(define (problem p27)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 robot8 - robot
room1 room2 room3 room4 - 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 rgripper4 rgripper5 rgripper6 rgripper7 rgripper8 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 lgripper6 lgripper7 lgripper8 - gripper
    )
    (:init
        (at-robby robot1 room1)
(at-robby robot2 room4)
(at-robby robot3 room3)
(at-robby robot4 room4)
(at-robby robot5 room1)
(at-robby robot6 room3)
(at-robby robot7 room3)
(at-robby robot8 room3)
(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)
(at ball1 room4)
(at ball2 room2)
(at ball3 room2)
(at ball4 room4)
(at ball5 room3)
(at ball6 room3)
(at ball7 room4)
(at ball8 room1)
(at ball9 room1)
(at ball10 room4)
(at ball11 room4)
(at ball12 room2)
(at ball13 room4)
(at ball14 room4)
(at ball15 room4)
(at ball16 room3)
(at ball17 room3)
(at ball18 room2)
(at ball19 room3)
(at ball20 room3)
(needs-collaboration ball19)
(needs-collaboration ball17)
(needs-collaboration ball20)
(needs-collaboration ball10)
(needs-collaboration ball4)
(needs-collaboration ball18)
(needs-collaboration ball7)
(needs-collaboration ball14)
(needs-collaboration ball5)
(needs-collaboration ball9)
    )
    (: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)
(at ball13 room2)
(at ball14 room2)
(at ball15 room2)
(at ball16 room2)
(at ball17 room2)
(at ball18 room2)
(at ball19 room2)
(at ball20 room2)
        )
    )
)