(define (problem multirobot_21_2_c4)
 (:domain multirobot)
 (:objects
  v0 r71
  v1 r4
  v2 r39
  v3 r55
  v4 r54
  v5 r63
  v6 r41
  v7 r22
  v8 r45
  v9 r68
  v10 r67
  v11 r30
  v12 r62
  v13 r46
  v14 r31
  v15 r17
  v16 r24
  v17 r32
  v18 r23
  v19 r61
  v20 r34
  v21 r2
  v22 r72
  v23 r56
  v24 r43
  v25 r60
  v26 r73
  v27 r33
  v28 r50
  v29 r25
  v30 r9
  v31 r29
  v32 r14
  v33 r16
  v34 r10
  v35 r5
  v36 r18
  v37 r37
  v38 r69
  v39 r40
  v40 r3
  v41 r27
  v42 r59
  v43 r64
  v44 r47
  v45
  v46 r36
  v47 r13
  v48 r48
  v49 r70
  v50 r44
  v51 r35
  v52 r15
  v53 r12
  v54 r8
  v55 r26
  v56 r20
  v57
  v58 r6
  v59 r57
  v60 r28
  v61 r51
  v62 r65
  v63 r53
  v64 r11
  v65 r66
  v66 r49
  v67 r7
  v68 r19
  v69 r58
  v70 r38
  v71 r42
  v72 r52
  v73 r21
 )
 (:init
  (at r71 v0)
  (at r4 v1)
  (at r39 v2)
  (at r55 v3)
  (at r54 v4)
  (at r63 v5)
  (at r41 v6)
  (at r22 v7)
  (at r45 v8)
  (at r68 v9)
  (at r67 v10)
  (at r30 v11)
  (at r62 v12)
  (at r46 v13)
  (at r31 v14)
  (at r17 v15)
  (at r24 v16)
  (at r32 v17)
  (at r23 v18)
  (at r61 v19)
  (at r34 v20)
  (at r2 v21)
  (at r72 v22)
  (at r56 v23)
  (at r43 v24)
  (at r60 v25)
  (at r73 v26)
  (at r33 v27)
  (at r50 v28)
  (at r25 v29)
  (at r9 v30)
  (at r29 v31)
  (at r14 v32)
  (at r16 v33)
  (at r10 v34)
  (at r5 v35)
  (at r18 v36)
  (at r37 v37)
  (at r69 v38)
  (at r40 v39)
  (at r3 v40)
  (at r27 v41)
  (at r59 v42)
  (at r64 v43)
  (at r47 v44)
  (free v45)
  (at r36 v46)
  (at r13 v47)
  (at r48 v48)
  (at r70 v49)
  (at r44 v50)
  (at r35 v51)
  (at r15 v52)
  (at r12 v53)
  (at r8 v54)
  (at r26 v55)
  (at r20 v56)
  (free v57)
  (at r6 v58)
  (at r57 v59)
  (at r28 v60)
  (at r51 v61)
  (at r65 v62)
  (at r53 v63)
  (at r11 v64)
  (at r66 v65)
  (at r49 v66)
  (at r7 v67)
  (at r19 v68)
  (at r58 v69)
  (at r38 v70)
  (at r42 v71)
  (at r52 v72)
  (at r21 v73)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v10)
  (adjacent v1 v2)
  (adjacent v1 v17)
  (adjacent v2 v3)
  (adjacent v2 v15)
  (adjacent v2 v16)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v3 v12)
  (adjacent v3 v18)
  (adjacent v3 v56)
  (adjacent v4 v11)
  (adjacent v4 v12)
  (adjacent v4 v13)
  (adjacent v4 v21)
  (adjacent v4 v32)
  (adjacent v4 v47)
  (adjacent v4 v52)
  (adjacent v5 v6)
  (adjacent v5 v11)
  (adjacent v5 v14)
  (adjacent v5 v26)
  (adjacent v6 v7)
  (adjacent v6 v73)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v15)
  (adjacent v11 v33)
  (adjacent v11 v57)
  (adjacent v12 v25)
  (adjacent v12 v39)
  (adjacent v12 v51)
  (adjacent v12 v62)
  (adjacent v13 v14)
  (adjacent v16 v17)
  (adjacent v17 v55)
  (adjacent v18 v19)
  (adjacent v18 v22)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v48)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v49)
  (adjacent v23 v69)
  (adjacent v24 v25)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
  (adjacent v30 v31)
  (adjacent v31 v32)
  (adjacent v33 v34)
  (adjacent v33 v61)
  (adjacent v34 v35)
  (adjacent v34 v63)
  (adjacent v35 v36)
  (adjacent v36 v37)
  (adjacent v36 v46)
  (adjacent v36 v47)
  (adjacent v36 v70)
  (adjacent v37 v38)
  (adjacent v37 v40)
  (adjacent v38 v39)
  (adjacent v38 v50)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v42 v43)
  (adjacent v42 v53)
  (adjacent v43 v44)
  (adjacent v43 v56)
  (adjacent v44 v45)
  (adjacent v45 v46)
  (adjacent v47 v48)
  (adjacent v49 v50)
  (adjacent v51 v52)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v58 v62)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
  (adjacent v70 v71)
  (adjacent v71 v72)
  (adjacent v72 v73)
 )
 (:goal
  (and
  (at r69 v0)
  (at r49 v1)
  (at r64 v2)
  (at r30 v3)
  (at r17 v4)
  (at r66 v5)
  (at r37 v6)
  (at r35 v7)
  (at r14 v8)
  (at r6 v9)
  (at r72 v10)
  (at r11 v11)
  (at r34 v12)
  (at r25 v13)
  (at r67 v14)
  (at r5 v15)
  (at r41 v16)
  (at r16 v17)
  (at r61 v18)
  (free v19)
  (at r62 v20)
  (at r68 v21)
  (at r32 v22)
  (at r59 v23)
  (at r40 v24)
  (at r51 v25)
  (at r23 v26)
  (at r21 v27)
  (at r55 v28)
  (at r38 v29)
  (at r70 v30)
  (at r73 v31)
  (at r31 v32)
  (at r29 v33)
  (at r27 v34)
  (at r20 v35)
  (at r45 v36)
  (at r58 v37)
  (at r12 v38)
  (at r48 v39)
  (at r39 v40)
  (at r33 v41)
  (at r46 v42)
  (at r71 v43)
  (at r8 v44)
  (free v45)
  (at r28 v46)
  (at r50 v47)
  (at r10 v48)
  (at r53 v49)
  (at r4 v50)
  (at r13 v51)
  (at r57 v52)
  (at r60 v53)
  (at r44 v54)
  (at r65 v55)
  (at r2 v56)
  (at r24 v57)
  (at r63 v58)
  (at r36 v59)
  (at r18 v60)
  (at r3 v61)
  (at r26 v62)
  (at r19 v63)
  (at r15 v64)
  (at r43 v65)
  (at r52 v66)
  (at r47 v67)
  (at r56 v68)
  (at r9 v69)
  (at r54 v70)
  (at r22 v71)
  (at r42 v72)
  (at r7 v73)
  )
 )
)