(:trajectory

(:state (at ball1 room2) (at ball2 room4) (at_robby robot1 room1) (free robot1 lgripper1) (free robot1 rgripper1))

(:action (move robot1 room1 room2))

(:state (at ball1 room2) (at ball2 room4) (at_robby robot1 room2) (free robot1 lgripper1) (free robot1 rgripper1))

(:action (pick robot1 ball1 room2 rgripper1))

(:state (at ball2 room4) (at_robby robot1 room2) (carry robot1 ball1 rgripper1) (free robot1 lgripper1))

(:action (move robot1 room2 room4))

(:state (at ball2 room4) (at_robby robot1 room4) (carry robot1 ball1 rgripper1) (free robot1 lgripper1))

(:action (pick robot1 ball2 room4 lgripper1))

(:state (at_robby robot1 room4) (carry robot1 ball1 rgripper1) (carry robot1 ball2 lgripper1))

(:action (drop robot1 ball1 room4 rgripper1))

(:state (at ball1 room4) (at_robby robot1 room4) (carry robot1 ball2 lgripper1) (free robot1 rgripper1))

(:action (move robot1 room4 room2))

(:state (at ball1 room4) (at_robby robot1 room2) (carry robot1 ball2 lgripper1) (free robot1 rgripper1))

(:action (drop robot1 ball2 room2 lgripper1))

(:state (at ball1 room4) (at ball2 room2) (at_robby robot1 room2) (free robot1 lgripper1) (free robot1 rgripper1))

)