(define (problem multirobot_21_50%_c2)
 (:domain multirobot)
 (:objects
  v0 r53
  v1
  v2 r66
  v3
  v4 r77
  v5 r73
  v6 r71
  v7
  v8
  v9
  v10 r58
  v11
  v12 r61
  v13 r64
  v14 r54
  v15
  v16
  v17 r76
  v18 r59
  v19 r57
  v20
  v21
  v22 r68
  v23
  v24
  v25
  v26
  v27 r62
  v28
  v29
  v30 r74
  v31
  v32
  v33 r60
  v34
  v35 r78
  v36 r48
  v37 r51
  v38
  v39 r49
  v40 r67
  v41 r65
  v42
  v43 r72
  v44
  v45
  v46 r56
  v47
  v48
  v49
  v50
  v51
  v52 r55
  v53
  v54
  v55
  v56
  v57
  v58
  v59
  v60 r52
  v61 r75
  v62
  v63 r70
  v64
  v65
  v66
  v67 r63
  v68
  v69
  v70
  v71
  v72
  v73
  v74 r50
  v75
  v76 r69
  v77
  v78
 )
 (:init
  (at r53 v0)
  (free v1)
  (at r66 v2)
  (free v3)
  (at r77 v4)
  (at r73 v5)
  (at r71 v6)
  (free v7)
  (free v8)
  (free v9)
  (at r58 v10)
  (free v11)
  (at r61 v12)
  (at r64 v13)
  (at r54 v14)
  (free v15)
  (free v16)
  (at r76 v17)
  (at r59 v18)
  (at r57 v19)
  (free v20)
  (free v21)
  (at r68 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r62 v27)
  (free v28)
  (free v29)
  (at r74 v30)
  (free v31)
  (free v32)
  (at r60 v33)
  (free v34)
  (at r78 v35)
  (at r48 v36)
  (at r51 v37)
  (free v38)
  (at r49 v39)
  (at r67 v40)
  (at r65 v41)
  (free v42)
  (at r72 v43)
  (free v44)
  (free v45)
  (at r56 v46)
  (free v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (at r55 v52)
  (free v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (free v59)
  (at r52 v60)
  (at r75 v61)
  (free v62)
  (at r70 v63)
  (free v64)
  (free v65)
  (free v66)
  (at r63 v67)
  (free v68)
  (free v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r50 v74)
  (free v75)
  (at r69 v76)
  (free v77)
  (free v78)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v11)
  (adjacent v1 v23)
  (adjacent v2 v3)
  (adjacent v2 v17)
  (adjacent v2 v18)
  (adjacent v2 v24)
  (adjacent v2 v33)
  (adjacent v2 v74)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v12)
  (adjacent v4 v52)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v56)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v39)
  (adjacent v12 v13)
  (adjacent v12 v33)
  (adjacent v13 v14)
  (adjacent v13 v32)
  (adjacent v13 v37)
  (adjacent v14 v15)
  (adjacent v14 v30)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v16 v29)
  (adjacent v18 v19)
  (adjacent v18 v63)
  (adjacent v18 v77)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v21 v34)
  (adjacent v22 v23)
  (adjacent v22 v34)
  (adjacent v22 v55)
  (adjacent v22 v75)
  (adjacent v23 v68)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v47)
  (adjacent v25 v67)
  (adjacent v26 v27)
  (adjacent v26 v31)
  (adjacent v26 v32)
  (adjacent v26 v63)
  (adjacent v27 v28)
  (adjacent v27 v62)
  (adjacent v28 v29)
  (adjacent v28 v40)
  (adjacent v30 v31)
  (adjacent v31 v58)
  (adjacent v31 v78)
  (adjacent v33 v35)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v78)
  (adjacent v37 v38)
  (adjacent v37 v46)
  (adjacent v38 v39)
  (adjacent v38 v53)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v64)
  (adjacent v41 v68)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v43 v59)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v69)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v69 v70)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v75 v76)
  (adjacent v76 v77)
 )
 (:goal
  (and
  (at r58 v0)
  (at r63 v1)
  (at r64 v2)
  (at r60 v3)
  (at r66 v4)
  (at r52 v5)
  (at r59 v6)
  (at r77 v7)
  (free v8)
  (at r74 v9)
  (free v10)
  (free v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (free v16)
  (free v17)
  (free v18)
  (at r61 v19)
  (at r67 v20)
  (at r65 v21)
  (free v22)
  (free v23)
  (at r68 v24)
  (free v25)
  (free v26)
  (at r55 v27)
  (at r53 v28)
  (free v29)
  (free v30)
  (free v31)
  (at r76 v32)
  (free v33)
  (at r70 v34)
  (free v35)
  (at r72 v36)
  (at r62 v37)
  (free v38)
  (free v39)
  (at r49 v40)
  (at r73 v41)
  (free v42)
  (free v43)
  (free v44)
  (free v45)
  (free v46)
  (at r51 v47)
  (free v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r71 v53)
  (free v54)
  (free v55)
  (free v56)
  (free v57)
  (free v58)
  (at r78 v59)
  (at r48 v60)
  (at r56 v61)
  (free v62)
  (free v63)
  (at r50 v64)
  (free v65)
  (free v66)
  (at r75 v67)
  (at r54 v68)
  (free v69)
  (free v70)
  (at r57 v71)
  (free v72)
  (free v73)
  (free v74)
  (free v75)
  (free v76)
  (free v77)
  (at r69 v78)
  )
 )
)