(define (problem p05)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 room14 room15 - 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 room8)
(at-robby robot2 room3)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(at ball1 room1)
(at ball2 room1)
(at ball3 room15)
(at ball4 room10)
(at ball5 room9)
(at ball6 room1)
(at ball7 room6)
(at ball8 room7)
(at ball9 room10)
(at ball10 room15)
(at ball11 room4)
(at ball12 room14)
(at ball13 room5)
(at ball14 room4)
(at ball15 room10)
(at ball16 room9)
(at ball17 room12)
(at ball18 room9)
(at ball19 room9)
(at ball20 room4)
(needs-collaboration ball4)
(needs-collaboration ball11)
(needs-collaboration ball19)
(needs-collaboration ball9)
(needs-collaboration ball13)
(needs-collaboration ball2)
(needs-collaboration ball18)
(needs-collaboration ball17)
(needs-collaboration ball20)
(needs-collaboration ball16)
    )
    (: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)
        )
    )
)