(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_4-1 tile_4-2 tile_4-3 - 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_1-2) (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_1-3) (clear tile_2-1) (clear tile_2-2) (clear tile_2-3) (clear tile_3-2) (clear tile_3-3) (clear tile_4-1) (clear tile_4-2) (clear tile_4-3) (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) (up tile_4-1 tile_3-1) (up tile_4-2 tile_3-2) (up tile_4-3 tile_3-3) (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) (down tile_3-1 tile_4-1) (down tile_3-2 tile_4-2) (down tile_3-3 tile_4-3) (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) (right tile_4-2 tile_4-1) (right tile_4-3 tile_4-2) (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) (left tile_4-1 tile_4-2) (left tile_4-2 tile_4-3) ) (: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) (painted tile_4-1 black) (painted tile_4-2 white) (painted tile_4-3 black) )) (:metric minimize (total-cost)) )