34 r29
  v35 r20
  v36 r34
  v37 r22
  v38
  v39 r17
  v40 r61
  v41 r23
  v42 r44
  v43 r4
  v44 r64
  v45 r79
  v46 r75
  v47 r30
  v48 r5
  v49 r33
  v50 r21
  v51 r68
  v52
  v53 r38
  v54 r66
  v55 r6
  v56 r54
  v57 r19
  v58 r67
  v59 r3
  v60 r40
  v61 r43
  v62 r45
  v63 r48
  v64 r25
  v65 r70
  v66 r58
  v67 r35
  v68 r72
  v69 r57
  v70 r18
  v71 r14
  v72 r53
  v73 r15
  v74 r36
  v75 r69
  v76 r28
  v77 r10
  v78 r50
  v79 r60
 )
 (:init
  (at r51 v0)
  (at r42 v1)
  (at r55 v2)
  (at r39 v3)
  (at r46 v4)
  (at r37 v5)
  (at r73 v6)
  (at r62 v7)
  (at r59 v8)
  (at r74 v9)
  (at r2 v10)
  (at r24 v11)
  (at r56 v12)
  (at r31 v13)
  (at r52 v14)
  (at r12 v15)
  (at r27 v16)
  (at r63 v17)
  (at r71 v18)
  (at r47 v19)
  (at r9 v20)
  (at r13 v21)
  (at r26 v22)
  (at r11 v23)
  (at r49 v24)
  (at r65 v25)
  (at r16 v26)
  (at r32 v27)
  (at r7 v28)
  (at r8 v29)
  (at r78 v30)
  (at r76 v31)
  (at r77 v32)
  (at r41 v33)
  (at r29 v34)
  (at r20 v35)
  (at r34 v36)
  (at r22 v37)
  (free v38)
  (at r17 v39)
  (at r61 v40)
  (at r23 v41)
  (at r44 v42)
  (at r4 v43)
  (at r64 v44)
  (at r79 v45)
  (at r75 v46)
  (at r30 v47)
  (at r5 v48)
  (at r33 v49)
  (at r21 v50)
  (at r68 v51)
  (free v52)
  (at r38 v53)
  (at r66 v54)
  (at r6 v55)
  (at r54 v56)
  (at r19 v57)
  (at r67 v58)
  (at r3 v59)
  (at r40 v60)
  (at r43 v61)
  (at r45 v62)
  (at r48 v63)
  (at r25 v64)
  (at r70 v65)
  (at r58 v66)
  (at r35 v67)
  (at r72 v68)
  (at r57 v69)
  (at r18 v70)
  (at r14 v71)
  (at r53 v72)
  (at r15 v73)
  (at r36 v74)
  (at r69 v75)
  (at r28 v76)
  (at r10 v77)
  (at r50 v78)
  (at r60 v79)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v8)
  (adjacent v1 v2)
  (adjacent v1 v9)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v29)
  (adjacent v5 v6)
  (adjacent v5 v41)
  (adjacent v5 v48)
  (adjacent v6 v7)
  (adjacent v6 v11)
  (adjacent v7 v8)
  (adjacent v8 v12)
  (adjacent v8 v23)
  (adjacent v9 v10)
  (adjacent v9 v13)
  (adjacent v10 v11)
  (adjacent v10 v12)
  (adjacent v10 v17)
  (adjacent v11 v22)
  (adjacent v11 v73)
  (adjacent v12 v18)
  (adjacent v12 v42)
  (adjacent v13 v14)
  (adjacent v13 v49)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v30)
  (adjacent v17 v63)
  (adjacent v18 v19)
  (adjacent v18 v40)
  (adjacent v19 v20)
  (adjacent v19 v36)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v35)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v74)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v42)
  (adjacent v26 v49)
  (adjacent v27 v28)
  (adjacent v27 v34)
  (adjacent v28 v29)
  (adjacent v29 v35)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v32 v54)
  (adjacent v33 v34)
  (adjacent v34 v39)
  (adjacent v34 v59)
  (adjacent v36 v37)
  (adjacent v36 v50)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v53)
  (adjacent v40 v41)
  (adjacent v40 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v62)
  (adjacent v50 v51)
  (adjacent v50 v58)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v60 v79)
  (adjacent v61 v62)
  (adjacent v61 v69)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v67 v70)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
 )
 (:goal
  (and
  (at r56 v0)
  (at r14 v1)
  (at r76 v2)
  (at r67 v3)
  (at r12 v4)
  (at r30 v5)
  (at r13 v6)
  (at r42 v7)
  (at r70 v8)
  (at r74 v9)
  (at r73 v10)
  (at r22 v11)
  (at r49 v12)
  (at r32 v13)
  (at r53 v14)
  (at r10 v15)
  (at r75 v16)
  (at r59 v17)
  (at r34 v18)
  (at r79 v19)
  (at r35 v20)
  (at r2 v21)
  (at r39 v22)
  (at r72 v23)
  (at r16 v24)
  (at r48 v25)
  (at r65 v26)
  (at r37 v27)
  (at r18 v28)
  (at r17 v29)
  (at r36 v30)
  (at r20 v31)
  (at r46 v32)
  (at r54 v33)
  (at r69 v34)
  (at r7 v35)
  (at r38 v36)
  (at r11 v37)
  (at r43 v38)
  (at r24 v39)
  (at r47 v40)
  (at r5 v41)
  (at r52 v42)
  (at r33 v43)
  (at r15 v44)
  (at r26 v45)
  (at r63 v46)
  (at r77 v47)
  (free v48)
  (at r44 v49)
  (at r62 v50)
  (at r6 v51)
  (at r27 v52)
  (at r9 v53)
  (at r31 v54)
  (at r60 v55)
  (at r40 v56)
  (at r8 v57)
  (at r3 v58)
  (at r19 v59)
  (at r57 v60)
  (at r45 v61)
  (at r61 v62)
  (at r50 v63)
  (at r66 v64)
  (at r23 v65)
  (at r68 v66)
  (free v67)
  (at r25 v68)
  (at r55 v69)
  (at r51 v70)
  (at r71 v71)
  (at r21 v72)
  (at r78 v73)
  (at r28 v74)
  (at r41 v75)
  (at r64 v76)
  (at r58 v77)
  (at r29 v78)
  (at r4 v79)
  )
 )
)