(define (problem p12)
  (:domain cooperate_sequential_gripper)

  (:objects
        robot1 robot2 robot3 robot4 robot5 - gripper
        room26 room8 room12 room4 room17 room21 room24 room2 room15 room1 room14 room20 room13 room6 room5 room19 room28 room22 room23 room3 room7 room9 room16 room11 room18 room25 room10 room27 - room
        object1 object2 object3 object4 object5 object6 object7 object8 object9 object10 object11 object12 object13 object14 object15 - object
  )

  (:init
        
        (at-robby robot1 room26)
        (room-occupied room26)
        (at-robby robot2 room8)
        (room-occupied room8)
        (at-robby robot3 room12)
        (room-occupied room12)
        (at-robby robot4 room4)
        (room-occupied room4)
        (at-robby robot5 room17)
        (room-occupied room17)
        (not (room-occupied room21))
        (not (room-occupied room24))
        (not (room-occupied room2))
        (not (room-occupied room15))
        (not (room-occupied room1))
        (not (room-occupied room14))
        (not (room-occupied room20))
        (not (room-occupied room13))
        (not (room-occupied room6))
        (not (room-occupied room5))
        (not (room-occupied room19))
        (not (room-occupied room28))
        (not (room-occupied room22))
        (not (room-occupied room23))
        (not (room-occupied room3))
        (not (room-occupied room7))
        (not (room-occupied room9))
        (not (room-occupied room16))
        (not (room-occupied room11))
        (not (room-occupied room18))
        (not (room-occupied room25))
        (not (room-occupied room10))
        (not (room-occupied room27))
        (at object1 room19)
        (at object2 room13)
        (at object3 room12)
        (at object4 room27)
        (at object5 room27)
        (at object6 room11)
        (at object7 room10)
        (at object8 room18)
        (at object9 room6)
        (at object10 room3)
        (at object11 room6)
        (at object12 room16)
        (at object13 room22)
        (at object14 room28)
        (at object15 room28)
        (can-activate robot2 object1)
        (can-handle robot2 object1)
        (can-activate robot4 object2)
        (can-handle robot4 object2)
        (can-activate robot3 object3)
        (can-handle robot3 object3)
        (can-activate robot4 object4)
        (can-handle robot4 object4)
        (can-activate robot1 object5)
        (can-handle robot1 object5)
        (can-activate robot1 object6)
        (can-handle robot1 object6)
        (can-activate robot5 object7)
        (can-handle robot5 object7)
        (can-activate robot1 object8)
        (can-handle robot1 object8)
        (can-activate robot2 object9)
        (can-handle robot2 object9)
        (can-activate robot2 object10)
        (can-handle robot2 object10)
        (can-activate robot2 object11)
        (can-handle robot2 object11)
        (can-activate robot1 object12)
        (can-handle robot1 object12)
        (can-activate robot4 object13)
        (can-handle robot4 object13)
        (can-activate robot1 object14)
        (can-handle robot1 object14)
        (can-activate robot4 object15)
        (can-handle robot4 object15)
        (free robot1)
        (free robot2)
        (free robot3)
        (free robot4)
        (free robot5)
  )

  (:goal
    (and
      (at object1 room28)
      (at object2 room23)
      (at object3 room2)
      (at object4 room13)
      (at object5 room5)
      (at object6 room12)
      (at object7 room4)
      (at object8 room28)
      (at object9 room16)
      (at object10 room19)
      (at object11 room28)
      (at object12 room17)
      (at object13 room24)
      (at object14 room13)
      (at object15 room19)
      (at-robby robot1 room18)
    )
  )
)