(define (problem multirobot_21_50%_c3)
 (:domain multirobot)
 (:objects
  v0 r65
  v1
  v2
  v3 r49
  v4
  v5 r35
  v6
  v7 r75
  v8 r66
  v9 r41
  v10 r68
  v11
  v12 r36
  v13 r67
  v14
  v15 r40
  v16
  v17 r72
  v18 r76
  v19 r55
  v20
  v21 r56
  v22
  v23
  v24
  v25 r45
  v26 r51
  v27
  v28
  v29
  v30 r37
  v31 r57
  v32 r50
  v33 r77
  v34 r38
  v35 r73
  v36
  v37
  v38
  v39 r52
  v40 r46
  v41 r48
  v42 r70
  v43
  v44 r63
  v45 r44
  v46
  v47 r53
  v48 r78
  v49
  v50
  v51
  v52
  v53 r64
  v54 r62
  v55 r39
  v56
  v57 r59
  v58 r79
  v59
  v60
  v61 r54
  v62
  v63 r47
  v64
  v65 r74
  v66
  v67 r58
  v68 r42
  v69 r43
  v70 r69
  v71
  v72
  v73 r61
  v74
  v75
  v76
  v77 r71
  v78 r60
  v79
 )
 (:init
  (at r65 v0)
  (free v1)
  (free v2)
  (at r49 v3)
  (free v4)
  (at r35 v5)
  (free v6)
  (at r75 v7)
  (at r66 v8)
  (at r41 v9)
  (at r68 v10)
  (free v11)
  (at r36 v12)
  (at r67 v13)
  (free v14)
  (at r40 v15)
  (free v16)
  (at r72 v17)
  (at r76 v18)
  (at r55 v19)
  (free v20)
  (at r56 v21)
  (free v22)
  (free v23)
  (free v24)
  (at r45 v25)
  (at r51 v26)
  (free v27)
  (free v28)
  (free v29)
  (at r37 v30)
  (at r57 v31)
  (at r50 v32)
  (at r77 v33)
  (at r38 v34)
  (at r73 v35)
  (free v36)
  (free v37)
  (free v38)
  (at r52 v39)
  (at r46 v40)
  (at r48 v41)
  (at r70 v42)
  (free v43)
  (at r63 v44)
  (at r44 v45)
  (free v46)
  (at r53 v47)
  (at r78 v48)
  (free v49)
  (free v50)
  (free v51)
  (free v52)
  (at r64 v53)
  (at r62 v54)
  (at r39 v55)
  (free v56)
  (at r59 v57)
  (at r79 v58)
  (free v59)
  (free v60)
  (at r54 v61)
  (free v62)
  (at r47 v63)
  (free v64)
  (at r74 v65)
  (free v66)
  (at r58 v67)
  (at r42 v68)
  (at r43 v69)
  (at r69 v70)
  (free v71)
  (free v72)
  (at r61 v73)
  (free v74)
  (free v75)
  (free v76)
  (at r71 v77)
  (at r60 v78)
  (free v79)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v8)
  (adjacent v0 v44)
  (adjacent v1 v2)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v7)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v3 v78)
  (adjacent v4 v9)
  (adjacent v4 v11)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v29)
  (adjacent v7 v24)
  (adjacent v8 v10)
  (adjacent v8 v41)
  (adjacent v9 v10)
  (adjacent v9 v32)
  (adjacent v10 v18)
  (adjacent v10 v25)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v12 v73)
  (adjacent v12 v79)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v74)
  (adjacent v16 v17)
  (adjacent v16 v28)
  (adjacent v16 v33)
  (adjacent v17 v73)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v40)
  (adjacent v25 v26)
  (adjacent v25 v43)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v55)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v30 v36)
  (adjacent v30 v79)
  (adjacent v31 v32)
  (adjacent v31 v35)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v35 v65)
  (adjacent v35 v70)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v38 v64)
  (adjacent v39 v40)
  (adjacent v40 v47)
  (adjacent v40 v59)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v43 v68)
  (adjacent v44 v45)
  (adjacent v44 v54)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v47 v69)
  (adjacent v48 v49)
  (adjacent v48 v72)
  (adjacent v49 v50)
  (adjacent v49 v55)
  (adjacent v49 v71)
  (adjacent v50 v51)
  (adjacent v50 v56)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v57 v60)
  (adjacent v58 v59)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v63 v64)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v69 v70)
  (adjacent v71 v72)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
  (adjacent v77 v78)
 )
 (:goal
  (and
  (free v0)
  (at r49 v1)
  (at r51 v2)
  (free v3)
  (free v4)
  (free v5)
  (free v6)
  (free v7)
  (at r75 v8)
  (at r62 v9)
  (at r39 v10)
  (free v11)
  (at r45 v12)
  (free v13)
  (at r55 v14)
  (at r41 v15)
  (at r47 v16)
  (at r68 v17)
  (at r67 v18)
  (free v19)
  (free v20)
  (free v21)
  (at r38 v22)
  (free v23)
  (free v24)
  (at r46 v25)
  (at r37 v26)
  (at r40 v27)
  (at r65 v28)
  (at r50 v29)
  (at r60 v30)
  (at r53 v31)
  (free v32)
  (free v33)
  (at r72 v34)
  (free v35)
  (at r74 v36)
  (free v37)
  (at r56 v38)
  (free v39)
  (free v40)
  (at r52 v41)
  (free v42)
  (free v43)
  (at r73 v44)
  (at r79 v45)
  (free v46)
  (at r66 v47)
  (free v48)
  (at r61 v49)
  (at r35 v50)
  (free v51)
  (at r76 v52)
  (free v53)
  (at r48 v54)
  (free v55)
  (free v56)
  (at r78 v57)
  (free v58)
  (at r64 v59)
  (at r58 v60)
  (free v61)
  (at r57 v62)
  (free v63)
  (at r54 v64)
  (at r36 v65)
  (at r63 v66)
  (at r42 v67)
  (at r59 v68)
  (at r44 v69)
  (at r70 v70)
  (free v71)
  (free v72)
  (free v73)
  (free v74)
  (at r69 v75)
  (at r71 v76)
  (at r77 v77)
  (at r43 v78)
  (free v79)
  )
 )
)