(define (problem p26)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 room14 room15 room16 room17 room18 room19 room20 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 - gripper
    )
    (:init
        (at-robby robot1 room18)
(at-robby robot2 room18)
(at-robby robot3 room18)
(at-robby robot4 room17)
(at-robby robot5 room6)
(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)
(at ball1 room1)
(at ball2 room11)
(at ball3 room3)
(at ball4 room3)
(at ball5 room7)
(at ball6 room9)
(at ball7 room16)
(at ball8 room18)
(at ball9 room13)
(at ball10 room3)
(at ball11 room17)
(at ball12 room16)
(at ball13 room15)
(needs-collaboration ball13)
(needs-collaboration ball9)
(needs-collaboration ball12)
(needs-collaboration ball11)
(needs-collaboration ball2)
(needs-collaboration ball8)
    )
    (:goal
        (and
            (at ball1 room5)
(at ball2 room5)
(at ball3 room5)
(at ball4 room5)
(at ball5 room5)
(at ball6 room5)
(at ball7 room5)
(at ball8 room5)
(at ball9 room5)
(at ball10 room5)
(at ball11 room5)
(at ball12 room5)
(at ball13 room5)
        )
    )
)