(define (problem p14)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 - robot
room1 room2 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 ball9 ball10 ball11 ball12 - object
rgripper1 rgripper2 rgripper3 rgripper4 lgripper1 lgripper2 lgripper3 lgripper4 - gripper
    )
    (:init
        (at-robby robot1 room2)
(at-robby robot2 room1)
(at-robby robot3 room2)
(at-robby robot4 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)
(at ball1 room2)
(at ball2 room1)
(at ball3 room1)
(at ball4 room2)
(at ball5 room1)
(at ball6 room1)
(at ball7 room1)
(at ball8 room1)
(at ball9 room1)
(at ball10 room1)
(at ball11 room2)
(at ball12 room2)
(needs-collaboration ball7)
(needs-collaboration ball9)
(needs-collaboration ball4)
(needs-collaboration ball5)
(needs-collaboration ball12)
(needs-collaboration ball6)
    )
    (:goal
        (and
            (at ball1 room1)
(at ball2 room1)
(at ball3 room1)
(at ball4 room1)
(at ball5 room1)
(at ball6 room1)
(at ball7 room1)
(at ball8 room1)
(at ball9 room1)
(at ball10 room1)
(at ball11 room1)
(at ball12 room1)
        )
    )
)