(define (problem multirobot_23_2_c4)
 (:domain multirobot)
 (:objects
  v0 r26
  v1 r30
  v2 r72
  v3 r23
  v4 r49
  v5 r22
  v6 r24
  v7 r7
  v8 r10
  v9 r42
  v10 r40
  v11 r64
  v12 r51
  v13 r17
  v14 r66
  v15 r14
  v16 r12
  v17 r20
  v18 r13
  v19 r75
  v20 r53
  v21 r39
  v22 r6
  v23 r55
  v24 r9
  v25 r18
  v26 r50
  v27 r68
  v28 r4
  v29 r56
  v30 r16
  v31 r63
  v32 r44
  v33 r76
  v34 r31
  v35 r8
  v36 r5
  v37 r19
  v38 r70
  v39 r60
  v40 r11
  v41 r77
  v42 r3
  v43 r59
  v44 r43
  v45 r32
  v46 r45
  v47 r47
  v48
  v49 r36
  v50 r48
  v51
  v52 r74
  v53 r58
  v54 r65
  v55 r34
  v56 r41
  v57 r21
  v58 r38
  v59 r15
  v60 r61
  v61 r62
  v62 r35
  v63 r57
  v64 r25
  v65 r33
  v66 r2
  v67 r46
  v68 r52
  v69 r73
  v70 r54
  v71 r67
  v72 r28
  v73 r29
  v74 r71
  v75 r37
  v76 r69
  v77 r27
 )
 (:init
  (at r26 v0)
  (at r30 v1)
  (at r72 v2)
  (at r23 v3)
  (at r49 v4)
  (at r22 v5)
  (at r24 v6)
  (at r7 v7)
  (at r10 v8)
  (at r42 v9)
  (at r40 v10)
  (at r64 v11)
  (at r51 v12)
  (at r17 v13)
  (at r66 v14)
  (at r14 v15)
  (at r12 v16)
  (at r20 v17)
  (at r13 v18)
  (at r75 v19)
  (at r53 v20)
  (at r39 v21)
  (at r6 v22)
  (at r55 v23)
  (at r9 v24)
  (at r18 v25)
  (at r50 v26)
  (at r68 v27)
  (at r4 v28)
  (at r56 v29)
  (at r16 v30)
  (at r63 v31)
  (at r44 v32)
  (at r76 v33)
  (at r31 v34)
  (at r8 v35)
  (at r5 v36)
  (at r19 v37)
  (at r70 v38)
  (at r60 v39)
  (at r11 v40)
  (at r77 v41)
  (at r3 v42)
  (at r59 v43)
  (at r43 v44)
  (at r32 v45)
  (at r45 v46)
  (at r47 v47)
  (free v48)
  (at r36 v49)
  (at r48 v50)
  (free v51)
  (at r74 v52)
  (at r58 v53)
  (at r65 v54)
  (at r34 v55)
  (at r41 v56)
  (at r21 v57)
  (at r38 v58)
  (at r15 v59)
  (at r61 v60)
  (at r62 v61)
  (at r35 v62)
  (at r57 v63)
  (at r25 v64)
  (at r33 v65)
  (at r2 v66)
  (at r46 v67)
  (at r52 v68)
  (at r73 v69)
  (at r54 v70)
  (at r67 v71)
  (at r28 v72)
  (at r29 v73)
  (at r71 v74)
  (at r37 v75)
  (at r69 v76)
  (at r27 v77)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v6)
  (adjacent v0 v7)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v72)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v2 v13)
  (adjacent v2 v31)
  (adjacent v3 v4)
  (adjacent v3 v52)
  (adjacent v4 v11)
  (adjacent v5 v6)
  (adjacent v5 v57)
  (adjacent v7 v8)
  (adjacent v7 v41)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v12)
  (adjacent v9 v56)
  (adjacent v9 v73)
  (adjacent v10 v11)
  (adjacent v10 v64)
  (adjacent v11 v18)
  (adjacent v13 v14)
  (adjacent v13 v24)
  (adjacent v13 v42)
  (adjacent v14 v15)
  (adjacent v14 v27)
  (adjacent v15 v16)
  (adjacent v15 v19)
  (adjacent v15 v25)
  (adjacent v16 v17)
  (adjacent v16 v30)
  (adjacent v17 v18)
  (adjacent v17 v39)
  (adjacent v17 v64)
  (adjacent v19 v20)
  (adjacent v19 v29)
  (adjacent v20 v21)
  (adjacent v20 v30)
  (adjacent v20 v32)
  (adjacent v20 v55)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v22 v47)
  (adjacent v23 v24)
  (adjacent v23 v41)
  (adjacent v24 v57)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v63)
  (adjacent v27 v28)
  (adjacent v27 v40)
  (adjacent v28 v29)
  (adjacent v28 v40)
  (adjacent v29 v33)
  (adjacent v29 v48)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v68)
  (adjacent v34 v35)
  (adjacent v34 v56)
  (adjacent v35 v36)
  (adjacent v35 v51)
  (adjacent v35 v62)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v42 v43)
  (adjacent v42 v67)
  (adjacent v43 v44)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v58)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v50 v51)
  (adjacent v51 v65)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v59 v63)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v65 v66)
  (adjacent v65 v77)
  (adjacent v66 v67)
  (adjacent v68 v69)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
 )
 (:goal
  (and
  (at r4 v0)
  (at r48 v1)
  (at r77 v2)
  (at r53 v3)
  (at r14 v4)
  (at r73 v5)
  (at r26 v6)
  (at r55 v7)
  (at r33 v8)
  (at r61 v9)
  (at r25 v10)
  (at r60 v11)
  (at r20 v12)
  (at r8 v13)
  (at r7 v14)
  (at r32 v15)
  (at r41 v16)
  (free v17)
  (at r42 v18)
  (at r64 v19)
  (at r65 v20)
  (at r34 v21)
  (at r35 v22)
  (at r63 v23)
  (at r27 v24)
  (at r22 v25)
  (at r5 v26)
  (at r40 v27)
  (at r54 v28)
  (at r3 v29)
  (at r10 v30)
  (at r57 v31)
  (at r2 v32)
  (at r39 v33)
  (at r29 v34)
  (free v35)
  (at r69 v36)
  (at r11 v37)
  (at r58 v38)
  (at r37 v39)
  (at r51 v40)
  (at r13 v41)
  (at r9 v42)
  (at r44 v43)
  (at r46 v44)
  (at r56 v45)
  (at r62 v46)
  (at r19 v47)
  (at r45 v48)
  (at r6 v49)
  (at r28 v50)
  (at r24 v51)
  (at r76 v52)
  (at r72 v53)
  (at r74 v54)
  (at r71 v55)
  (at r68 v56)
  (at r75 v57)
  (at r17 v58)
  (at r30 v59)
  (at r15 v60)
  (at r21 v61)
  (at r59 v62)
  (at r18 v63)
  (at r67 v64)
  (at r43 v65)
  (at r31 v66)
  (at r12 v67)
  (at r38 v68)
  (at r52 v69)
  (at r50 v70)
  (at r23 v71)
  (at r36 v72)
  (at r49 v73)
  (at r70 v74)
  (at r47 v75)
  (at r66 v76)
  (at r16 v77)
  )
 )
)