(DEFINE (PROBLEM GRIPPER4) (:DOMAIN GRIPPER-TYPED) (:OBJECTS ROOMA ROOMB - ROOM BALL1 BALL2 BALL3 BALL4 - BALL) (:INIT (AT-ROBBY ROOMA) (FREE LEFT) (FREE RIGHT) (AT BALL1 ROOMA) (AT BALL2 ROOMA) (AT BALL3 ROOMA) (AT BALL4 ROOMA)) (:GOAL (AND (AT BALL1 ROOMB) (AT BALL2 ROOMB) (AT BALL3 ROOMB) (AT BALL4 ROOMB))))