(define (problem prob002)
(:domain floor-tile)
(:objects tile_0-1 tile_0-2 tile_0-3
tile_1-1 tile_1-2 tile_1-3
tile_2-1 tile_2-2 tile_2-3
tile_3-1 tile_3-2 tile_3-3 - tile
robot1 robot2 - robot
white black - color
)
(:init
(= (total-cost) 0)
(robot-at robot1 tile_3-1)
(robot-has robot1 white)
(robot-at robot2 tile_2-2)
(robot-has robot2 black)
(available-color white)
(available-color black)
(clear tile_0-1)
(clear tile_0-2)
(clear tile_0-3)
(clear tile_1-1)
(clear tile_1-2)
(clear tile_1-3)
(clear tile_2-1)
(clear tile_2-3)
(clear tile_3-2)
(clear tile_3-3)
(up tile_1-1 tile_0-1)
(up tile_1-2 tile_0-2)
(up tile_1-3 tile_0-3)
(up tile_2-1 tile_1-1)
(up tile_2-2 tile_1-2)
(up tile_2-3 tile_1-3)
(up tile_3-1 tile_2-1)
(up tile_3-2 tile_2-2)
(up tile_3-3 tile_2-3)
(down tile_0-1 tile_1-1)
(down tile_0-2 tile_1-2)
(down tile_0-3 tile_1-3)
(down tile_1-1 tile_2-1)
(down tile_1-2 tile_2-2)
(down tile_1-3 tile_2-3)
(down tile_2-1 tile_3-1)
(down tile_2-2 tile_3-2)
(down tile_2-3 tile_3-3)
(right tile_0-2 tile_0-1)
(right tile_0-3 tile_0-2)
(right tile_1-2 tile_1-1)
(right tile_1-3 tile_1-2)
(right tile_2-2 tile_2-1)
(right tile_2-3 tile_2-2)
(right tile_3-2 tile_3-1)
(right tile_3-3 tile_3-2)
(left tile_0-1 tile_0-2)
(left tile_0-2 tile_0-3)
(left tile_1-1 tile_1-2)
(left tile_1-2 tile_1-3)
(left tile_2-1 tile_2-2)
(left tile_2-2 tile_2-3)
(left tile_3-1 tile_3-2)
(left tile_3-2 tile_3-3)
)
(:goal (and
(painted tile_1-1 white)
(painted tile_1-2 black)
(painted tile_1-3 white)
(painted tile_2-1 black)
(painted tile_2-2 white)
(painted tile_2-3 black)
(painted tile_3-1 white)
(painted tile_3-2 black)
(painted tile_3-3 white)
))
(:metric minimize (total-cost))
)