(define (problem p49)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 robot8 robot9 robot10 robot11 robot12 robot13 robot14 robot15 robot16 - robot
room1 room2 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 rgripper6 rgripper7 rgripper8 rgripper9 rgripper10 rgripper11 rgripper12 rgripper13 rgripper14 rgripper15 rgripper16 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 lgripper6 lgripper7 lgripper8 lgripper9 lgripper10 lgripper11 lgripper12 lgripper13 lgripper14 lgripper15 lgripper16 - gripper
    )
    (:init
        (at-robby robot1 room1)
(at-robby robot2 room1)
(at-robby robot3 room1)
(at-robby robot4 room2)
(at-robby robot5 room2)
(at-robby robot6 room2)
(at-robby robot7 room2)
(at-robby robot8 room1)
(at-robby robot9 room2)
(at-robby robot10 room1)
(at-robby robot11 room2)
(at-robby robot12 room2)
(at-robby robot13 room2)
(at-robby robot14 room2)
(at-robby robot15 room2)
(at-robby robot16 room1)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(free robot3 rgripper3)
(free robot3 lgripper3)
(free robot4 rgripper4)
(free robot4 lgripper4)
(free robot5 rgripper5)
(free robot5 lgripper5)
(free robot6 rgripper6)
(free robot6 lgripper6)
(free robot7 rgripper7)
(free robot7 lgripper7)
(free robot8 rgripper8)
(free robot8 lgripper8)
(free robot9 rgripper9)
(free robot9 lgripper9)
(free robot10 rgripper10)
(free robot10 lgripper10)
(free robot11 rgripper11)
(free robot11 lgripper11)
(free robot12 rgripper12)
(free robot12 lgripper12)
(free robot13 rgripper13)
(free robot13 lgripper13)
(free robot14 rgripper14)
(free robot14 lgripper14)
(free robot15 rgripper15)
(free robot15 lgripper15)
(free robot16 rgripper16)
(free robot16 lgripper16)
(at ball1 room2)
(at ball2 room2)
(at ball3 room1)
(at ball4 room1)
(at ball5 room1)
(at ball6 room1)
(at ball7 room2)
(at ball8 room1)
(at ball9 room1)
(at ball10 room2)
(at ball11 room1)
(at ball12 room1)
(needs-collaboration ball2)
(needs-collaboration ball7)
(needs-collaboration ball11)
(needs-collaboration ball3)
(needs-collaboration ball8)
(needs-collaboration ball1)
    )
    (:goal
        (and
            (at ball1 room1)
(at ball2 room1)
(at ball3 room1)
(at ball4 room1)
(at ball5 room1)
(at ball6 room1)
(at ball7 room1)
(at ball8 room1)
(at ball9 room1)
(at ball10 room1)
(at ball11 room1)
(at ball12 room1)
        )
    )
)