(define (problem p40)
    (:domain Multi_Agent_coordination)
    (:objects
        robot1 robot2 robot3 robot4 - robot
room1 room2 room3 room4 room5 room6 room7 - room
ball1 ball2 ball3 ball4 ball5 ball6 ball7 ball8 - object
rgripper1 rgripper2 rgripper3 rgripper4 lgripper1 lgripper2 lgripper3 lgripper4 - gripper
    )
    (:init
        (at-robby robot1 room2)
(at-robby robot2 room6)
(at-robby robot3 room7)
(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 room6)
(at ball2 room1)
(at ball3 room3)
(at ball4 room4)
(at ball5 room5)
(at ball6 room3)
(at ball7 room2)
(at ball8 room2)
(needs-collaboration ball4)
(needs-collaboration ball7)
(needs-collaboration ball2)
(needs-collaboration ball5)
    )
    (:goal
        (and
            (at ball1 room7)
(at ball2 room7)
(at ball3 room7)
(at ball4 room7)
(at ball5 room7)
(at ball6 room7)
(at ball7 room7)
(at ball8 room7)
        )
    )
)