(define (problem multirobot_17_10%_c2)
 (:domain multirobot)
 (:objects
  v0 r49
  v1 r78
  v2 r45
  v3 r24
  v4
  v5 r42
  v6 r59
  v7
  v8
  v9 r12
  v10 r53
  v11 r37
  v12 r9
  v13 r33
  v14 r15
  v15 r40
  v16
  v17 r71
  v18 r30
  v19 r11
  v20
  v21 r21
  v22 r47
  v23 r50
  v24 r23
  v25 r32
  v26 r76
  v27 r52
  v28 r35
  v29 r34
  v30 r68
  v31 r51
  v32 r72
  v33 r55
  v34 r44
  v35 r25
  v36
  v37 r62
  v38 r74
  v39 r64
  v40 r20
  v41 r41
  v42
  v43 r48
  v44 r63
  v45 r19
  v46 r67
  v47 r8
  v48 r28
  v49 r60
  v50 r31
  v51 r10
  v52 r70
  v53 r77
  v54 r58
  v55 r75
  v56 r18
  v57 r56
  v58 r29
  v59 r14
  v60 r39
  v61 r22
  v62 r54
  v63 r65
  v64 r17
  v65 r13
  v66 r36
  v67 r26
  v68 r69
  v69
  v70 r46
  v71 r73
  v72 r38
  v73 r61
  v74 r57
  v75 r66
  v76 r27
  v77 r43
  v78 r16
 )
 (:init
  (at r49 v0)
  (at r78 v1)
  (at r45 v2)
  (at r24 v3)
  (free v4)
  (at r42 v5)
  (at r59 v6)
  (free v7)
  (free v8)
  (at r12 v9)
  (at r53 v10)
  (at r37 v11)
  (at r9 v12)
  (at r33 v13)
  (at r15 v14)
  (at r40 v15)
  (free v16)
  (at r71 v17)
  (at r30 v18)
  (at r11 v19)
  (free v20)
  (at r21 v21)
  (at r47 v22)
  (at r50 v23)
  (at r23 v24)
  (at r32 v25)
  (at r76 v26)
  (at r52 v27)
  (at r35 v28)
  (at r34 v29)
  (at r68 v30)
  (at r51 v31)
  (at r72 v32)
  (at r55 v33)
  (at r44 v34)
  (at r25 v35)
  (free v36)
  (at r62 v37)
  (at r74 v38)
  (at r64 v39)
  (at r20 v40)
  (at r41 v41)
  (free v42)
  (at r48 v43)
  (at r63 v44)
  (at r19 v45)
  (at r67 v46)
  (at r8 v47)
  (at r28 v48)
  (at r60 v49)
  (at r31 v50)
  (at r10 v51)
  (at r70 v52)
  (at r77 v53)
  (at r58 v54)
  (at r75 v55)
  (at r18 v56)
  (at r56 v57)
  (at r29 v58)
  (at r14 v59)
  (at r39 v60)
  (at r22 v61)
  (at r54 v62)
  (at r65 v63)
  (at r17 v64)
  (at r13 v65)
  (at r36 v66)
  (at r26 v67)
  (at r69 v68)
  (free v69)
  (at r46 v70)
  (at r73 v71)
  (at r38 v72)
  (at r61 v73)
  (at r57 v74)
  (at r66 v75)
  (at r27 v76)
  (at r43 v77)
  (at r16 v78)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v60)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v21)
  (adjacent v2 v28)
  (adjacent v2 v38)
  (adjacent v2 v54)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v6)
  (adjacent v3 v20)
  (adjacent v4 v27)
  (adjacent v5 v12)
  (adjacent v5 v66)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v55)
  (adjacent v7 v78)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v43)
  (adjacent v9 v53)
  (adjacent v10 v11)
  (adjacent v10 v13)
  (adjacent v10 v61)
  (adjacent v11 v12)
  (adjacent v11 v14)
  (adjacent v12 v13)
  (adjacent v13 v65)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v44)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v17 v34)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v19 v33)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v24 v47)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v46)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v39)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v74)
  (adjacent v34 v35)
  (adjacent v34 v68)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v67)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v56)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v66)
  (adjacent v53 v75)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v67)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
 )
 (:goal
  (and
  (at r71 v0)
  (free v1)
  (at r22 v2)
  (at r70 v3)
  (at r60 v4)
  (at r19 v5)
  (at r12 v6)
  (free v7)
  (at r53 v8)
  (at r11 v9)
  (at r46 v10)
  (at r16 v11)
  (at r72 v12)
  (at r43 v13)
  (at r59 v14)
  (at r44 v15)
  (at r17 v16)
  (at r76 v17)
  (at r10 v18)
  (at r34 v19)
  (at r35 v20)
  (at r9 v21)
  (at r39 v22)
  (at r18 v23)
  (at r78 v24)
  (free v25)
  (at r68 v26)
  (at r37 v27)
  (at r32 v28)
  (at r28 v29)
  (at r67 v30)
  (at r38 v31)
  (at r75 v32)
  (at r27 v33)
  (at r54 v34)
  (at r26 v35)
  (at r66 v36)
  (free v37)
  (at r14 v38)
  (at r51 v39)
  (at r42 v40)
  (free v41)
  (at r57 v42)
  (at r45 v43)
  (at r29 v44)
  (free v45)
  (free v46)
  (at r41 v47)
  (at r31 v48)
  (at r62 v49)
  (at r36 v50)
  (at r58 v51)
  (at r52 v52)
  (at r33 v53)
  (at r47 v54)
  (at r15 v55)
  (at r21 v56)
  (at r23 v57)
  (at r65 v58)
  (at r8 v59)
  (at r77 v60)
  (at r56 v61)
  (at r20 v62)
  (at r48 v63)
  (at r30 v64)
  (at r69 v65)
  (at r13 v66)
  (at r50 v67)
  (at r55 v68)
  (at r63 v69)
  (at r25 v70)
  (at r40 v71)
  (at r64 v72)
  (at r61 v73)
  (at r49 v74)
  (at r24 v75)
  (free v76)
  (at r73 v77)
  (at r74 v78)
  )
 )
)