(define (problem multirobot_7_10_c4)
 (:domain multirobot)
 (:objects
  v0 r8
  v1 r14
  v2 r9
  v3 r19
  v4 r3
  v5 r5
  v6 r18
  v7 r4
  v8 r11
  v9
  v10
  v11 r6
  v12 r7
  v13 r10
  v14
  v15 r12
  v16 r15
  v17 r16
  v18 r13
  v19 r17
 )
 (:init
  (at r8 v0)
  (at r14 v1)
  (at r9 v2)
  (at r19 v3)
  (at r3 v4)
  (at r5 v5)
  (at r18 v6)
  (at r4 v7)
  (at r11 v8)
  (free v9)
  (free v10)
  (at r6 v11)
  (at r7 v12)
  (at r10 v13)
  (free v14)
  (at r12 v15)
  (at r15 v16)
  (at r16 v17)
  (at r13 v18)
  (at r17 v19)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v14)
  (adjacent v0 v15)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v2 v3)
  (adjacent v2 v5)
  (adjacent v2 v8)
  (adjacent v2 v17)
  (adjacent v3 v4)
  (adjacent v3 v18)
  (adjacent v5 v6)
  (adjacent v5 v13)
  (adjacent v6 v7)
  (adjacent v8 v9)
  (adjacent v8 v14)
  (adjacent v8 v16)
  (adjacent v8 v19)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v17)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v14 v19)
  (adjacent v15 v16)
  (adjacent v15 v18)
 )
 (:goal
  (and
  (at r10 v0)
  (at r14 v1)
  (at r12 v2)
  (free v3)
  (at r11 v4)
  (at r15 v5)
  (free v6)
  (at r18 v7)
  (at r7 v8)
  (at r16 v9)
  (free v10)
  (at r9 v11)
  (at r4 v12)
  (at r13 v13)
  (at r5 v14)
  (at r19 v15)
  (at r6 v16)
  (at r3 v17)
  (at r8 v18)
  (at r17 v19)
  )
 )
)