(define (problem p30)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 ball14 ball15 - object
rgripper1 rgripper2 rgripper3 lgripper1 lgripper2 lgripper3 - gripper
    )
    (:init
        (at-robby robot1 room3)
(at-robby robot2 room7)
(at-robby robot3 room4)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(free robot3 rgripper3)
(free robot3 lgripper3)
(at ball1 room1)
(at ball2 room8)
(at ball3 room5)
(at ball4 room7)
(at ball5 room6)
(at ball6 room7)
(at ball7 room5)
(at ball8 room3)
(at ball9 room3)
(at ball10 room9)
(at ball11 room5)
(at ball12 room2)
(at ball13 room1)
(at ball14 room4)
(at ball15 room7)
(needs-collaboration ball12)
(needs-collaboration ball11)
(needs-collaboration ball1)
(needs-collaboration ball9)
(needs-collaboration ball7)
(needs-collaboration ball8)
(needs-collaboration ball10)
    )
    (:goal
        (and
            (at ball1 room9)
(at ball2 room9)
(at ball3 room9)
(at ball4 room9)
(at ball5 room9)
(at ball6 room9)
(at ball7 room9)
(at ball8 room9)
(at ball9 room9)
(at ball10 room9)
(at ball11 room9)
(at ball12 room9)
(at ball13 room9)
(at ball14 room9)
(at ball15 room9)
        )
    )
)