(define (problem multirobot_9_2_c4)
 (:domain multirobot)
 (:objects
  v0 r16
  v1 r9
  v2 r21
  v3 r20
  v4 r24
  v5 r23
  v6 r29
  v7 r28
  v8 r25
  v9 r8
  v10 r18
  v11
  v12 r2
  v13
  v14 r3
  v15 r27
  v16 r17
  v17 r13
  v18 r15
  v19 r19
  v20 r10
  v21 r5
  v22 r11
  v23 r7
  v24 r26
  v25 r22
  v26 r4
  v27 r12
  v28 r14
  v29 r6
 )
 (:init
  (at r16 v0)
  (at r9 v1)
  (at r21 v2)
  (at r20 v3)
  (at r24 v4)
  (at r23 v5)
  (at r29 v6)
  (at r28 v7)
  (at r25 v8)
  (at r8 v9)
  (at r18 v10)
  (free v11)
  (at r2 v12)
  (free v13)
  (at r3 v14)
  (at r27 v15)
  (at r17 v16)
  (at r13 v17)
  (at r15 v18)
  (at r19 v19)
  (at r10 v20)
  (at r5 v21)
  (at r11 v22)
  (at r7 v23)
  (at r26 v24)
  (at r22 v25)
  (at r4 v26)
  (at r12 v27)
  (at r14 v28)
  (at r6 v29)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v2 v15)
  (adjacent v3 v4)
  (adjacent v3 v8)
  (adjacent v4 v5)
  (adjacent v4 v18)
  (adjacent v5 v6)
  (adjacent v5 v20)
  (adjacent v6 v7)
  (adjacent v6 v19)
  (adjacent v7 v8)
  (adjacent v7 v11)
  (adjacent v7 v17)
  (adjacent v7 v27)
  (adjacent v8 v9)
  (adjacent v9 v10)
  (adjacent v10 v11)
  (adjacent v10 v12)
  (adjacent v10 v16)
  (adjacent v12 v13)
  (adjacent v13 v14)
  (adjacent v14 v15)
  (adjacent v16 v17)
  (adjacent v16 v29)
  (adjacent v17 v18)
  (adjacent v17 v20)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v26 v27)
  (adjacent v26 v28)
  (adjacent v28 v29)
 )
 (:goal
  (and
  (at r20 v0)
  (at r18 v1)
  (at r19 v2)
  (at r25 v3)
  (at r16 v4)
  (at r5 v5)
  (at r6 v6)
  (at r22 v7)
  (at r4 v8)
  (free v9)
  (at r24 v10)
  (at r23 v11)
  (at r11 v12)
  (at r26 v13)
  (at r9 v14)
  (at r27 v15)
  (free v16)
  (at r2 v17)
  (at r7 v18)
  (at r14 v19)
  (at r10 v20)
  (at r3 v21)
  (at r12 v22)
  (at r8 v23)
  (at r28 v24)
  (at r17 v25)
  (at r13 v26)
  (at r29 v27)
  (at r21 v28)
  (at r15 v29)
  )
 )
)