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opt-p04-008.pddl
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opt-p04-008.pddl
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(define (problem prob008)
(:domain floor-tile)
(:objects tile_0-1 tile_0-2 tile_0-3 tile_0-4
tile_1-1 tile_1-2 tile_1-3 tile_1-4
tile_2-1 tile_2-2 tile_2-3 tile_2-4
tile_3-1 tile_3-2 tile_3-3 tile_3-4
tile_4-1 tile_4-2 tile_4-3 tile_4-4 - tile
robot1 robot2 - robot
white black - color
)
(:init
(= (total-cost) 0)
(robot-at robot1 tile_0-1)
(robot-has robot1 white)
(robot-at robot2 tile_1-3)
(robot-has robot2 black)
(available-color white)
(available-color black)
(clear tile_0-2)
(clear tile_0-3)
(clear tile_0-4)
(clear tile_1-1)
(clear tile_1-2)
(clear tile_1-4)
(clear tile_2-1)
(clear tile_2-2)
(clear tile_2-3)
(clear tile_2-4)
(clear tile_3-1)
(clear tile_3-2)
(clear tile_3-3)
(clear tile_3-4)
(clear tile_4-1)
(clear tile_4-2)
(clear tile_4-3)
(clear tile_4-4)
(up tile_1-1 tile_0-1)
(up tile_1-2 tile_0-2)
(up tile_1-3 tile_0-3)
(up tile_1-4 tile_0-4)
(up tile_2-1 tile_1-1)
(up tile_2-2 tile_1-2)
(up tile_2-3 tile_1-3)
(up tile_2-4 tile_1-4)
(up tile_3-1 tile_2-1)
(up tile_3-2 tile_2-2)
(up tile_3-3 tile_2-3)
(up tile_3-4 tile_2-4)
(up tile_4-1 tile_3-1)
(up tile_4-2 tile_3-2)
(up tile_4-3 tile_3-3)
(up tile_4-4 tile_3-4)
(down tile_0-1 tile_1-1)
(down tile_0-2 tile_1-2)
(down tile_0-3 tile_1-3)
(down tile_0-4 tile_1-4)
(down tile_1-1 tile_2-1)
(down tile_1-2 tile_2-2)
(down tile_1-3 tile_2-3)
(down tile_1-4 tile_2-4)
(down tile_2-1 tile_3-1)
(down tile_2-2 tile_3-2)
(down tile_2-3 tile_3-3)
(down tile_2-4 tile_3-4)
(down tile_3-1 tile_4-1)
(down tile_3-2 tile_4-2)
(down tile_3-3 tile_4-3)
(down tile_3-4 tile_4-4)
(right tile_0-2 tile_0-1)
(right tile_0-3 tile_0-2)
(right tile_0-4 tile_0-3)
(right tile_1-2 tile_1-1)
(right tile_1-3 tile_1-2)
(right tile_1-4 tile_1-3)
(right tile_2-2 tile_2-1)
(right tile_2-3 tile_2-2)
(right tile_2-4 tile_2-3)
(right tile_3-2 tile_3-1)
(right tile_3-3 tile_3-2)
(right tile_3-4 tile_3-3)
(right tile_4-2 tile_4-1)
(right tile_4-3 tile_4-2)
(right tile_4-4 tile_4-3)
(left tile_0-1 tile_0-2)
(left tile_0-2 tile_0-3)
(left tile_0-3 tile_0-4)
(left tile_1-1 tile_1-2)
(left tile_1-2 tile_1-3)
(left tile_1-3 tile_1-4)
(left tile_2-1 tile_2-2)
(left tile_2-2 tile_2-3)
(left tile_2-3 tile_2-4)
(left tile_3-1 tile_3-2)
(left tile_3-2 tile_3-3)
(left tile_3-3 tile_3-4)
(left tile_4-1 tile_4-2)
(left tile_4-2 tile_4-3)
(left tile_4-3 tile_4-4)
)
(:goal (and
(painted tile_1-1 white)
(painted tile_1-2 black)
(painted tile_1-3 white)
(painted tile_1-4 black)
(painted tile_2-1 black)
(painted tile_2-2 white)
(painted tile_2-3 black)
(painted tile_2-4 white)
(painted tile_3-1 white)
(painted tile_3-2 black)
(painted tile_3-3 white)
(painted tile_3-4 black)
(painted tile_4-1 black)
(painted tile_4-2 white)
(painted tile_4-3 black)
(painted tile_4-4 white)
))
(:metric minimize (total-cost))
)