(define (problem multirobot_17_50%_c2)
 (:domain multirobot)
 (:objects
  v0 r49
  v1 r78
  v2 r45
  v3
  v4
  v5
  v6 r59
  v7
  v8
  v9
  v10 r53
  v11
  v12
  v13
  v14
  v15
  v16
  v17 r71
  v18
  v19
  v20
  v21
  v22 r47
  v23 r50
  v24
  v25
  v26 r76
  v27 r52
  v28
  v29
  v30 r68
  v31 r51
  v32 r72
  v33 r55
  v34 r44
  v35
  v36
  v37 r62
  v38 r74
  v39 r64
  v40
  v41
  v42
  v43 r48
  v44 r63
  v45
  v46 r67
  v47
  v48
  v49 r60
  v50
  v51
  v52 r70
  v53 r77
  v54 r58
  v55 r75
  v56
  v57 r56
  v58
  v59
  v60
  v61
  v62 r54
  v63 r65
  v64
  v65
  v66
  v67
  v68 r69
  v69
  v70 r46
  v71 r73
  v72
  v73 r61
  v74 r57
  v75 r66
  v76
  v77 r43
  v78
 )
 (:init
  (at r49 v0)
  (at r78 v1)
  (at r45 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r59 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r53 v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (at r71 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r47 v22)
  (at r50 v23)
  (free v24)
  (free v25)
  (at r76 v26)
  (at r52 v27)
  (free v28)
  (free v29)
  (at r68 v30)
  (at r51 v31)
  (at r72 v32)
  (at r55 v33)
  (at r44 v34)
  (free v35)
  (free v36)
  (at r62 v37)
  (at r74 v38)
  (at r64 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r48 v43)
  (at r63 v44)
  (free v45)
  (at r67 v46)
  (free v47)
  (free v48)
  (at r60 v49)
  (free v50)
  (free v51)
  (at r70 v52)
  (at r77 v53)
  (at r58 v54)
  (at r75 v55)
  (free v56)
  (at r56 v57)
  (free v58)
  (free v59)
  (free v60)
  (free v61)
  (at r54 v62)
  (at r65 v63)
  (free v64)
  (free v65)
  (free v66)
  (free v67)
  (at r69 v68)
  (free v69)
  (at r46 v70)
  (at r73 v71)
  (free v72)
  (at r61 v73)
  (at r57 v74)
  (at r66 v75)
  (free v76)
  (at r43 v77)
  (free 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)
  (free v2)
  (at r70 v3)
  (at r60 v4)
  (free v5)
  (free v6)
  (free v7)
  (at r53 v8)
  (free v9)
  (at r46 v10)
  (free v11)
  (at r72 v12)
  (at r43 v13)
  (at r59 v14)
  (at r44 v15)
  (free v16)
  (at r76 v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (free v22)
  (free v23)
  (at r78 v24)
  (free v25)
  (at r68 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r67 v30)
  (free v31)
  (at r75 v32)
  (free v33)
  (at r54 v34)
  (free v35)
  (at r66 v36)
  (free v37)
  (free v38)
  (at r51 v39)
  (free v40)
  (free v41)
  (at r57 v42)
  (at r45 v43)
  (free v44)
  (free v45)
  (free v46)
  (free v47)
  (free v48)
  (at r62 v49)
  (free v50)
  (at r58 v51)
  (at r52 v52)
  (free v53)
  (at r47 v54)
  (free v55)
  (free v56)
  (free v57)
  (at r65 v58)
  (free v59)
  (at r77 v60)
  (at r56 v61)
  (free v62)
  (at r48 v63)
  (free v64)
  (at r69 v65)
  (free v66)
  (at r50 v67)
  (at r55 v68)
  (at r63 v69)
  (free v70)
  (free v71)
  (at r64 v72)
  (at r61 v73)
  (at r49 v74)
  (free v75)
  (free v76)
  (at r73 v77)
  (at r74 v78)
  )
 )
)