(define (problem p18)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 room14 room15 room16 room17 room18 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 ball14 ball15 ball16 ball17 ball18 ball19 ball20 - object
rgripper1 rgripper2 lgripper1 lgripper2 - gripper
    )
    (:init
        (at-robby robot1 room9)
(at-robby robot2 room11)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(at ball1 room14)
(at ball2 room2)
(at ball3 room11)
(at ball4 room1)
(at ball5 room2)
(at ball6 room4)
(at ball7 room16)
(at ball8 room17)
(at ball9 room3)
(at ball10 room8)
(at ball11 room15)
(at ball12 room4)
(at ball13 room3)
(at ball14 room11)
(at ball15 room4)
(at ball16 room14)
(at ball17 room16)
(at ball18 room2)
(at ball19 room4)
(at ball20 room11)
(needs-collaboration ball10)
(needs-collaboration ball2)
(needs-collaboration ball18)
(needs-collaboration ball9)
(needs-collaboration ball6)
(needs-collaboration ball16)
(needs-collaboration ball4)
(needs-collaboration ball5)
(needs-collaboration ball17)
(needs-collaboration ball19)
    )
    (:goal
        (and
            (at ball1 room13)
(at ball2 room13)
(at ball3 room13)
(at ball4 room13)
(at ball5 room13)
(at ball6 room13)
(at ball7 room13)
(at ball8 room13)
(at ball9 room13)
(at ball10 room13)
(at ball11 room13)
(at ball12 room13)
(at ball13 room13)
(at ball14 room13)
(at ball15 room13)
(at ball16 room13)
(at ball17 room13)
(at ball18 room13)
(at ball19 room13)
(at ball20 room13)
        )
    )
)