(define (problem multirobot_17_2_c4)
 (:domain multirobot)
 (:objects
  v0 r21
  v1 r39
  v2 r44
  v3
  v4 r51
  v5 r33
  v6 r65
  v7 r50
  v8 r20
  v9 r73
  v10 r53
  v11 r6
  v12 r56
  v13 r17
  v14 r47
  v15 r63
  v16 r26
  v17 r38
  v18 r10
  v19 r55
  v20 r32
  v21 r57
  v22 r42
  v23 r68
  v24 r58
  v25 r35
  v26 r18
  v27 r62
  v28 r30
  v29 r70
  v30 r7
  v31 r59
  v32 r46
  v33 r4
  v34 r69
  v35 r75
  v36 r36
  v37 r25
  v38 r5
  v39 r66
  v40 r40
  v41
  v42 r72
  v43 r16
  v44 r24
  v45 r67
  v46 r77
  v47 r54
  v48 r60
  v49 r14
  v50 r76
  v51 r11
  v52 r49
  v53 r3
  v54 r9
  v55 r43
  v56 r22
  v57 r52
  v58 r71
  v59 r64
  v60 r37
  v61 r27
  v62 r31
  v63 r61
  v64 r13
  v65 r8
  v66 r19
  v67 r29
  v68 r34
  v69 r28
  v70 r41
  v71 r15
  v72 r23
  v73 r12
  v74 r74
  v75 r45
  v76 r48
  v77 r2
 )
 (:init
  (at r21 v0)
  (at r39 v1)
  (at r44 v2)
  (free v3)
  (at r51 v4)
  (at r33 v5)
  (at r65 v6)
  (at r50 v7)
  (at r20 v8)
  (at r73 v9)
  (at r53 v10)
  (at r6 v11)
  (at r56 v12)
  (at r17 v13)
  (at r47 v14)
  (at r63 v15)
  (at r26 v16)
  (at r38 v17)
  (at r10 v18)
  (at r55 v19)
  (at r32 v20)
  (at r57 v21)
  (at r42 v22)
  (at r68 v23)
  (at r58 v24)
  (at r35 v25)
  (at r18 v26)
  (at r62 v27)
  (at r30 v28)
  (at r70 v29)
  (at r7 v30)
  (at r59 v31)
  (at r46 v32)
  (at r4 v33)
  (at r69 v34)
  (at r75 v35)
  (at r36 v36)
  (at r25 v37)
  (at r5 v38)
  (at r66 v39)
  (at r40 v40)
  (free v41)
  (at r72 v42)
  (at r16 v43)
  (at r24 v44)
  (at r67 v45)
  (at r77 v46)
  (at r54 v47)
  (at r60 v48)
  (at r14 v49)
  (at r76 v50)
  (at r11 v51)
  (at r49 v52)
  (at r3 v53)
  (at r9 v54)
  (at r43 v55)
  (at r22 v56)
  (at r52 v57)
  (at r71 v58)
  (at r64 v59)
  (at r37 v60)
  (at r27 v61)
  (at r31 v62)
  (at r61 v63)
  (at r13 v64)
  (at r8 v65)
  (at r19 v66)
  (at r29 v67)
  (at r34 v68)
  (at r28 v69)
  (at r41 v70)
  (at r15 v71)
  (at r23 v72)
  (at r12 v73)
  (at r74 v74)
  (at r45 v75)
  (at r48 v76)
  (at r2 v77)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v1 v2)
  (adjacent v1 v16)
  (adjacent v1 v39)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v19)
  (adjacent v2 v32)
  (adjacent v3 v4)
  (adjacent v5 v6)
  (adjacent v5 v33)
  (adjacent v5 v61)
  (adjacent v6 v7)
  (adjacent v6 v24)
  (adjacent v6 v38)
  (adjacent v7 v8)
  (adjacent v7 v10)
  (adjacent v8 v9)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v30)
  (adjacent v13 v14)
  (adjacent v13 v20)
  (adjacent v14 v15)
  (adjacent v14 v25)
  (adjacent v14 v49)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v18 v42)
  (adjacent v19 v60)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v31)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v43)
  (adjacent v27 v72)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v42)
  (adjacent v30 v51)
  (adjacent v31 v32)
  (adjacent v31 v41)
  (adjacent v31 v58)
  (adjacent v32 v50)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v52)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v71)
  (adjacent v42 v65)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v45 v64)
  (adjacent v46 v47)
  (adjacent v46 v62)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v77)
  (adjacent v50 v51)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v54 v59)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v61)
  (adjacent v59 v60)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
 )
 (:goal
  (and
  (at r66 v0)
  (at r17 v1)
  (at r58 v2)
  (at r42 v3)
  (at r15 v4)
  (at r62 v5)
  (at r51 v6)
  (at r28 v7)
  (at r26 v8)
  (at r54 v9)
  (at r2 v10)
  (at r48 v11)
  (at r70 v12)
  (at r71 v13)
  (at r24 v14)
  (at r31 v15)
  (at r69 v16)
  (at r39 v17)
  (at r36 v18)
  (at r40 v19)
  (at r64 v20)
  (at r43 v21)
  (at r67 v22)
  (at r73 v23)
  (at r38 v24)
  (at r50 v25)
  (at r37 v26)
  (at r59 v27)
  (at r61 v28)
  (at r13 v29)
  (at r55 v30)
  (at r11 v31)
  (at r9 v32)
  (at r52 v33)
  (at r18 v34)
  (at r60 v35)
  (at r49 v36)
  (at r12 v37)
  (at r6 v38)
  (at r16 v39)
  (at r35 v40)
  (at r63 v41)
  (at r30 v42)
  (at r46 v43)
  (at r72 v44)
  (free v45)
  (at r32 v46)
  (at r7 v47)
  (at r29 v48)
  (at r8 v49)
  (at r3 v50)
  (at r56 v51)
  (at r33 v52)
  (at r5 v53)
  (at r10 v54)
  (at r53 v55)
  (at r20 v56)
  (at r14 v57)
  (at r44 v58)
  (at r19 v59)
  (at r27 v60)
  (at r47 v61)
  (at r34 v62)
  (at r57 v63)
  (at r75 v64)
  (at r77 v65)
  (at r21 v66)
  (at r76 v67)
  (at r45 v68)
  (free v69)
  (at r68 v70)
  (at r65 v71)
  (at r4 v72)
  (at r25 v73)
  (at r23 v74)
  (at r41 v75)
  (at r74 v76)
  (at r22 v77)
  )
 )
)