(define (problem p02)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 robot8 robot9 robot10 robot11 robot12 robot13 robot14 robot15 robot16 robot17 robot18 robot19 - robot
room1 room2 room3 room4 room5 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 ball14 ball15 ball16 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 rgripper6 rgripper7 rgripper8 rgripper9 rgripper10 rgripper11 rgripper12 rgripper13 rgripper14 rgripper15 rgripper16 rgripper17 rgripper18 rgripper19 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 lgripper6 lgripper7 lgripper8 lgripper9 lgripper10 lgripper11 lgripper12 lgripper13 lgripper14 lgripper15 lgripper16 lgripper17 lgripper18 lgripper19 - gripper
    )
    (:init
        (at-robby robot1 room2)
(at-robby robot2 room2)
(at-robby robot3 room5)
(at-robby robot4 room3)
(at-robby robot5 room4)
(at-robby robot6 room4)
(at-robby robot7 room4)
(at-robby robot8 room3)
(at-robby robot9 room2)
(at-robby robot10 room4)
(at-robby robot11 room2)
(at-robby robot12 room4)
(at-robby robot13 room1)
(at-robby robot14 room3)
(at-robby robot15 room3)
(at-robby robot16 room1)
(at-robby robot17 room3)
(at-robby robot18 room3)
(at-robby robot19 room5)
(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)
(free robot17 rgripper17)
(free robot17 lgripper17)
(free robot18 rgripper18)
(free robot18 lgripper18)
(free robot19 rgripper19)
(free robot19 lgripper19)
(at ball1 room2)
(at ball2 room3)
(at ball3 room4)
(at ball4 room5)
(at ball5 room2)
(at ball6 room4)
(at ball7 room3)
(at ball8 room4)
(at ball9 room1)
(at ball10 room3)
(at ball11 room2)
(at ball12 room3)
(at ball13 room2)
(at ball14 room3)
(at ball15 room4)
(at ball16 room2)
(needs-collaboration ball5)
(needs-collaboration ball2)
(needs-collaboration ball15)
(needs-collaboration ball8)
(needs-collaboration ball1)
(needs-collaboration ball16)
(needs-collaboration ball7)
(needs-collaboration ball9)
    )
    (: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)
(at ball14 room5)
(at ball15 room5)
(at ball16 room5)
        )
    )
)