(:trajectory

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at ball6 room1) (at_robby robot1 room4) (at_robby robot2 room3) (at_robby robot3 room5) (at_robby robot4 room3) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (move robot4 room3 room1))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at ball6 room1) (at_robby robot1 room4) (at_robby robot2 room3) (at_robby robot3 room5) (at_robby robot4 room1) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (pick robot4 ball6 room1 lgripper4))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at_robby robot1 room4) (at_robby robot2 room3) (at_robby robot3 room5) (at_robby robot4 room1) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (move robot1 room4 room6))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at_robby robot1 room6) (at_robby robot2 room3) (at_robby robot3 room5) (at_robby robot4 room1) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (pick robot4 ball4 room1 rgripper4))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball5 room2) (at_robby robot1 room6) (at_robby robot2 room3) (at_robby robot3 room5) (at_robby robot4 room1) (carry robot4 ball4 rgripper4) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3))

(:action (drop robot4 ball4 room1 rgripper4))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at_robby robot1 room6) (at_robby robot2 room3) (at_robby robot3 room5) (at_robby robot4 room1) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (move robot3 room5 room1))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at_robby robot1 room6) (at_robby robot2 room3) (at_robby robot3 room1) (at_robby robot4 room1) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (move robot2 room3 room1))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room1) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (move robot4 room1 room8))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room8) (carry robot4 ball6 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (drop robot4 ball6 room8 lgripper4))

(:state (at ball1 room12) (at ball2 room8) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room8) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (pick robot4 ball2 room8 lgripper4))

(:state (at ball1 room12) (at ball3 room8) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room8) (carry robot4 ball2 lgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 rgripper4))

(:action (pick robot4 ball3 room8 rgripper4))

(:state (at ball1 room12) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room8) (carry robot4 ball2 lgripper4) (carry robot4 ball3 rgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3))

(:action (move robot4 room8 room4))

(:state (at ball1 room12) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room4) (carry robot4 ball2 lgripper4) (carry robot4 ball3 rgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3))

(:action (drop robot4 ball2 room4 lgripper4))

(:state (at ball1 room12) (at ball2 room4) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room4) (carry robot4 ball3 rgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4))

(:action (move robot4 room4 room5))

(:state (at ball1 room12) (at ball2 room4) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (carry robot4 ball3 rgripper4) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4))

(:action (drop robot4 ball3 room5 rgripper4))

(:state (at ball1 room12) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (move robot2 room1 room2))

(:state (at ball1 room12) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room2) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room2) (at_robby robot3 room1) (at_robby robot4 room5) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (pick robot2 ball5 room2 lgripper2))

(:state (at ball1 room12) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room2) (at_robby robot3 room1) (at_robby robot4 room5) (carry robot2 ball5 lgripper2) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (move robot2 room2 room1))

(:state (at ball1 room12) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (carry robot2 ball5 lgripper2) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (drop robot2 ball5 room1 lgripper2))

(:state (at ball1 room12) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room1) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (move robot1 room6 room12))

(:state (at ball1 room12) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room1) (at ball6 room8) (at_robby robot1 room12) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (pick robot1 ball1 room12 lgripper1))

(:state (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room1) (at ball6 room8) (at_robby robot1 room12) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (carry robot1 ball1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (move robot1 room12 room6))

(:state (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room1) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (carry robot1 ball1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

(:action (drop robot1 ball1 room6 lgripper1))

(:state (at ball1 room6) (at ball2 room4) (at ball3 room5) (at ball4 room1) (at ball5 room1) (at ball6 room8) (at_robby robot1 room6) (at_robby robot2 room1) (at_robby robot3 room1) (at_robby robot4 room5) (free robot1 lgripper1) (free robot1 rgripper1) (free robot2 lgripper2) (free robot2 rgripper2) (free robot3 lgripper3) (free robot3 rgripper3) (free robot4 lgripper4) (free robot4 rgripper4))

)