(define (problem p13)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 - robot
room1 room2 room3 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 ball13 ball14 ball15 ball16 ball17 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 rgripper6 rgripper7 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 lgripper6 lgripper7 - gripper
    )
    (:init
        (at-robby robot1 room3)
(at-robby robot2 room1)
(at-robby robot3 room1)
(at-robby robot4 room2)
(at-robby robot5 room3)
(at-robby robot6 room2)
(at-robby robot7 room1)
(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)
(at ball1 room2)
(at ball2 room3)
(at ball3 room3)
(at ball4 room1)
(at ball5 room3)
(at ball6 room3)
(at ball7 room2)
(at ball8 room2)
(at ball9 room3)
(at ball10 room3)
(at ball11 room1)
(at ball12 room1)
(at ball13 room3)
(at ball14 room1)
(at ball15 room3)
(at ball16 room3)
(at ball17 room2)
(needs-collaboration ball15)
(needs-collaboration ball1)
(needs-collaboration ball8)
(needs-collaboration ball2)
(needs-collaboration ball7)
(needs-collaboration ball9)
(needs-collaboration ball14)
(needs-collaboration ball12)
    )
    (: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)
        )
    )
)