(define (problem multirobot_17_50%_c4)
 (:domain multirobot)
 (:objects
  v0 r63
  v1 r44
  v2
  v3
  v4 r35
  v5
  v6
  v7 r55
  v8 r41
  v9
  v10
  v11 r47
  v12
  v13
  v14 r53
  v15 r39
  v16 r61
  v17 r64
  v18 r32
  v19
  v20 r52
  v21 r67
  v22 r42
  v23
  v24
  v25 r68
  v26 r59
  v27 r50
  v28
  v29 r62
  v30
  v31 r33
  v32 r48
  v33 r34
  v34 r60
  v35 r57
  v36 r51
  v37 r36
  v38 r29
  v39 r58
  v40
  v41
  v42
  v43 r65
  v44 r54
  v45
  v46 r66
  v47 r56
  v48
  v49
  v50 r40
  v51 r69
  v52
  v53 r31
  v54 r43
  v55 r30
  v56
  v57 r38
  v58
  v59 r37
  v60 r49
  v61
  v62
  v63
  v64 r46
  v65 r45
  v66
  v67
  v68
  v69
 )
 (:init
  (at r63 v0)
  (at r44 v1)
  (free v2)
  (free v3)
  (at r35 v4)
  (free v5)
  (free v6)
  (at r55 v7)
  (at r41 v8)
  (free v9)
  (free v10)
  (at r47 v11)
  (free v12)
  (free v13)
  (at r53 v14)
  (at r39 v15)
  (at r61 v16)
  (at r64 v17)
  (at r32 v18)
  (free v19)
  (at r52 v20)
  (at r67 v21)
  (at r42 v22)
  (free v23)
  (free v24)
  (at r68 v25)
  (at r59 v26)
  (at r50 v27)
  (free v28)
  (at r62 v29)
  (free v30)
  (at r33 v31)
  (at r48 v32)
  (at r34 v33)
  (at r60 v34)
  (at r57 v35)
  (at r51 v36)
  (at r36 v37)
  (at r29 v38)
  (at r58 v39)
  (free v40)
  (free v41)
  (free v42)
  (at r65 v43)
  (at r54 v44)
  (free v45)
  (at r66 v46)
  (at r56 v47)
  (free v48)
  (free v49)
  (at r40 v50)
  (at r69 v51)
  (free v52)
  (at r31 v53)
  (at r43 v54)
  (at r30 v55)
  (free v56)
  (at r38 v57)
  (free v58)
  (at r37 v59)
  (at r49 v60)
  (free v61)
  (free v62)
  (free v63)
  (at r46 v64)
  (at r45 v65)
  (free v66)
  (free v67)
  (free v68)
  (free v69)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v17)
  (adjacent v0 v22)
  (adjacent v0 v29)
  (adjacent v1 v2)
  (adjacent v1 v5)
  (adjacent v1 v12)
  (adjacent v1 v32)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v11)
  (adjacent v4 v8)
  (adjacent v5 v6)
  (adjacent v5 v16)
  (adjacent v6 v7)
  (adjacent v6 v17)
  (adjacent v6 v50)
  (adjacent v7 v8)
  (adjacent v7 v9)
  (adjacent v7 v59)
  (adjacent v8 v10)
  (adjacent v8 v28)
  (adjacent v8 v45)
  (adjacent v8 v69)
  (adjacent v9 v10)
  (adjacent v10 v13)
  (adjacent v10 v18)
  (adjacent v10 v52)
  (adjacent v11 v12)
  (adjacent v12 v23)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v15 v33)
  (adjacent v18 v19)
  (adjacent v18 v35)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v20 v51)
  (adjacent v21 v22)
  (adjacent v21 v27)
  (adjacent v21 v36)
  (adjacent v22 v28)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v25 v39)
  (adjacent v26 v27)
  (adjacent v28 v63)
  (adjacent v28 v64)
  (adjacent v29 v30)
  (adjacent v29 v51)
  (adjacent v30 v31)
  (adjacent v30 v38)
  (adjacent v31 v32)
  (adjacent v32 v44)
  (adjacent v33 v34)
  (adjacent v34 v35)
  (adjacent v36 v37)
  (adjacent v37 v38)
  (adjacent v39 v40)
  (adjacent v40 v41)
  (adjacent v41 v42)
  (adjacent v41 v58)
  (adjacent v42 v43)
  (adjacent v43 v44)
  (adjacent v45 v46)
  (adjacent v46 v47)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v56 v57)
  (adjacent v57 v58)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v62 v63)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
 )
 (:goal
  (and
  (at r47 v0)
  (at r45 v1)
  (at r51 v2)
  (free v3)
  (free v4)
  (free v5)
  (at r48 v6)
  (at r63 v7)
  (free v8)
  (free v9)
  (free v10)
  (free v11)
  (at r31 v12)
  (at r50 v13)
  (at r37 v14)
  (free v15)
  (at r66 v16)
  (free v17)
  (at r60 v18)
  (at r65 v19)
  (free v20)
  (at r49 v21)
  (at r54 v22)
  (free v23)
  (at r44 v24)
  (at r52 v25)
  (at r39 v26)
  (at r68 v27)
  (at r35 v28)
  (at r59 v29)
  (free v30)
  (at r34 v31)
  (at r69 v32)
  (at r67 v33)
  (free v34)
  (free v35)
  (at r33 v36)
  (at r62 v37)
  (free v38)
  (at r36 v39)
  (at r42 v40)
  (at r38 v41)
  (at r41 v42)
  (at r61 v43)
  (free v44)
  (free v45)
  (at r56 v46)
  (at r43 v47)
  (at r64 v48)
  (free v49)
  (free v50)
  (free v51)
  (at r46 v52)
  (free v53)
  (free v54)
  (at r53 v55)
  (free v56)
  (at r55 v57)
  (at r57 v58)
  (free v59)
  (at r29 v60)
  (free v61)
  (free v62)
  (at r58 v63)
  (free v64)
  (free v65)
  (at r30 v66)
  (at r40 v67)
  (free v68)
  (at r32 v69)
  )
 )
)