(define (problem multirobot_24_2_c1)
 (:domain multirobot)
 (:objects
  v0 r51
  v1 r8
  v2 r59
  v3 r13
  v4 r78
  v5 r67
  v6 r66
  v7 r20
  v8 r68
  v9 r39
  v10 r32
  v11 r3
  v12 r10
  v13 r25
  v14 r56
  v15 r17
  v16 r54
  v17 r70
  v18 r38
  v19 r22
  v20 r41
  v21 r69
  v22 r58
  v23 r34
  v24 r30
  v25 r49
  v26 r12
  v27 r72
  v28 r37
  v29 r63
  v30 r77
  v31 r15
  v32 r16
  v33 r28
  v34 r27
  v35 r35
  v36 r14
  v37 r50
  v38 r47
  v39 r6
  v40 r40
  v41 r79
  v42 r52
  v43 r2
  v44 r11
  v45 r23
  v46 r82
  v47 r5
  v48 r24
  v49 r42
  v50 r53
  v51 r65
  v52 r61
  v53 r4
  v54 r29
  v55 r18
  v56 r81
  v57 r80
  v58 r9
  v59 r64
  v60
  v61 r45
  v62 r76
  v63 r55
  v64 r62
  v65 r43
  v66 r36
  v67 r57
  v68 r26
  v69 r60
  v70 r33
  v71 r44
  v72 r48
  v73 r21
  v74 r7
  v75 r71
  v76 r73
  v77 r75
  v78 r74
  v79
  v80 r31
  v81 r19
  v82 r46
 )
 (:init
  (at r51 v0)
  (at r8 v1)
  (at r59 v2)
  (at r13 v3)
  (at r78 v4)
  (at r67 v5)
  (at r66 v6)
  (at r20 v7)
  (at r68 v8)
  (at r39 v9)
  (at r32 v10)
  (at r3 v11)
  (at r10 v12)
  (at r25 v13)
  (at r56 v14)
  (at r17 v15)
  (at r54 v16)
  (at r70 v17)
  (at r38 v18)
  (at r22 v19)
  (at r41 v20)
  (at r69 v21)
  (at r58 v22)
  (at r34 v23)
  (at r30 v24)
  (at r49 v25)
  (at r12 v26)
  (at r72 v27)
  (at r37 v28)
  (at r63 v29)
  (at r77 v30)
  (at r15 v31)
  (at r16 v32)
  (at r28 v33)
  (at r27 v34)
  (at r35 v35)
  (at r14 v36)
  (at r50 v37)
  (at r47 v38)
  (at r6 v39)
  (at r40 v40)
  (at r79 v41)
  (at r52 v42)
  (at r2 v43)
  (at r11 v44)
  (at r23 v45)
  (at r82 v46)
  (at r5 v47)
  (at r24 v48)
  (at r42 v49)
  (at r53 v50)
  (at r65 v51)
  (at r61 v52)
  (at r4 v53)
  (at r29 v54)
  (at r18 v55)
  (at r81 v56)
  (at r80 v57)
  (at r9 v58)
  (at r64 v59)
  (free v60)
  (at r45 v61)
  (at r76 v62)
  (at r55 v63)
  (at r62 v64)
  (at r43 v65)
  (at r36 v66)
  (at r57 v67)
  (at r26 v68)
  (at r60 v69)
  (at r33 v70)
  (at r44 v71)
  (at r48 v72)
  (at r21 v73)
  (at r7 v74)
  (at r71 v75)
  (at r73 v76)
  (at r75 v77)
  (at r74 v78)
  (free v79)
  (at r31 v80)
  (at r19 v81)
  (at r46 v82)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v23)
  (adjacent v0 v36)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v24)
  (adjacent v2 v3)
  (adjacent v2 v55)
  (adjacent v3 v4)
  (adjacent v3 v31)
  (adjacent v3 v52)
  (adjacent v3 v82)
  (adjacent v4 v5)
  (adjacent v4 v13)
  (adjacent v4 v43)
  (adjacent v4 v56)
  (adjacent v5 v6)
  (adjacent v5 v20)
  (adjacent v6 v7)
  (adjacent v6 v25)
  (adjacent v7 v8)
  (adjacent v7 v12)
  (adjacent v7 v13)
  (adjacent v7 v28)
  (adjacent v7 v29)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v41)
  (adjacent v10 v11)
  (adjacent v10 v19)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v21)
  (adjacent v16 v17)
  (adjacent v16 v20)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v80)
  (adjacent v21 v22)
  (adjacent v21 v40)
  (adjacent v21 v57)
  (adjacent v22 v23)
  (adjacent v24 v32)
  (adjacent v24 v48)
  (adjacent v24 v49)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v35)
  (adjacent v28 v60)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v32 v33)
  (adjacent v32 v79)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v51)
  (adjacent v34 v54)
  (adjacent v35 v57)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v64)
  (adjacent v39 v40)
  (adjacent v40 v44)
  (adjacent v41 v42)
  (adjacent v41 v71)
  (adjacent v42 v43)
  (adjacent v42 v80)
  (adjacent v44 v45)
  (adjacent v44 v75)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v52 v81)
  (adjacent v53 v54)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v57 v63)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v61 v70)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v69 v74)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
  (adjacent v78 v79)
  (adjacent v81 v82)
 )
 (:goal
  (and
  (at r69 v0)
  (at r39 v1)
  (at r6 v2)
  (at r25 v3)
  (at r51 v4)
  (at r76 v5)
  (at r55 v6)
  (at r56 v7)
  (at r18 v8)
  (at r68 v9)
  (at r16 v10)
  (at r66 v11)
  (at r49 v12)
  (at r23 v13)
  (at r10 v14)
  (at r8 v15)
  (at r32 v16)
  (at r34 v17)
  (at r30 v18)
  (at r81 v19)
  (at r33 v20)
  (at r67 v21)
  (at r57 v22)
  (at r2 v23)
  (at r71 v24)
  (at r82 v25)
  (at r50 v26)
  (at r29 v27)
  (at r19 v28)
  (at r26 v29)
  (at r78 v30)
  (at r74 v31)
  (at r44 v32)
  (at r42 v33)
  (at r58 v34)
  (at r36 v35)
  (at r40 v36)
  (at r41 v37)
  (at r7 v38)
  (free v39)
  (free v40)
  (at r21 v41)
  (at r28 v42)
  (at r14 v43)
  (at r63 v44)
  (at r72 v45)
  (at r22 v46)
  (at r47 v47)
  (at r35 v48)
  (at r64 v49)
  (at r4 v50)
  (at r27 v51)
  (at r75 v52)
  (at r20 v53)
  (at r73 v54)
  (at r5 v55)
  (at r70 v56)
  (at r48 v57)
  (at r38 v58)
  (at r17 v59)
  (at r46 v60)
  (at r54 v61)
  (at r79 v62)
  (at r31 v63)
  (at r24 v64)
  (at r37 v65)
  (at r43 v66)
  (at r15 v67)
  (at r45 v68)
  (at r12 v69)
  (at r53 v70)
  (at r11 v71)
  (at r59 v72)
  (at r13 v73)
  (at r65 v74)
  (at r61 v75)
  (at r80 v76)
  (at r52 v77)
  (at r77 v78)
  (at r60 v79)
  (at r3 v80)
  (at r9 v81)
  (at r62 v82)
  )
 )
)