(define (problem multirobot_20_2_c2)
 (:domain multirobot)
 (:objects
  v0 r20
  v1 r83
  v2 r57
  v3 r72
  v4 r48
  v5 r43
  v6 r81
  v7 r3
  v8 r66
  v9 r14
  v10 r67
  v11 r61
  v12 r32
  v13 r41
  v14 r29
  v15 r53
  v16 r51
  v17 r91
  v18 r50
  v19 r63
  v20 r18
  v21 r79
  v22 r11
  v23 r10
  v24 r90
  v25 r92
  v26 r17
  v27 r89
  v28 r85
  v29 r74
  v30 r38
  v31 r9
  v32 r42
  v33 r59
  v34 r25
  v35 r93
  v36 r34
  v37 r55
  v38 r49
  v39 r84
  v40 r7
  v41 r24
  v42 r56
  v43 r8
  v44 r31
  v45 r33
  v46 r69
  v47 r88
  v48 r70
  v49 r71
  v50 r60
  v51 r54
  v52 r26
  v53 r58
  v54 r82
  v55 r36
  v56 r62
  v57 r12
  v58 r73
  v59 r52
  v60 r64
  v61 r40
  v62 r28
  v63 r21
  v64 r94
  v65 r87
  v66 r80
  v67 r35
  v68 r77
  v69 r19
  v70 r22
  v71 r78
  v72 r23
  v73 r44
  v74 r13
  v75 r16
  v76 r27
  v77 r75
  v78 r39
  v79 r46
  v80 r86
  v81 r68
  v82 r15
  v83 r6
  v84 r4
  v85 r37
  v86 r5
  v87 r76
  v88 r45
  v89 r47
  v90 r30
  v91
  v92 r2
  v93
  v94 r65
 )
 (:init
  (at r20 v0)
  (at r83 v1)
  (at r57 v2)
  (at r72 v3)
  (at r48 v4)
  (at r43 v5)
  (at r81 v6)
  (at r3 v7)
  (at r66 v8)
  (at r14 v9)
  (at r67 v10)
  (at r61 v11)
  (at r32 v12)
  (at r41 v13)
  (at r29 v14)
  (at r53 v15)
  (at r51 v16)
  (at r91 v17)
  (at r50 v18)
  (at r63 v19)
  (at r18 v20)
  (at r79 v21)
  (at r11 v22)
  (at r10 v23)
  (at r90 v24)
  (at r92 v25)
  (at r17 v26)
  (at r89 v27)
  (at r85 v28)
  (at r74 v29)
  (at r38 v30)
  (at r9 v31)
  (at r42 v32)
  (at r59 v33)
  (at r25 v34)
  (at r93 v35)
  (at r34 v36)
  (at r55 v37)
  (at r49 v38)
  (at r84 v39)
  (at r7 v40)
  (at r24 v41)
  (at r56 v42)
  (at r8 v43)
  (at r31 v44)
  (at r33 v45)
  (at r69 v46)
  (at r88 v47)
  (at r70 v48)
  (at r71 v49)
  (at r60 v50)
  (at r54 v51)
  (at r26 v52)
  (at r58 v53)
  (at r82 v54)
  (at r36 v55)
  (at r62 v56)
  (at r12 v57)
  (at r73 v58)
  (at r52 v59)
  (at r64 v60)
  (at r40 v61)
  (at r28 v62)
  (at r21 v63)
  (at r94 v64)
  (at r87 v65)
  (at r80 v66)
  (at r35 v67)
  (at r77 v68)
  (at r19 v69)
  (at r22 v70)
  (at r78 v71)
  (at r23 v72)
  (at r44 v73)
  (at r13 v74)
  (at r16 v75)
  (at r27 v76)
  (at r75 v77)
  (at r39 v78)
  (at r46 v79)
  (at r86 v80)
  (at r68 v81)
  (at r15 v82)
  (at r6 v83)
  (at r4 v84)
  (at r37 v85)
  (at r5 v86)
  (at r76 v87)
  (at r45 v88)
  (at r47 v89)
  (at r30 v90)
  (free v91)
  (at r2 v92)
  (free v93)
  (at r65 v94)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v14)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v2 v46)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v4 v18)
  (adjacent v5 v6)
  (adjacent v5 v8)
  (adjacent v5 v23)
  (adjacent v6 v7)
  (adjacent v6 v29)
  (adjacent v7 v17)
  (adjacent v7 v85)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v78)
