(define (problem p15)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 room14 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 ball14 ball15 ball16 ball17 ball18 ball19 - object
rgripper1 rgripper2 lgripper1 lgripper2 - gripper
    )
    (:init
        (at-robby robot1 room1)
(at-robby robot2 room10)
(free robot1 rgripper1)
(free robot1 lgripper1)
(free robot2 rgripper2)
(free robot2 lgripper2)
(at ball1 room3)
(at ball2 room12)
(at ball3 room4)
(at ball4 room1)
(at ball5 room2)
(at ball6 room14)
(at ball7 room3)
(at ball8 room5)
(at ball9 room9)
(at ball10 room5)
(at ball11 room9)
(at ball12 room4)
(at ball13 room11)
(at ball14 room7)
(at ball15 room14)
(at ball16 room13)
(at ball17 room7)
(at ball18 room7)
(at ball19 room5)
(needs-collaboration ball4)
(needs-collaboration ball14)
(needs-collaboration ball7)
(needs-collaboration ball17)
(needs-collaboration ball12)
(needs-collaboration ball19)
(needs-collaboration ball16)
(needs-collaboration ball6)
(needs-collaboration ball11)
    )
    (:goal
        (and
            (at ball1 room8)
(at ball2 room8)
(at ball3 room8)
(at ball4 room8)
(at ball5 room8)
(at ball6 room8)
(at ball7 room8)
(at ball8 room8)
(at ball9 room8)
(at ball10 room8)
(at ball11 room8)
(at ball12 room8)
(at ball13 room8)
(at ball14 room8)
(at ball15 room8)
(at ball16 room8)
(at ball17 room8)
(at ball18 room8)
(at ball19 room8)
        )
    )
)