(define (problem multirobot_5_90%_c4)
 (:domain multirobot)
 (:objects
  v0
  v1
  v2
  v3
  v4 r23
  v5
  v6
  v7 r26
  v8 r21
  v9 r30
  v10
  v11
  v12 r20
  v13
  v14 r25
  v15
  v16 r28
  v17 r29
  v18
  v19
  v20
  v21 r24
  v22 r22
  v23
  v24
  v25
  v26
  v27 r19
  v28 r27
  v29
  v30
 )
 (:init
  (free v0)
  (free v1)
  (free v2)
  (free v3)
  (at r23 v4)
  (free v5)
  (free v6)
  (at r26 v7)
  (at r21 v8)
  (at r30 v9)
  (free v10)
  (free v11)
  (at r20 v12)
  (free v13)
  (at r25 v14)
  (free v15)
  (at r28 v16)
  (at r29 v17)
  (free v18)
  (free v19)
  (free v20)
  (at r24 v21)
  (at r22 v22)
  (free v23)
  (free v24)
  (free v25)
  (free v26)
  (at r19 v27)
  (at r27 v28)
  (free v29)
  (free v30)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v0 v26)
  (adjacent v1 v2)
  (adjacent v2 v3)
  (adjacent v3 v4)
  (adjacent v3 v10)
  (adjacent v3 v11)
  (adjacent v4 v5)
  (adjacent v5 v6)
  (adjacent v5 v30)
  (adjacent v6 v7)
  (adjacent v7 v8)
  (adjacent v8 v9)
  (adjacent v8 v16)
  (adjacent v9 v10)
  (adjacent v11 v12)
  (adjacent v11 v20)
  (adjacent v12 v13)
  (adjacent v12 v19)
  (adjacent v13 v14)
  (adjacent v13 v17)
  (adjacent v14 v15)
  (adjacent v15 v16)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v20 v21)
  (adjacent v21 v22)
  (adjacent v22 v23)
  (adjacent v23 v24)
  (adjacent v23 v27)
  (adjacent v24 v25)
  (adjacent v25 v26)
  (adjacent v27 v28)
  (adjacent v28 v29)
  (adjacent v29 v30)
 )
 (:goal
  (and
  (free v0)
  (at r20 v1)
  (free v2)
  (at r26 v3)
  (free v4)
  (free v5)
  (free v6)
  (at r21 v7)
  (free v8)
  (at r29 v9)
  (free v10)
  (at r25 v11)
  (free v12)
  (at r24 v13)
  (free v14)
  (at r23 v15)
  (free v16)
  (free v17)
  (at r27 v18)
  (free v19)
  (at r28 v20)
  (free v21)
  (free v22)
  (free v23)
  (free v24)
  (free v25)
  (at r22 v26)
  (free v27)
  (at r30 v28)
  (at r19 v29)
  (free v30)
  )
 )
)