(define (problem p20)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 - gripper
    )
    (:init
        (at-robby robot1 room4)
(at-robby robot2 room12)
(at-robby robot3 room3)
(at-robby robot4 room7)
(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 room5)
(at ball2 room10)
(at ball3 room12)
(at ball4 room12)
(at ball5 room5)
(at ball6 room8)
(at ball7 room1)
(at ball8 room8)
(at ball9 room7)
(at ball10 room4)
(needs-collaboration ball9)
(needs-collaboration ball7)
(needs-collaboration ball1)
(needs-collaboration ball6)
(needs-collaboration ball2)
    )
    (: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)
        )
    )
)