(define (problem multirobot_6_2_c4)
 (:domain multirobot)
 (:objects
  v0 r17
  v1 r3
  v2 r13
  v3 r11
  v4
  v5 r12
  v6 r20
  v7 r8
  v8 r16
  v9 r6
  v10 r5
  v11 r18
  v12 r14
  v13 r10
  v14 r9
  v15 r15
  v16
  v17 r7
  v18 r4
  v19 r19
  v20 r2
 )
 (:init
  (at r17 v0)
  (at r3 v1)
  (at r13 v2)
  (at r11 v3)
  (free v4)
  (at r12 v5)
  (at r20 v6)
  (at r8 v7)
  (at r16 v8)
  (at r6 v9)
  (at r5 v10)
  (at r18 v11)
  (at r14 v12)
  (at r10 v13)
  (at r9 v14)
  (at r15 v15)
  (free v16)
  (at r7 v17)
  (at r4 v18)
  (at r19 v19)
  (at r2 v20)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v5)
  (adjacent v0 v19)
  (adjacent v1 v2)
  (adjacent v1 v7)
  (adjacent v1 v8)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v4 v16)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v7 v10)
  (adjacent v7 v17)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v9 v11)
  (adjacent v10 v20)
  (adjacent v11 v12)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v13 v18)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v19 v20)
 )
 (:goal
  (and
  (at r5 v0)
  (at r11 v1)
  (at r16 v2)
  (at r17 v3)
  (at r10 v4)
  (at r8 v5)
  (at r19 v6)
  (at r14 v7)
  (free v8)
  (at r4 v9)
  (at r15 v10)
  (at r7 v11)
  (at r2 v12)
  (at r18 v13)
  (at r20 v14)
  (at r3 v15)
  (at r12 v16)
  (at r6 v17)
  (at r13 v18)
  (free v19)
  (at r9 v20)
  )
 )
)