(define (problem multirobot_20_2_c6)
 (:domain multirobot)
 (:objects
  v0 r82
  v1 r75
  v2 r87
  v3 r4
  v4 r7
  v5 r62
  v6 r36
  v7 r61
  v8 r40
  v9 r51
  v10 r37
  v11 r84
  v12 r13
  v13 r30
  v14 r3
  v15 r32
  v16 r9
  v17 r23
  v18 r57
  v19 r38
  v20 r64
  v21 r12
  v22 r6
  v23 r26
  v24 r67
  v25 r2
  v26 r77
  v27 r35
  v28 r33
  v29 r55
  v30 r43
  v31 r16
  v32 r48
  v33 r69
  v34 r86
  v35 r53
  v36 r19
  v37 r76
  v38 r29
  v39 r83
  v40 r49
  v41 r52
  v42 r60
  v43 r8
  v44 r70
  v45 r81
  v46 r50
  v47 r54
  v48 r10
  v49 r44
  v50 r46
  v51 r24
  v52 r11
  v53 r66
  v54 r5
  v55 r65
  v56 r31
  v57 r27
  v58 r34
  v59 r73
  v60 r41
  v61 r72
  v62 r21
  v63
  v64 r14
  v65 r15
  v66 r18
  v67 r47
  v68 r71
  v69 r63
  v70 r59
  v71 r39
  v72 r78
  v73 r42
  v74 r56
  v75 r17
  v76
  v77 r45
  v78 r80
  v79 r74
  v80 r85
  v81 r58
  v82 r20
  v83 r22
  v84 r68
  v85 r28
  v86 r79
  v87 r25
 )
 (:init
  (at r82 v0)
  (at r75 v1)
  (at r87 v2)
  (at r4 v3)
  (at r7 v4)
  (at r62 v5)
  (at r36 v6)
  (at r61 v7)
  (at r40 v8)
  (at r51 v9)
  (at r37 v10)
  (at r84 v11)
  (at r13 v12)
  (at r30 v13)
  (at r3 v14)
  (at r32 v15)
  (at r9 v16)
  (at r23 v17)
  (at r57 v18)
  (at r38 v19)
  (at r64 v20)
  (at r12 v21)
  (at r6 v22)
  (at r26 v23)
  (at r67 v24)
  (at r2 v25)
  (at r77 v26)
  (at r35 v27)
  (at r33 v28)
  (at r55 v29)
  (at r43 v30)
  (at r16 v31)
  (at r48 v32)
  (at r69 v33)
  (at r86 v34)
  (at r53 v35)
  (at r19 v36)
  (at r76 v37)
  (at r29 v38)
  (at r83 v39)
  (at r49 v40)
  (at r52 v41)
  (at r60 v42)
  (at r8 v43)
  (at r70 v44)
  (at r81 v45)
  (at r50 v46)
  (at r54 v47)
  (at r10 v48)
  (at r44 v49)
  (at r46 v50)
  (at r24 v51)
  (at r11 v52)
  (at r66 v53)
  (at r5 v54)
  (at r65 v55)
  (at r31 v56)
  (at r27 v57)
  (at r34 v58)
  (at r73 v59)
  (at r41 v60)
  (at r72 v61)
  (at r21 v62)
  (free v63)
  (at r14 v64)
  (at r15 v65)
  (at r18 v66)
  (at r47 v67)
  (at r71 v68)
  (at r63 v69)
  (at r59 v70)
  (at r39 v71)
  (at r78 v72)
  (at r42 v73)
  (at r56 v74)
  (at r17 v75)
  (free v76)
  (at r45 v77)
  (at r80 v78)
  (at r74 v79)
  (at r85 v80)
  (at r58 v81)
  (at r20 v82)
  (at r22 v83)
  (at r68 v84)
  (at r28 v85)
  (at r79 v86)
  (at r25 v87)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v12)
  (adjacent v1 v15)
  (adjacent v1 v81)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v16)
  (adjacent v4 v6)
  (adjacent v4 v19)
  (adjacent v4 v32)
  (adjacent v4 v41)
  (adjacent v4 v53)
  (adjacent v5 v48)
  (adjacent v7 v8)
  (adjacent v7 v20)
  (adjacent v7 v33)
  (adjacent v7 v54)
  (adjacent v8 v9)
  (adjacent v8 v27)
  (adjacent v8 v65)
  (adjacent v9 v10)
  (adjacent v9 v35)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v11 v12)
  (adjacent v11 v26)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v71)
  (adjacent v18 v19)
  (adjacent v18 v36)
  (adjacent v20 v21)
  (adjacent v20 v42)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v50)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v87)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v49)
  (adjacent v30 v55)
  (adjacent v31 v32)
  (adjacent v31 v42)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v51)
  (adjacent v36 v37)
  (adjacent v36 v52)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v46 v61)
  (adjacent v47 v48)
  (adjacent v48 v74)
  (adjacent v49 v50)
  (adjacent v50 v60)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v66)
  (adjacent v59 v60)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v68 v72)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v75)
  (adjacent v71 v82)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
  (adjacent v83 v84)
  (adjacent v84 v85)
  (adjacent v85 v86)
  (adjacent v86 v87)
 )
 (:goal
  (and
  (at r20 v0)
  (at r81 v1)
  (at r40 v2)
  (at r76 v3)
  (at r49 v4)
  (at r50 v5)
  (at r78 v6)
  (at r41 v7)
  (at r68 v8)
  (at r46 v9)
  (at r39 v10)
  (at r33 v11)
  (at r66 v12)
  (at r71 v13)
  (at r58 v14)
  (at r4 v15)
  (at r47 v16)
  (free v17)
  (at r75 v18)
  (at r16 v19)
  (at r10 v20)
  (at r55 v21)
  (at r12 v22)
  (at r83 v23)
  (at r85 v24)
  (at r42 v25)
  (at r61 v26)
  (at r25 v27)
  (at r17 v28)
  (at r56 v29)
  (at r5 v30)
  (at r52 v31)
  (at r82 v32)
  (at r9 v33)
  (at r2 v34)
  (at r7 v35)
  (at r38 v36)
  (at r23 v37)
  (at r19 v38)
  (at r65 v39)
  (at r14 v40)
  (at r84 v41)
  (at r31 v42)
  (at r77 v43)
  (at r51 v44)
  (at r24 v45)
  (at r64 v46)
  (at r36 v47)
  (at r53 v48)
  (at r73 v49)
  (at r67 v50)
  (at r44 v51)
  (at r70 v52)
  (at r45 v53)
  (at r8 v54)
  (at r18 v55)
  (at r35 v56)
  (at r13 v57)
  (at r30 v58)
  (at r86 v59)
  (at r59 v60)
  (at r57 v61)
  (at r60 v62)
  (at r54 v63)
  (at r37 v64)
  (at r43 v65)
  (at r29 v66)
  (free v67)
  (at r79 v68)
  (at r22 v69)
  (at r87 v70)
  (at r27 v71)
  (at r28 v72)
  (at r3 v73)
  (at r69 v74)
  (at r72 v75)
  (at r74 v76)
  (at r62 v77)
  (at r26 v78)
  (at r48 v79)
  (at r21 v80)
  (at r6 v81)
  (at r15 v82)
  (at r34 v83)
  (at r80 v84)
  (at r32 v85)
  (at r11 v86)
  (at r63 v87)
  )
 )
)