(define (problem p50)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 - robot
room1 room2 room3 room4 room5 room6 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 ball14 ball15 ball16 ball17 ball18 ball19 ball20 - object
rgripper1 rgripper2 rgripper3 lgripper1 lgripper2 lgripper3 - gripper
    )
    (:init
        (at-robby robot1 room5)
(at-robby robot2 room2)
(at-robby robot3 room3)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(free robot3 rgripper3)
(free robot3 lgripper3)
(at ball1 room6)
(at ball2 room1)
(at ball3 room5)
(at ball4 room2)
(at ball5 room1)
(at ball6 room4)
(at ball7 room2)
(at ball8 room4)
(at ball9 room4)
(at ball10 room3)
(at ball11 room3)
(at ball12 room5)
(at ball13 room3)
(at ball14 room2)
(at ball15 room2)
(at ball16 room3)
(at ball17 room6)
(at ball18 room1)
(at ball19 room2)
(at ball20 room4)
(needs-collaboration ball19)
(needs-collaboration ball5)
(needs-collaboration ball8)
(needs-collaboration ball3)
(needs-collaboration ball15)
(needs-collaboration ball17)
(needs-collaboration ball13)
(needs-collaboration ball14)
(needs-collaboration ball18)
(needs-collaboration ball1)
    )
    (:goal
        (and
            (at ball1 room3)
(at ball2 room3)
(at ball3 room3)
(at ball4 room3)
(at ball5 room3)
(at ball6 room3)
(at ball7 room3)
(at ball8 room3)
(at ball9 room3)
(at ball10 room3)
(at ball11 room3)
(at ball12 room3)
(at ball13 room3)
(at ball14 room3)
(at ball15 room3)
(at ball16 room3)
(at ball17 room3)
(at ball18 room3)
(at ball19 room3)
(at ball20 room3)
        )
    )
)