(define (problem multirobot_15_90%_c7)
 (:domain multirobot)
 (:objects
  v0 r41
  v1
  v2 r31
  v3 r57
  v4 r45
  v5 r47
  v6 r33
  v7 r55
  v8 r51
  v9
  v10 r32
  v11
  v12 r37
  v13 r39
  v14 r43
  v15 r65
  v16
  v17
  v18
  v19
  v20
  v21
  v22 r49
  v23
  v24 r46
  v25
  v26 r50
  v27 r58
  v28 r69
  v29
  v30
  v31
  v32
  v33 r66
  v34 r67
  v35
  v36 r35
  v37 r27
  v38
  v39
  v40
  v41 r60
  v42 r53
  v43 r28
  v44 r48
  v45
  v46 r52
  v47 r30
  v48 r64
  v49
  v50 r40
  v51 r44
  v52 r56
  v53 r59
  v54
  v55 r62
  v56
  v57
  v58
  v59 r36
  v60 r54
  v61 r61
  v62
  v63 r34
  v64 r68
  v65 r38
  v66 r63
  v67
  v68 r29
  v69 r42
 )
 (:init
  (at r41 v0)
  (free v1)
  (at r31 v2)
  (at r57 v3)
  (at r45 v4)
  (at r47 v5)
  (at r33 v6)
  (at r55 v7)
  (at r51 v8)
  (free v9)
  (at r32 v10)
  (free v11)
  (at r37 v12)
  (at r39 v13)
  (at r43 v14)
  (at r65 v15)
  (free v16)
  (free v17)
  (free v18)
  (free v19)
  (free v20)
  (free v21)
  (at r49 v22)
  (free v23)
  (at r46 v24)
  (free v25)
  (at r50 v26)
  (at r58 v27)
  (at r69 v28)
  (free v29)
  (free v30)
  (free v31)
  (free v32)
  (at r66 v33)
  (at r67 v34)
  (free v35)
  (at r35 v36)
  (at r27 v37)
  (free v38)
  (free v39)
  (free v40)
  (at r60 v41)
  (at r53 v42)
  (at r28 v43)
  (at r48 v44)
  (free v45)
  (at r52 v46)
  (at r30 v47)
  (at r64 v48)
  (free v49)
  (at r40 v50)
  (at r44 v51)
  (at r56 v52)
  (at r59 v53)
  (free v54)
  (at r62 v55)
  (free v56)
  (free v57)
  (free v58)
  (at r36 v59)
  (at r54 v60)
  (at r61 v61)
  (free v62)
  (at r34 v63)
  (at r68 v64)
  (at r38 v65)
  (at r63 v66)
  (free v67)
  (at r29 v68)
  (at r42 v69)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v9)
  (adjacent v0 v14)
  (adjacent v1 v2)
  (adjacent v1 v10)
  (adjacent v1 v16)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v24)
  (adjacent v2 v37)
  (adjacent v3 v4)
  (adjacent v3 v34)
  (adjacent v4 v5)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v7 v15)
  (adjacent v8 v9)
  (adjacent v10 v11)
  (adjacent v10 v20)
  (adjacent v10 v30)
  (adjacent v11 v12)
  (adjacent v11 v25)
  (adjacent v11 v35)
  (adjacent v12 v13)
  (adjacent v12 v36)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v17 v46)
  (adjacent v18 v19)
  (adjacent v18 v50)
  (adjacent v19 v20)
  (adjacent v19 v21)
  (adjacent v21 v22)
  (adjacent v21 v56)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v27 v28)
  (adjacent v27 v43)
  (adjacent v27 v69)
  (adjacent v28 v29)
  (adjacent v28 v31)
  (adjacent v29 v30)
  (adjacent v31 v32)
  (adjacent v32 v33)
  (adjacent v33 v34)
  (adjacent v35 v36)
  (adjacent v37 v38)
  (adjacent v38 v39)
  (adjacent v39 v40)
  (adjacent v39 v45)
  (adjacent v40 v41)
  (adjacent v40 v44)
  (adjacent v41 v42)
  (adjacent v41 v57)
  (adjacent v41 v63)
  (adjacent v42 v43)
  (adjacent v44 v45)
  (adjacent v46 v47)
  (adjacent v46 v51)
  (adjacent v47 v48)
  (adjacent v48 v49)
  (adjacent v49 v50)
  (adjacent v49 v62)
  (adjacent v51 v52)
  (adjacent v52 v53)
  (adjacent v53 v54)
  (adjacent v54 v55)
  (adjacent v55 v56)
  (adjacent v57 v58)
  (adjacent v58 v59)
  (adjacent v59 v60)
  (adjacent v60 v61)
  (adjacent v61 v62)
  (adjacent v63 v64)
  (adjacent v64 v65)
  (adjacent v65 v66)
  (adjacent v66 v67)
  (adjacent v67 v68)
  (adjacent v68 v69)
 )
 (:goal
  (and
  (at r63 v0)
  (at r52 v1)
  (free v2)
  (at r28 v3)
  (at r42 v4)
  (at r60 v5)
  (free v6)
  (at r46 v7)
  (at r39 v8)
  (free v9)
  (at r30 v10)
  (free v11)
  (free v12)
  (at r47 v13)
  (at r65 v14)
  (at r49 v15)
  (at r64 v16)
  (at r35 v17)
  (free v18)
  (free v19)
  (at r57 v20)
  (free v21)
  (free v22)
  (free v23)
  (at r27 v24)
  (at r38 v25)
  (at r32 v26)
  (at r55 v27)
  (at r62 v28)
  (at r37 v29)
  (at r69 v30)
  (at r48 v31)
  (at r66 v32)
  (free v33)
  (at r61 v34)
  (free v35)
  (at r36 v36)
  (free v37)
  (free v38)
  (free v39)
  (at r40 v40)
  (at r34 v41)
  (at r68 v42)
  (free v43)
  (at r54 v44)
  (free v45)
  (at r41 v46)
  (at r44 v47)
  (free v48)
  (free v49)
  (at r31 v50)
  (free v51)
  (free v52)
  (at r53 v53)
  (at r29 v54)
  (at r67 v55)
  (free v56)
  (at r51 v57)
  (free v58)
  (at r45 v59)
  (free v60)
  (at r58 v61)
  (free v62)
  (at r50 v63)
  (at r43 v64)
  (at r33 v65)
  (at r56 v66)
  (free v67)
  (free v68)
  (at r59 v69)
  )
 )
)