(define (problem p04)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 robot8 robot9 robot10 robot11 robot12 robot13 robot14 robot15 robot16 robot17 robot18 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 rgripper6 rgripper7 rgripper8 rgripper9 rgripper10 rgripper11 rgripper12 rgripper13 rgripper14 rgripper15 rgripper16 rgripper17 rgripper18 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 lgripper6 lgripper7 lgripper8 lgripper9 lgripper10 lgripper11 lgripper12 lgripper13 lgripper14 lgripper15 lgripper16 lgripper17 lgripper18 - gripper
    )
    (:init
        (at-robby robot1 room1)
(at-robby robot2 room10)
(at-robby robot3 room4)
(at-robby robot4 room11)
(at-robby robot5 room7)
(at-robby robot6 room6)
(at-robby robot7 room2)
(at-robby robot8 room1)
(at-robby robot9 room2)
(at-robby robot10 room6)
(at-robby robot11 room4)
(at-robby robot12 room7)
(at-robby robot13 room10)
(at-robby robot14 room11)
(at-robby robot15 room11)
(at-robby robot16 room2)
(at-robby robot17 room5)
(at-robby robot18 room4)
(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)
(at ball1 room6)
(at ball2 room6)
(at ball3 room3)
(at ball4 room11)
(at ball5 room11)
(at ball6 room1)
(at ball7 room4)
(needs-collaboration ball7)
(needs-collaboration ball2)
(needs-collaboration ball1)
    )
    (:goal
        (and
            (at ball1 room8)
(at ball2 room8)
(at ball3 room8)
(at ball4 room8)
(at ball5 room8)
(at ball6 room8)
(at ball7 room8)
        )
    )
)