(define (problem p33)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 - 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 - object
rgripper1 rgripper2 rgripper3 lgripper1 lgripper2 lgripper3 - gripper
    )
    (:init
        (at-robby robot1 room10)
(at-robby robot2 room10)
(at-robby robot3 room5)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(free robot3 rgripper3)
(free robot3 lgripper3)
(at ball1 room11)
(at ball2 room3)
(at ball3 room15)
(at ball4 room7)
(at ball5 room4)
(at ball6 room8)
(at ball7 room13)
(at ball8 room8)
(at ball9 room3)
(at ball10 room6)
(at ball11 room9)
(at ball12 room5)
(needs-collaboration ball2)
(needs-collaboration ball8)
(needs-collaboration ball12)
(needs-collaboration ball9)
(needs-collaboration ball11)
(needs-collaboration ball4)
    )
    (:goal
        (and
            (at ball1 room2)
(at ball2 room2)
(at ball3 room2)
(at ball4 room2)
(at ball5 room2)
(at ball6 room2)
(at ball7 room2)
(at ball8 room2)
(at ball9 room2)
(at ball10 room2)
(at ball11 room2)
(at ball12 room2)
        )
    )
)