(define (problem p20)
  (:domain cooperate_sequential_gripper)

  (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 robot8 robot9 robot10 robot11 robot12 robot13 - gripper
        room25 room8 room14 room5 room16 room1 room3 room15 room23 room12 room7 room11 room20 room6 room17 room2 room24 room9 room4 room10 room13 room21 room22 room19 room18 - room
        object1 object2 object3 object4 - object
  )

  (:init
        
        (at-robby robot1 room25)
        (room-occupied room25)
        (at-robby robot2 room8)
        (room-occupied room8)
        (at-robby robot3 room14)
        (room-occupied room14)
        (at-robby robot4 room5)
        (room-occupied room5)
        (at-robby robot5 room16)
        (room-occupied room16)
        (at-robby robot6 room1)
        (room-occupied room1)
        (at-robby robot7 room3)
        (room-occupied room3)
        (at-robby robot8 room15)
        (room-occupied room15)
        (at-robby robot9 room23)
        (room-occupied room23)
        (at-robby robot10 room12)
        (room-occupied room12)
        (at-robby robot11 room7)
        (room-occupied room7)
        (at-robby robot12 room11)
        (room-occupied room11)
        (at-robby robot13 room20)
        (room-occupied room20)
        (not (room-occupied room6))
        (not (room-occupied room17))
        (not (room-occupied room2))
        (not (room-occupied room24))
        (not (room-occupied room9))
        (not (room-occupied room4))
        (not (room-occupied room10))
        (not (room-occupied room13))
        (not (room-occupied room21))
        (not (room-occupied room22))
        (not (room-occupied room19))
        (not (room-occupied room18))
        (at object1 room8)
        (at object2 room3)
        (at object3 room7)
        (at object4 room4)
        (can-activate robot11 object1)
        (can-handle robot11 object1)
        (can-activate robot4 object2)
        (can-handle robot4 object2)
        (can-activate robot13 object3)
        (can-handle robot13 object3)
        (can-activate robot4 object4)
        (can-handle robot4 object4)
        (free robot1)
        (free robot2)
        (free robot3)
        (free robot4)
        (free robot5)
        (free robot6)
        (free robot7)
        (free robot8)
        (free robot9)
        (free robot10)
        (free robot11)
        (free robot12)
        (free robot13)
  )

  (:goal
    (and
      (at object1 room9)
      (at object2 room4)
      (at object3 room8)
      (at object4 room4)
      (at-robby robot9 room18)
    )
  )
)