[  change-color(robot, current_color, new_color)  paint-up(robot, tile_above, current_tile, color)  paint-down(robot, tile_below, current_tile, color)  up(robot, current_tile, tile_above)  down(robot, current_tile, tile_below)  right(robot, current_tile, tile_right)  left(robot, current_tile, tile_left)]