(define (problem multirobot_23_2_c2)
 (:domain multirobot)
 (:objects
  v0 r8
  v1 r60
  v2 r12
  v3 r58
  v4 r83
  v5 r6
  v6 r35
  v7 r49
  v8 r9
  v9 r13
  v10
  v11 r24
  v12 r20
  v13 r43
  v14 r65
  v15 r66
  v16 r5
  v17 r4
  v18 r3
  v19 r56
  v20 r50
  v21 r21
  v22 r28
  v23 r19
  v24 r76
  v25 r29
  v26 r79
  v27 r55
  v28 r39
  v29 r52
  v30 r69
  v31 r82
  v32 r63
  v33 r44
  v34 r59
  v35 r46
  v36 r42
  v37 r40
  v38 r26
  v39 r38
  v40 r41
  v41 r27
  v42 r17
  v43 r16
  v44 r10
  v45 r51
  v46 r48
  v47 r73
  v48 r61
  v49 r72
  v50 r22
  v51 r45
  v52 r57
  v53 r62
  v54 r77
  v55 r47
  v56 r2
  v57 r37
  v58 r81
  v59 r15
  v60 r30
  v61 r11
  v62 r18
  v63 r14
  v64 r7
  v65 r36
  v66 r75
  v67
  v68 r80
  v69 r67
  v70 r33
  v71 r68
  v72 r53
  v73 r71
  v74 r64
  v75 r78
  v76 r74
  v77 r32
  v78 r23
  v79 r70
  v80 r25
  v81 r34
  v82 r31
  v83 r54
 )
 (:init
  (at r8 v0)
  (at r60 v1)
  (at r12 v2)
  (at r58 v3)
  (at r83 v4)
  (at r6 v5)
  (at r35 v6)
  (at r49 v7)
  (at r9 v8)
  (at r13 v9)
  (free v10)
  (at r24 v11)
  (at r20 v12)
  (at r43 v13)
  (at r65 v14)
  (at r66 v15)
  (at r5 v16)
  (at r4 v17)
  (at r3 v18)
  (at r56 v19)
  (at r50 v20)
  (at r21 v21)
  (at r28 v22)
  (at r19 v23)
  (at r76 v24)
  (at r29 v25)
  (at r79 v26)
  (at r55 v27)
  (at r39 v28)
  (at r52 v29)
  (at r69 v30)
  (at r82 v31)
  (at r63 v32)
  (at r44 v33)
  (at r59 v34)
  (at r46 v35)
  (at r42 v36)
  (at r40 v37)
  (at r26 v38)
  (at r38 v39)
  (at r41 v40)
  (at r27 v41)
  (at r17 v42)
  (at r16 v43)
  (at r10 v44)
  (at r51 v45)
  (at r48 v46)
  (at r73 v47)
  (at r61 v48)
  (at r72 v49)
  (at r22 v50)
  (at r45 v51)
  (at r57 v52)
  (at r62 v53)
  (at r77 v54)
  (at r47 v55)
  (at r2 v56)
  (at r37 v57)
  (at r81 v58)
  (at r15 v59)
  (at r30 v60)
  (at r11 v61)
  (at r18 v62)
  (at r14 v63)
  (at r7 v64)
  (at r36 v65)
  (at r75 v66)
  (free v67)
  (at r80 v68)
  (at r67 v69)
  (at r33 v70)
  (at r68 v71)
  (at r53 v72)
  (at r71 v73)
  (at r64 v74)
  (at r78 v75)
  (at r74 v76)
  (at r32 v77)
  (at r23 v78)
  (at r70 v79)
  (at r25 v80)
  (at r34 v81)
  (at r31 v82)
  (at r54 v83)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v6)
  (adjacent v1 v2)
  (adjacent v1 v42)
  (adjacent v1 v47)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v33)
  (adjacent v2 v34)
  (adjacent v3 v4)
  (adjacent v3 v12)
  (adjacent v5 v13)
  (adjacent v5 v30)
  (adjacent v6 v7)
  (adjacent v6 v17)
  (adjacent v6 v64)
  (adjacent v7 v8)
  (adjacent v7 v13)
  (adjacent v7 v26)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v25)
  (adjacent v10 v11)
  (adjacent v10 v14)
  (adjacent v10 v35)
  (adjacent v10 v63)
  (adjacent v11 v12)
  (adjacent v12 v18)
  (adjacent v12 v24)
  (adjacent v13 v25)
  (adjacent v13 v77)
  (adjacent v14 v15)
  (adjacent v14 v29)
  (adjacent v14 v32)
  (adjacent v15 v16)
  (adjacent v15 v23)
  (adjacent v15 v81)
  (adjacent v16 v17)
  (adjacent v17 v63)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v33)
  (adjacent v20 v21)
  (adjacent v20 v65)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v66)
  (adjacent v23 v24)
  (adjacent v26 v27)
  (adjacent v26 v41)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v34)
  (adjacent v29 v83)
  (adjacent v30 v31)
  (adjacent v30 v46)
  (adjacent v31 v32)
  (adjacent v31 v69)
  (adjacent v34 v62)
  (adjacent v35 v36)
  (adjacent v35 v70)
  (adjacent v36 v37)
  (adjacent v36 v78)
  (adjacent v37 v38)
  (adjacent v37 v52)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v51)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v44 v76)
  (adjacent v44 v77)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v58)
  (adjacent v50 v51)
  (adjacent v50 v57)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v66 v82)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v78 v79)
  (adjacent v79 v80)
  (adjacent v80 v81)
  (adjacent v82 v83)
 )
 (:goal
  (and
  (at r53 v0)
  (at r46 v1)
  (at r72 v2)
  (at r61 v3)
  (at r34 v4)
  (at r48 v5)
  (at r63 v6)
  (at r54 v7)
  (at r62 v8)
  (at r45 v9)
  (at r39 v10)
  (at r80 v11)
  (at r37 v12)
  (at r10 v13)
  (at r66 v14)
  (at r78 v15)
  (at r73 v16)
  (at r71 v17)
  (at r58 v18)
  (at r12 v19)
  (at r55 v20)
  (at r67 v21)
  (at r14 v22)
  (at r60 v23)
  (at r17 v24)
  (at r30 v25)
  (at r31 v26)
  (at r8 v27)
  (at r24 v28)
  (at r75 v29)
  (at r77 v30)
  (at r33 v31)
  (at r68 v32)
  (at r43 v33)
  (at r74 v34)
  (at r25 v35)
  (at r57 v36)
  (at r27 v37)
  (at r59 v38)
  (at r3 v39)
  (at r47 v40)
  (at r22 v41)
  (at r82 v42)
  (at r2 v43)
  (at r29 v44)
  (at r70 v45)
  (at r65 v46)
  (at r50 v47)
  (at r41 v48)
  (at r36 v49)
  (at r49 v50)
  (at r52 v51)
  (at r19 v52)
  (at r23 v53)
  (at r11 v54)
  (at r32 v55)
  (at r6 v56)
  (at r16 v57)
  (at r9 v58)
  (free v59)
  (at r5 v60)
  (at r26 v61)
  (at r76 v62)
  (at r21 v63)
  (at r64 v64)
  (at r42 v65)
  (at r83 v66)
  (at r44 v67)
  (at r4 v68)
  (at r69 v69)
  (at r81 v70)
  (at r35 v71)
  (at r20 v72)
  (free v73)
  (at r38 v74)
  (at r40 v75)
  (at r18 v76)
  (at r7 v77)
  (at r15 v78)
  (at r13 v79)
  (at r79 v80)
  (at r56 v81)
  (at r28 v82)
  (at r51 v83)
  )
 )
)