(define (problem p01)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 room14 room15 room16 room17 room18 room19 room20 - room
ball1 ball2 ball3 ball4 ball5 ball6 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 - gripper
    )
    (:init
        (at-robby robot1 room18)
(at-robby robot2 room11)
(at-robby robot3 room15)
(at-robby robot4 room4)
(at-robby robot5 room10)
(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)
(at ball1 room17)
(at ball2 room4)
(at ball3 room15)
(at ball4 room2)
(at ball5 room15)
(at ball6 room7)
(needs-collaboration ball6)
(needs-collaboration ball5)
(needs-collaboration ball3)
    )
    (:goal
        (and
            (at ball1 room5)
(at ball2 room5)
(at ball3 room5)
(at ball4 room5)
(at ball5 room5)
(at ball6 room5)
        )
    )
)