  (adjacent v10 v11)
  (adjacent v10 v15)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v61)
  (adjacent v13 v14)
  (adjacent v13 v53)
  (adjacent v14 v24)
  (adjacent v15 v16)
  (adjacent v15 v24)
  (adjacent v16 v17)
  (adjacent v17 v25)
  (adjacent v17 v66)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v35)
  (adjacent v22 v37)
  (adjacent v23 v28)
  (adjacent v23 v60)
  (adjacent v23 v73)
  (adjacent v24 v74)
  (adjacent v25 v26)
  (adjacent v25 v86)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v54)
  (adjacent v28 v84)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v31 v36)
  (adjacent v31 v93)
  (adjacent v32 v33)
  (adjacent v32 v47)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v36)
  (adjacent v35 v40)
  (adjacent v35 v41)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v67)
  (adjacent v39 v40)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v79)
  (adjacent v52 v53)
  (adjacent v52 v65)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v66)
  (adjacent v57 v94)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v85)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v92)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v86 v87)
  (adjacent v87 v88)
  (adjacent v88 v89)
  (adjacent v89 v90)
  (adjacent v90 v91)
  (adjacent v91 v92)
  (adjacent v93 v94)
 )
 (:goal
  (and
  (at r78 v0)
  (at r83 v1)
  (at r66 v2)
  (at r13 v3)
  (at r30 v4)
  (at r72 v5)
  (at r51 v6)
  (at r44 v7)
  (at r40 v8)
  (at r70 v9)
  (at r59 v10)
  (at r45 v11)
  (at r33 v12)
  (at r18 v13)
  (at r58 v14)
  (at r74 v15)
  (at r65 v16)
  (at r67 v17)
  (at r87 v18)
  (at r75 v19)
  (at r38 v20)
  (at r4 v21)
  (at r90 v22)
  (at r89 v23)
  (at r73 v24)
  (at r55 v25)
  (at r69 v26)
  (at r92 v27)
  (at r5 v28)
  (at r56 v29)
  (at r25 v30)
  (at r57 v31)
  (at r6 v32)
  (at r32 v33)
  (at r46 v34)
  (at r21 v35)
  (at r61 v36)
  (at r11 v37)
  (free v38)
  (at r48 v39)
  (at r14 v40)
  (at r16 v41)
  (at r86 v42)
  (at r34 v43)
  (at r88 v44)
  (at r76 v45)
  (at r84 v46)
  (at r47 v47)
  (at r15 v48)
  (at r53 v49)
  (at r29 v50)
  (at r52 v51)
  (at r20 v52)
  (at r64 v53)
  (at r91 v54)
  (at r2 v55)
  (at r24 v56)
  (at r80 v57)
  (at r37 v58)
  (at r39 v59)
  (at r35 v60)
  (at r43 v61)
  (at r8 v62)
  (at r17 v63)
  (at r3 v64)
  (at r81 v65)
  (at r19 v66)
  (at r93 v67)
  (at r41 v68)
  (at r68 v69)
  (at r9 v70)
  (at r62 v71)
  (at r42 v72)
  (at r7 v73)
  (at r49 v74)
  (at r22 v75)
  (at r77 v76)
  (at r31 v77)
  (at r27 v78)
  (at r82 v79)
  (at r54 v80)
  (at r71 v81)
  (free v82)
  (at r26 v83)
  (at r79 v84)
  (at r85 v85)
  (at r28 v86)
  (at r10 v87)
  (at r94 v88)
  (at r23 v89)
  (at r12 v90)
  (at r36 v91)
  (at r50 v92)
  (at r63 v93)
  (at r60 v94)
  )
 )
)