(define (problem multirobot_20_2_c5)
 (:domain multirobot)
 (:objects
  v0 r19
  v1 r49
  v2 r11
  v3 r20
  v4 r78
  v5 r2
  v6 r43
  v7 r8
  v8 r77
  v9 r57
  v10 r63
  v11 r81
  v12 r21
  v13 r6
  v14 r24
  v15 r17
  v16
  v17 r44
  v18 r46
  v19 r23
  v20 r68
  v21 r9
  v22 r13
  v23 r16
  v24 r64
  v25 r14
  v26 r58
  v27 r50
  v28 r36
  v29 r37
  v30 r72
  v31 r22
  v32 r70
  v33 r76
  v34 r3
  v35 r59
  v36 r45
  v37 r40
  v38 r28
  v39 r12
  v40 r35
  v41 r74
  v42 r55
  v43 r79
  v44 r34
  v45 r5
  v46 r29
  v47 r38
  v48 r25
  v49 r62
  v50 r67
  v51 r7
  v52
  v53 r60
  v54 r56
  v55 r61
  v56 r73
  v57 r53
  v58 r30
  v59 r52
  v60 r51
  v61 r66
  v62 r75
  v63 r15
  v64 r54
  v65 r69
  v66 r10
  v67 r4
  v68 r47
  v69 r39
  v70 r65
  v71 r48
  v72 r26
  v73 r31
  v74 r27
  v75 r42
  v76 r32
  v77 r18
  v78 r80
  v79 r41
  v80 r71
  v81 r33
 )
 (:init
  (at r19 v0)
  (at r49 v1)
  (at r11 v2)
  (at r20 v3)
  (at r78 v4)
  (at r2 v5)
  (at r43 v6)
  (at r8 v7)
  (at r77 v8)
  (at r57 v9)
  (at r63 v10)
  (at r81 v11)
  (at r21 v12)
  (at r6 v13)
  (at r24 v14)
  (at r17 v15)
  (free v16)
  (at r44 v17)
  (at r46 v18)
  (at r23 v19)
  (at r68 v20)
  (at r9 v21)
  (at r13 v22)
  (at r16 v23)
  (at r64 v24)
  (at r14 v25)
  (at r58 v26)
  (at r50 v27)
  (at r36 v28)
  (at r37 v29)
  (at r72 v30)
  (at r22 v31)
  (at r70 v32)
  (at r76 v33)
  (at r3 v34)
  (at r59 v35)
  (at r45 v36)
  (at r40 v37)
  (at r28 v38)
  (at r12 v39)
  (at r35 v40)
  (at r74 v41)
  (at r55 v42)
  (at r79 v43)
  (at r34 v44)
  (at r5 v45)
  (at r29 v46)
  (at r38 v47)
  (at r25 v48)
  (at r62 v49)
  (at r67 v50)
  (at r7 v51)
  (free v52)
  (at r60 v53)
  (at r56 v54)
  (at r61 v55)
  (at r73 v56)
  (at r53 v57)
  (at r30 v58)
  (at r52 v59)
  (at r51 v60)
  (at r66 v61)
  (at r75 v62)
  (at r15 v63)
  (at r54 v64)
  (at r69 v65)
  (at r10 v66)
  (at r4 v67)
  (at r47 v68)
  (at r39 v69)
  (at r65 v70)
  (at r48 v71)
  (at r26 v72)
  (at r31 v73)
  (at r27 v74)
  (at r42 v75)
  (at r32 v76)
  (at r18 v77)
  (at r80 v78)
  (at r41 v79)
  (at r71 v80)
  (at r33 v81)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v7)
  (adjacent v0 v70)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v71)
  (adjacent v4 v6)
  (adjacent v4 v45)
  (adjacent v4 v59)
  (adjacent v5 v6)
  (adjacent v5 v48)
  (adjacent v6 v13)
  (adjacent v6 v21)
  (adjacent v6 v40)
  (adjacent v7 v8)
  (adjacent v7 v64)
  (adjacent v8 v9)
  (adjacent v8 v60)
  (adjacent v9 v10)
  (adjacent v9 v28)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v10 v27)
  (adjacent v10 v31)
  (adjacent v10 v65)
  (adjacent v11 v12)
  (adjacent v11 v49)
  (adjacent v12 v13)
  (adjacent v12 v20)
  (adjacent v13 v36)
  (adjacent v13 v78)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v71)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v32)
  (adjacent v19 v20)
  (adjacent v21 v22)
  (adjacent v21 v35)
  (adjacent v21 v80)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v58)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v41)
  (adjacent v29 v81)
  (adjacent v30 v31)
  (adjacent v30 v55)
  (adjacent v31 v79)
  (adjacent v32 v33)
  (adjacent v32 v59)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v37 v60)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v56)
  (adjacent v40 v44)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v63)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v51 v61)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v64)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v72)
  (adjacent v69 v70)
  (adjacent v72 v73)
  (adjacent v72 v79)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v80 v81)
 )
 (:goal
  (and
  (at r35 v0)
  (at r30 v1)
  (at r52 v2)
  (at r76 v3)
  (at r63 v4)
  (at r60 v5)
  (at r18 v6)
  (at r44 v7)
  (at r74 v8)
  (at r55 v9)
  (at r29 v10)
  (at r23 v11)
  (at r15 v12)
  (at r69 v13)
  (at r47 v14)
  (at r42 v15)
  (at r38 v16)
  (at r59 v17)
  (at r11 v18)
  (at r65 v19)
  (at r68 v20)
  (at r19 v21)
  (at r7 v22)
  (at r32 v23)
  (at r46 v24)
  (at r17 v25)
  (at r72 v26)
  (at r78 v27)
  (at r54 v28)
  (at r10 v29)
  (at r48 v30)
  (at r20 v31)
  (at r13 v32)
  (at r39 v33)
  (at r3 v34)
  (at r31 v35)
  (at r36 v36)
  (at r34 v37)
  (free v38)
  (at r9 v39)
  (at r51 v40)
  (at r5 v41)
  (at r67 v42)
  (at r24 v43)
  (at r70 v44)
  (at r53 v45)
  (at r25 v46)
  (at r77 v47)
  (at r22 v48)
  (at r71 v49)
  (at r43 v50)
  (at r41 v51)
  (at r33 v52)
  (at r62 v53)
  (at r26 v54)
  (at r8 v55)
  (at r64 v56)
  (at r27 v57)
  (at r50 v58)
  (at r61 v59)
  (at r37 v60)
  (free v61)
  (at r14 v62)
  (at r81 v63)
  (at r56 v64)
  (at r66 v65)
  (at r6 v66)
  (at r28 v67)
  (at r21 v68)
  (at r79 v69)
  (at r75 v70)
  (at r58 v71)
  (at r49 v72)
  (at r2 v73)
  (at r40 v74)
  (at r12 v75)
  (at r57 v76)
  (at r45 v77)
  (at r4 v78)
  (at r73 v79)
  (at r80 v80)
  (at r16 v81)
  )
 )
)