diff --git a/gripper/gripper.py b/gripper/gripper.py
new file mode 100755
index 00000000..de0c101c
--- /dev/null
+++ b/gripper/gripper.py
@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+
+import argparse
+import random
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument("balls", type=int, help="the number of balls")
+parser.add_argument("--seed", "-s", type=int, help="random seed")
+parser.add_argument("--randomize", "-r", action="store_true", help="randomize the initial state and the goal if present")
+
+args = parser.parse_args()
+
+random.seed(args.seed)
+
+def init():
+    # static
+    facts = ["(room rooma)","(room roomb)", "(gripper left)", "(gripper right)"]
+    for i in range(args.balls):
+        facts.append(f"(ball ball{i})")
+
+    # fluents
+    facts.extend(["(free left)", "(free right)"])
+
+    if args.randomize:
+        for i in range(args.balls):
+            room = random.choice(["rooma","roomb"])
+            facts.append(f"(at ball{i} {room})")
+        room = random.choice(["rooma","roomb"])
+        facts.append(f"(at-robby {room})")
+    else:
+        for i in range(args.balls):
+            facts.append(f"(at ball{i} rooma)")
+        facts.append(f"(at-robby rooma)")
+
+    return " ".join(facts)
+
+
+def goal():
+    facts = []
+    if args.randomize:
+        for i in range(args.balls):
+            room = random.choice(["rooma","roomb"])
+            facts.append(f"(at ball{i} {room})")
+    else:
+        for i in range(args.balls):
+            facts.append(f"(at ball{i} roomb)")
+
+    return " ".join(facts)
+
+
+print("(define (problem gripper)")
+print(" (:domain gripper-strips)")
+print(" (:objects rooma roomb left right " + " ".join([f"ball{i}" for i in range(args.balls)]) + ")")
+print(" (:init " + init() + ")")
+print(" (:goal (and " + goal() + ")))")
diff --git a/grippers/README b/grippers/README
new file mode 100644
index 00000000..b36e353f
--- /dev/null
+++ b/grippers/README
@@ -0,0 +1,20 @@
+
+# Grippers (python)
+
+usage: gripper.py [-h] [--seed SEED] balls robots grippers rooms
+
+positional arguments:
+  balls                 the number of balls
+  robots                the number of robots
+  grippers              the number of grippers per robot
+  rooms                 the number of rooms
+
+optional arguments:
+  -h, --help            show this help message and exit
+  --seed SEED, -s SEED  random seed
+
+
+# Grippers (C language)
+
+
+This version is equivalent to the python version with 2 grippers per robot.
diff --git a/grippers/gripper.py b/grippers/gripper.py
new file mode 100755
index 00000000..4e883857
--- /dev/null
+++ b/grippers/gripper.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+
+import argparse
+import random
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument("balls", type=int, help="the number of balls")
+parser.add_argument("robots", type=int, help="the number of robots")
+parser.add_argument("grippers", type=int, help="the number of grippers per robot")
+parser.add_argument("rooms", type=int, help="the number of rooms")
+parser.add_argument("--seed", "-s", type=int, help="random seed")
+
+args = parser.parse_args()
+
+random.seed(args.seed)
+
+robots = [f"robot{i}" for i in range(args.robots)]
+rooms = [f"room{i}" for i in range(args.rooms)]
+grippers = [f"gripper{i}" for i in range(args.grippers)]
+balls = [f"ball{i}" for i in range(args.balls)]
+
+
+
+def init():
+    facts = [f"(free {r} {g})"
+             for r in robots
+             for g in grippers]
+
+    for ball in balls:
+        room = random.choice(rooms)
+        facts.append(f"(at {ball} {room})")
+    for robot in robots:
+        room = random.choice(rooms)
+        facts.append(f"(at-robby {robot} {room})")
+
+    return " ".join(facts)
+
+
+def goal():
+    facts = []
+
+    for ball in balls:
+        room = random.choice(rooms)
+        facts.append(f"(at {ball} {room})")
+
+    return " ".join(facts)
+
+
+print("(define (problem gripper)")
+print(" (:domain gripper-ex-typed)")
+print(" (:objects "
+      + " ".join(
+          robots   + ["-", "robot"] +
+          rooms    + ["-", "room"] +
+          grippers + ["-", "gripper"] +
+          balls    + ["-", "ball"])
+      + ")")
+print(" (:init " + init() + ")")
+print(" (:goal (and " + goal() + ")))")