(define (problem multirobot_23_2_c0)
 (:domain multirobot)
 (:objects
  v0 r11
  v1 r16
  v2 r68
  v3
  v4 r10
  v5 r2
  v6 r75
  v7 r58
  v8 r4
  v9 r40
  v10 r51
  v11 r55
  v12 r23
  v13 r65
  v14 r50
  v15 r46
  v16 r53
  v17 r45
  v18 r32
  v19 r59
  v20 r52
  v21 r33
  v22 r63
  v23 r38
  v24 r20
  v25 r64
  v26 r7
  v27 r60
  v28 r66
  v29 r9
  v30 r22
  v31 r26
  v32 r36
  v33 r27
  v34 r73
  v35 r44
  v36 r29
  v37 r18
  v38 r3
  v39 r70
  v40 r30
  v41 r77
  v42 r61
  v43 r15
  v44 r37
  v45 r67
  v46 r48
  v47 r17
  v48 r47
  v49 r5
  v50 r14
  v51 r49
  v52 r12
  v53 r79
  v54 r69
  v55 r71
  v56 r54
  v57 r78
  v58 r25
  v59 r31
  v60 r34
  v61 r41
  v62 r24
  v63 r76
  v64 r62
  v65 r43
  v66 r13
  v67 r21
  v68 r81
  v69 r8
  v70 r74
  v71 r72
  v72 r19
  v73 r82
  v74 r28
  v75 r39
  v76
  v77 r56
  v78 r80
  v79 r6
  v80 r35
  v81 r57
  v82 r42
 )
 (:init
  (at r11 v0)
  (at r16 v1)
  (at r68 v2)
  (free v3)
  (at r10 v4)
  (at r2 v5)
  (at r75 v6)
  (at r58 v7)
  (at r4 v8)
  (at r40 v9)
  (at r51 v10)
  (at r55 v11)
  (at r23 v12)
  (at r65 v13)
  (at r50 v14)
  (at r46 v15)
  (at r53 v16)
  (at r45 v17)
  (at r32 v18)
  (at r59 v19)
  (at r52 v20)
  (at r33 v21)
  (at r63 v22)
  (at r38 v23)
  (at r20 v24)
  (at r64 v25)
  (at r7 v26)
  (at r60 v27)
  (at r66 v28)
  (at r9 v29)
  (at r22 v30)
  (at r26 v31)
  (at r36 v32)
  (at r27 v33)
  (at r73 v34)
  (at r44 v35)
  (at r29 v36)
  (at r18 v37)
  (at r3 v38)
  (at r70 v39)
  (at r30 v40)
  (at r77 v41)
  (at r61 v42)
  (at r15 v43)
  (at r37 v44)
  (at r67 v45)
  (at r48 v46)
  (at r17 v47)
  (at r47 v48)
  (at r5 v49)
  (at r14 v50)
  (at r49 v51)
  (at r12 v52)
  (at r79 v53)
  (at r69 v54)
  (at r71 v55)
  (at r54 v56)
  (at r78 v57)
  (at r25 v58)
  (at r31 v59)
  (at r34 v60)
  (at r41 v61)
  (at r24 v62)
  (at r76 v63)
  (at r62 v64)
  (at r43 v65)
  (at r13 v66)
  (at r21 v67)
  (at r81 v68)
  (at r8 v69)
  (at r74 v70)
  (at r72 v71)
  (at r19 v72)
  (at r82 v73)
  (at r28 v74)
  (at r39 v75)
  (free v76)
  (at r56 v77)
  (at r80 v78)
  (at r6 v79)
  (at r35 v80)
  (at r57 v81)
  (at r42 v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v20)
  (adjacent v0 v34)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v13)
  (adjacent v1 v49)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v16)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v7)
  (adjacent v3 v28)
  (adjacent v3 v42)
  (adjacent v3 v66)
  (adjacent v3 v67)
  (adjacent v4 v14)
  (adjacent v4 v32)
  (adjacent v4 v41)
  (adjacent v5 v12)
  (adjacent v5 v36)
  (adjacent v6 v13)
  (adjacent v7 v8)
  (adjacent v7 v27)
  (adjacent v8 v9)
  (adjacent v8 v19)
  (adjacent v9 v10)
  (adjacent v9 v54)
  (adjacent v10 v11)
  (adjacent v10 v63)
  (adjacent v11 v12)
  (adjacent v11 v17)
  (adjacent v11 v61)
  (adjacent v13 v26)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v35)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v33)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v33)
  (adjacent v26 v82)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v34)
  (adjacent v29 v35)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v34 v48)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v73)
  (adjacent v39 v40)
  (adjacent v39 v62)
  (adjacent v40 v41)
  (adjacent v40 v43)
  (adjacent v42 v43)
  (adjacent v42 v77)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v62)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v72)
  (adjacent v60 v61)
  (adjacent v60 v76)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v65 v77)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v81 v82)
 )
 (:goal
  (and
  (at r60 v0)
  (at r8 v1)
  (at r27 v2)
  (at r31 v3)
  (at r9 v4)
  (at r58 v5)
  (at r78 v6)
  (at r6 v7)
  (at r53 v8)
  (at r80 v9)
  (at r37 v10)
  (at r43 v11)
  (at r16 v12)
  (at r23 v13)
  (at r59 v14)
  (at r76 v15)
  (at r46 v16)
  (at r65 v17)
  (at r75 v18)
  (at r13 v19)
  (at r18 v20)
  (at r73 v21)
  (at r77 v22)
  (at r3 v23)
  (at r19 v24)
  (at r10 v25)
  (at r17 v26)
  (at r5 v27)
  (at r22 v28)
  (at r68 v29)
  (at r7 v30)
  (at r33 v31)
  (at r42 v32)
  (at r40 v33)
  (at r69 v34)
  (at r48 v35)
  (at r72 v36)
  (at r32 v37)
  (at r52 v38)
  (at r82 v39)
  (at r66 v40)
  (at r56 v41)
  (at r14 v42)
  (at r50 v43)
  (at r24 v44)
  (at r11 v45)
  (at r51 v46)
  (at r4 v47)
  (at r15 v48)
  (at r62 v49)
  (at r28 v50)
  (at r25 v51)
  (at r20 v52)
  (at r2 v53)
  (free v54)
  (at r57 v55)
  (at r49 v56)
  (at r39 v57)
  (at r30 v58)
  (at r61 v59)
  (at r81 v60)
  (at r45 v61)
  (free v62)
  (at r70 v63)
  (at r64 v64)
  (at r71 v65)
  (at r29 v66)
  (at r34 v67)
  (at r35 v68)
  (at r36 v69)
  (at r38 v70)
  (at r67 v71)
  (at r47 v72)
  (at r63 v73)
  (at r26 v74)
  (at r21 v75)
  (at r55 v76)
  (at r79 v77)
  (at r41 v78)
  (at r74 v79)
  (at r12 v80)
  (at r54 v81)
  (at r44 v82)
  )
 )
)