(define (problem multirobot_19_10%_c4)
 (:domain multirobot)
 (:objects
  v0 r32
  v1 r28
  v2 r53
  v3 r21
  v4
  v5 r74
  v6
  v7 r11
  v8 r7
  v9 r17
  v10 r43
  v11 r40
  v12 r60
  v13 r9
  v14 r42
  v15 r19
  v16 r12
  v17 r18
  v18 r49
  v19 r67
  v20 r14
  v21 r64
  v22 r59
  v23 r65
  v24 r29
  v25 r46
  v26 r13
  v27 r63
  v28 r54
  v29 r50
  v30 r45
  v31 r6
  v32 r47
  v33 r77
  v34 r61
  v35 r35
  v36 r56
  v37 r71
  v38
  v39 r30
  v40 r16
  v41 r62
  v42 r15
  v43 r57
  v44 r26
  v45 r31
  v46 r72
  v47 r69
  v48 r48
  v49 r66
  v50 r73
  v51 r8
  v52 r38
  v53 r10
  v54 r20
  v55 r39
  v56
  v57 r76
  v58 r75
  v59
  v60 r22
  v61
  v62 r41
  v63 r55
  v64 r23
  v65 r52
  v66 r37
  v67 r78
  v68 r70
  v69 r25
  v70 r58
  v71 r27
  v72 r51
  v73 r36
  v74 r24
  v75 r34
  v76 r68
  v77 r44
  v78 r33
 )
 (:init
  (at r32 v0)
  (at r28 v1)
  (at r53 v2)
  (at r21 v3)
  (free v4)
  (at r74 v5)
  (free v6)
  (at r11 v7)
  (at r7 v8)
  (at r17 v9)
  (at r43 v10)
  (at r40 v11)
  (at r60 v12)
  (at r9 v13)
  (at r42 v14)
  (at r19 v15)
  (at r12 v16)
  (at r18 v17)
  (at r49 v18)
  (at r67 v19)
  (at r14 v20)
  (at r64 v21)
  (at r59 v22)
  (at r65 v23)
  (at r29 v24)
  (at r46 v25)
  (at r13 v26)
  (at r63 v27)
  (at r54 v28)
  (at r50 v29)
  (at r45 v30)
  (at r6 v31)
  (at r47 v32)
  (at r77 v33)
  (at r61 v34)
  (at r35 v35)
  (at r56 v36)
  (at r71 v37)
  (free v38)
  (at r30 v39)
  (at r16 v40)
  (at r62 v41)
  (at r15 v42)
  (at r57 v43)
  (at r26 v44)
  (at r31 v45)
  (at r72 v46)
  (at r69 v47)
  (at r48 v48)
  (at r66 v49)
  (at r73 v50)
  (at r8 v51)
  (at r38 v52)
  (at r10 v53)
  (at r20 v54)
  (at r39 v55)
  (free v56)
  (at r76 v57)
  (at r75 v58)
  (free v59)
  (at r22 v60)
  (free v61)
  (at r41 v62)
  (at r55 v63)
  (at r23 v64)
  (at r52 v65)
  (at r37 v66)
  (at r78 v67)
  (at r70 v68)
  (at r25 v69)
  (at r58 v70)
  (at r27 v71)
  (at r51 v72)
  (at r36 v73)
  (at r24 v74)
  (at r34 v75)
  (at r68 v76)
  (at r44 v77)
  (at r33 v78)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v7)
  (adjacent v0 v36)
  (adjacent v1 v2)
  (adjacent v1 v24)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v6)
  (adjacent v3 v8)
  (adjacent v3 v15)
  (adjacent v3 v51)
  (adjacent v4 v9)
  (adjacent v4 v59)
  (adjacent v5 v6)
  (adjacent v5 v27)
  (adjacent v5 v28)
  (adjacent v7 v8)
  (adjacent v7 v33)
  (adjacent v7 v37)
  (adjacent v7 v68)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v52)
  (adjacent v10 v59)
  (adjacent v11 v12)
  (adjacent v11 v51)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v16)
  (adjacent v14 v15)
  (adjacent v14 v21)
  (adjacent v14 v22)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v60)
  (adjacent v19 v20)
  (adjacent v19 v23)
  (adjacent v19 v30)
  (adjacent v20 v21)
  (adjacent v20 v41)
  (adjacent v22 v23)
  (adjacent v23 v47)
  (adjacent v24 v25)
  (adjacent v24 v48)
  (adjacent v24 v69)
  (adjacent v25 v26)
  (adjacent v25 v29)
  (adjacent v25 v42)
  (adjacent v26 v27)
  (adjacent v26 v32)
  (adjacent v28 v29)
  (adjacent v29 v58)
  (adjacent v30 v31)
  (adjacent v30 v50)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v73)
  (adjacent v34 v35)
  (adjacent v34 v66)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v37 v65)
  (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 v47 v72)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v60 v61)
  (adjacent v60 v78)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
 )
 (:goal
  (and
  (at r75 v0)
  (at r44 v1)
  (at r58 v2)
  (at r69 v3)
  (at r60 v4)
  (at r68 v5)
  (at r13 v6)
  (at r61 v7)
  (at r67 v8)
  (at r33 v9)
  (at r11 v10)
  (at r20 v11)
  (free v12)
  (at r12 v13)
  (at r34 v14)
  (at r70 v15)
  (at r48 v16)
  (at r7 v17)
  (at r38 v18)
  (at r32 v19)
  (at r47 v20)
  (at r15 v21)
  (free v22)
  (at r59 v23)
  (at r56 v24)
  (at r21 v25)
  (at r77 v26)
  (at r14 v27)
  (at r73 v28)
  (at r42 v29)
  (at r51 v30)
  (at r72 v31)
  (at r57 v32)
  (at r46 v33)
  (at r25 v34)
  (at r64 v35)
  (at r22 v36)
  (at r29 v37)
  (at r28 v38)
  (at r26 v39)
  (at r23 v40)
  (at r16 v41)
  (at r27 v42)
  (at r49 v43)
  (at r30 v44)
  (at r24 v45)
  (at r9 v46)
  (at r35 v47)
  (at r19 v48)
  (at r10 v49)
  (at r8 v50)
  (at r66 v51)
  (free v52)
  (free v53)
  (at r63 v54)
  (at r41 v55)
  (at r74 v56)
  (at r43 v57)
  (free v58)
  (at r45 v59)
  (at r78 v60)
  (at r17 v61)
  (at r71 v62)
  (free v63)
  (at r31 v64)
  (at r36 v65)
  (at r76 v66)
  (at r62 v67)
  (at r55 v68)
  (at r39 v69)
  (at r6 v70)
  (at r54 v71)
  (at r50 v72)
  (at r18 v73)
  (at r37 v74)
  (at r53 v75)
  (at r40 v76)
  (at r65 v77)
  (at r52 v78)
  )
 )
)