(:trajectory

(:state (at ball1 room10) (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room2) (at_robby robot2 room8) (at_robby robot3 room9) (at_robby robot4 room2) (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 room8 room7))

(:state (at ball1 room10) (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room2) (at_robby robot2 room7) (at_robby robot3 room9) (at_robby robot4 room2) (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 robot3 room9 room2))

(:state (at ball1 room10) (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room2) (at_robby robot2 room7) (at_robby robot3 room2) (at_robby robot4 room2) (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 room7 room1))

(:state (at ball1 room10) (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room2) (at_robby robot2 room1) (at_robby robot3 room2) (at_robby robot4 room2) (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 room2 room10))

(:state (at ball1 room10) (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room10) (at_robby robot2 room1) (at_robby robot3 room2) (at_robby robot4 room2) (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 room10 lgripper1))

(:state (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room10) (at_robby robot2 room1) (at_robby robot3 room2) (at_robby robot4 room2) (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 room10 room3))

(:state (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room3) (at_robby robot2 room1) (at_robby robot3 room2) (at_robby robot4 room2) (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 room3 room11))

(:state (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room11) (at_robby robot2 room1) (at_robby robot3 room2) (at_robby robot4 room2) (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 robot4 room2 room5))

(:state (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room11) (at_robby robot2 room1) (at_robby robot3 room2) (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 robot4 room5 room12))

(:state (at ball2 room4) (at ball3 room8) (at ball4 room12) (at ball5 room4) (at ball6 room6) (at_robby robot1 room11) (at_robby robot2 room1) (at_robby robot3 room2) (at_robby robot4 room12) (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))

)