(define (problem p08)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 robot5 robot6 robot7 robot8 robot9 - robot
room1 room2 room3 room4 room5 room6 room7 room8 room9 room10 room11 room12 room13 room14 room15 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 - object
rgripper1 rgripper2 rgripper3 rgripper4 rgripper5 rgripper6 rgripper7 rgripper8 rgripper9 lgripper1 lgripper2 lgripper3 lgripper4 lgripper5 lgripper6 lgripper7 lgripper8 lgripper9 - gripper
    )
    (:init
        (at-robby robot1 room8)
(at-robby robot2 room6)
(at-robby robot3 room7)
(at-robby robot4 room10)
(at-robby robot5 room5)
(at-robby robot6 room12)
(at-robby robot7 room11)
(at-robby robot8 room12)
(at-robby robot9 room6)
(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)
(free robot9 rgripper9)
(free robot9 lgripper9)
(at ball1 room5)
(at ball2 room3)
(at ball3 room14)
(at ball4 room9)
(at ball5 room10)
(at ball6 room6)
(at ball7 room2)
(needs-collaboration ball3)
(needs-collaboration ball4)
(needs-collaboration ball7)
    )
    (:goal
        (and
            (at ball1 room7)
(at ball2 room7)
(at ball3 room7)
(at ball4 room7)
(at ball5 room7)
(at ball6 room7)
(at ball7 room7)
        )
    )
)