(define (problem multirobot_21_50%_c4)
 (:domain multirobot)
 (:objects
  v0 r70
  v1
  v2 r52
  v3
  v4
  v5 r55
  v6
  v7 r48
  v8
  v9 r76
  v10 r45
  v11 r75
  v12 r74
  v13
  v14
  v15
  v16 r42
  v17 r51
  v18 r53
  v19 r73
  v20
  v21
  v22 r60
  v23
  v24
  v25 r69
  v26
  v27
  v28
  v29 r71
  v30 r47
  v31
  v32
  v33 r46
  v34
  v35 r59
  v36 r63
  v37
  v38 r64
  v39
  v40
  v41
  v42
  v43
  v44
  v45 r50
  v46
  v47 r43
  v48 r67
  v49 r68
  v50
  v51
  v52 r65
  v53
  v54 r44
  v55 r66
  v56
  v57 r49
  v58 r57
  v59
  v60 r77
  v61
  v62 r72
  v63 r61
  v64
  v65 r58
  v66 r62
  v67
  v68
  v69 r56
  v70
  v71
  v72
  v73
  v74 r54
  v75
  v76
  v77
 )
 (:init
  (at r70 v0)
  (free v1)
  (at r52 v2)
  (free v3)
  (free v4)
  (at r55 v5)
  (free v6)
  (at r48 v7)
  (free v8)
  (at r76 v9)
  (at r45 v10)
  (at r75 v11)
  (at r74 v12)
  (free v13)
  (free v14)
  (free v15)
  (at r42 v16)
  (at r51 v17)
  (at r53 v18)
  (at r73 v19)
  (free v20)
  (free v21)
  (at r60 v22)
  (free v23)
  (free v24)
  (at r69 v25)
  (free v26)
  (free v27)
  (free v28)
  (at r71 v29)
  (at r47 v30)
  (free v31)
  (free v32)
  (at r46 v33)
  (free v34)
  (at r59 v35)
  (at r63 v36)
  (free v37)
  (at r64 v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (free v43)
  (free v44)
  (at r50 v45)
  (free v46)
  (at r43 v47)
  (at r67 v48)
  (at r68 v49)
  (free v50)
  (free v51)
  (at r65 v52)
  (free v53)
  (at r44 v54)
  (at r66 v55)
  (free v56)
  (at r49 v57)
  (at r57 v58)
  (free v59)
  (at r77 v60)
  (free v61)
  (at r72 v62)
  (at r61 v63)
  (free v64)
  (at r58 v65)
  (at r62 v66)
  (free v67)
  (free v68)
  (at r56 v69)
  (free v70)
  (free v71)
  (free v72)
  (free v73)
  (at r54 v74)
  (free v75)
  (free v76)
  (free v77)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v11)
  (adjacent v1 v2)
  (adjacent v1 v63)
  (adjacent v2 v3)
  (adjacent v2 v12)
  (adjacent v3 v4)
  (adjacent v3 v43)
  (adjacent v4 v5)
  (adjacent v4 v18)
  (adjacent v4 v70)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v31)
  (adjacent v6 v47)
  (adjacent v7 v8)
  (adjacent v7 v24)
  (adjacent v7 v72)
  (adjacent v8 v9)
  (adjacent v8 v19)
  (adjacent v8 v32)
  (adjacent v9 v10)
  (adjacent v9 v59)
  (adjacent v10 v11)
  (adjacent v11 v42)
  (adjacent v11 v55)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v49)
  (adjacent v16 v17)
  (adjacent v16 v25)
  (adjacent v16 v62)
  (adjacent v17 v18)
  (adjacent v17 v35)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v77)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v63)
  (adjacent v24 v70)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v29 v54)
  (adjacent v30 v31)
  (adjacent v30 v53)
  (adjacent v31 v46)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v34 v36)
  (adjacent v35 v45)
  (adjacent v36 v37)
  (adjacent v36 v44)
  (adjacent v37 v38)
  (adjacent v37 v54)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v43)
  (adjacent v40 v41)
  (adjacent v40 v50)
  (adjacent v41 v42)
  (adjacent v41 v46)
  (adjacent v44 v45)
  (adjacent v47 v48)
  (adjacent v47 v58)
  (adjacent v47 v62)
  (adjacent v48 v49)
  (adjacent v49 v61)
  (adjacent v49 v69)
  (adjacent v50 v51)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v52 v59)
  (adjacent v54 v60)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v56 v64)
  (adjacent v56 v71)
  (adjacent v57 v58)
  (adjacent v59 v71)
  (adjacent v60 v61)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v72 v73)
  (adjacent v73 v74)
  (adjacent v74 v75)
  (adjacent v75 v76)
  (adjacent v76 v77)
 )
 (:goal
  (and
  (at r55 v0)
  (free v1)
  (at r49 v2)
  (at r56 v3)
  (free v4)
  (at r57 v5)
  (at r71 v6)
  (free v7)
  (free v8)
  (free v9)
  (free v10)
  (at r48 v11)
  (free v12)
  (free v13)
  (free v14)
  (free v15)
  (at r73 v16)
  (free v17)
  (free v18)
  (at r77 v19)
  (free v20)
  (free v21)
  (at r63 v22)
  (free v23)
  (free v24)
  (at r51 v25)
  (free v26)
  (free v27)
  (free v28)
  (free v29)
  (at r53 v30)
  (at r72 v31)
  (free v32)
  (free v33)
  (at r75 v34)
  (at r65 v35)
  (free v36)
  (free v37)
  (at r60 v38)
  (free v39)
  (free v40)
  (free v41)
  (free v42)
  (at r74 v43)
  (free v44)
  (free v45)
  (at r69 v46)
  (at r52 v47)
  (at r42 v48)
  (free v49)
  (free v50)
  (at r54 v51)
  (at r61 v52)
  (free v53)
  (free v54)
  (at r50 v55)
  (at r58 v56)
  (at r59 v57)
  (at r66 v58)
  (free v59)
  (at r64 v60)
  (at r47 v61)
  (at r76 v62)
  (free v63)
  (free v64)
  (at r44 v65)
  (free v66)
  (free v67)
  (at r70 v68)
  (free v69)
  (at r45 v70)
  (at r67 v71)
  (at r43 v72)
  (at r68 v73)
  (at r46 v74)
  (at r62 v75)
  (free v76)
  (free v77)
  )
 )
)