(define (problem multirobot_4_2_c2)
 (:domain multirobot)
 (:objects
  v0 r10
  v1 r19
  v2 r2
  v3 r22
  v4 r18
  v5 r17
  v6 r7
  v7 r12
  v8 r4
  v9 r14
  v10 r13
  v11 r15
  v12 r20
  v13 r21
  v14
  v15 r16
  v16 r5
  v17
  v18 r8
  v19 r3
  v20 r6
  v21 r11
  v22 r9
 )
 (:init
  (at r10 v0)
  (at r19 v1)
  (at r2 v2)
  (at r22 v3)
  (at r18 v4)
  (at r17 v5)
  (at r7 v6)
  (at r12 v7)
  (at r4 v8)
  (at r14 v9)
  (at r13 v10)
  (at r15 v11)
  (at r20 v12)
  (at r21 v13)
  (free v14)
  (at r16 v15)
  (at r5 v16)
  (free v17)
  (at r8 v18)
  (at r3 v19)
  (at r6 v20)
  (at r11 v21)
  (at r9 v22)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v8)
  (adjacent v2 v3)
  (adjacent v2 v8)
  (adjacent v3 v4)
  (adjacent v3 v5)
  (adjacent v4 v15)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v16)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v11 v12)
  (adjacent v11 v22)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
  (adjacent v21 v22)
 )
 (:goal
  (and
  (at r3 v0)
  (at r21 v1)
  (at r5 v2)
  (at r10 v3)
  (free v4)
  (at r12 v5)
  (at r9 v6)
  (at r13 v7)
  (at r8 v8)
  (at r7 v9)
  (at r15 v10)
  (at r2 v11)
  (at r17 v12)
  (at r19 v13)
  (at r22 v14)
  (at r11 v15)
  (free v16)
  (at r6 v17)
  (at r14 v18)
  (at r20 v19)
  (at r18 v20)
  (at r16 v21)
  (at r4 v22)
  )
 )
)