;################################################################
;
;		DATA >
;
;   initial microplanner data base for the blocks world
;
;################################################################

(THFLUSH THASSERTION)

(SETQ ATABLE (QUOTE ((:B1 (110 100 0) (100 100 100))
		     (:B2 (110 100 100) (100 100 100))
		     (:B3 (400 0 0) (200 200 200))
		     (:B4 (640 640 1) (200 200 200))
		     (:B5 (500 100 200) (100 100 300))
		     (:B6 (0 300 0) (200 300 300))
		     (:B7 (0 240 300) (200 200 200))
		     (:B10 (300 640 0) (200 100 400))
		     (:BW1 (570 570 0) (10 400 300))
		     (:BW2 (570 570 0) (400 10 300))
		     (:BW3 (570 1200 0) (400 10 300))
		     (:BW4 (1200 570 0) (10 400 300))
		     (:BOX (600 600 0) (400 400 1)))))

(SETQ DISPLAY-AS (QUOTE
 ((:B1 !DISPLAY !BLOCK (110 100 0) (100 100 100) RED)
(:B2 !DISPLAY !PYRAMID (110 100 100 ) (100 100 100) GREEN)
(:B3 !DISPLAY !BLOCK (400 0 0) (200 200 200) GREEN)
(:B4 !DISPLAY !PYRAMID (640 640 1) (200 200 200) BLUE)
(:B5 !DISPLAY !PYRAMID (500 100 200) (100 100 300) RED)
(:B6 !DISPLAY !BLOCK (0 300 0) (200 300 300) RED)
(:B7 !DISPLAY !BLOCK (0 240 300) (200 200 200) GREEN)
(:B10 !DISPLAY !BLOCK (300 640 0) (200 100 400) BLUE)
(:HAND !DISPLAY !HAND (40 0 0) (0 0 0) WHITE)
(:TABLE !DISPLAY !TABLE (0 0 0) (1000 1000 0) BLACK)
(:BOX !DISPLAY !BOX (600 600 0) (376 376 300) WHITE)) ))

(THDATA)

((!IS :B1 !BLOCK))

((!IS :B2 !PYRAMID))

((!IS :B3 !BLOCK))

((!IS :B4 !PYRAMID))

((!IS :B5 !PYRAMID))

((!IS :B6 !BLOCK))

((!IS :B7 !BLOCK))

((!IS :B10 !BLOCK))

((!IS !RED !COLOR))

((!IS !BLUE !COLOR))

((!IS !GREEN !COLOR))

((!IS !WHITE !COLOR))

((!IS !BLACK !COLOR))

((!IS !RECTANGULAR !SHAPE))

((!IS !ROUND !SHAPE))

((!IS !POINTED !SHAPE))

((!IS :SHRDLU !ROBOT))
((!IS :FRIEND !PERSON))
((!IS :HAND !HAND))
((!AT :B1 (100 100 0)))

((!AT :B2 (100 100 100)))

((!AT :B3 (400 0 0)))

((!AT :B4 (640 640 1)))
((!AT :B5 (500 100 200)))

((!AT :B6 (0 300 0)))

((!AT :B7 (0 240 300)))

((!AT :B10 (300 640 0)))

((!SUPPORT :B1 :B2))

((!SUPPORT :B3 :B5))

((!SUPPORT :B6 :B7))
((!CLEARTOP :B2))
((!CLEARTOP :B4))
((!CLEARTOP :B5))
((!CLEARTOP :B7))
((!CLEARTOP :B10))

((!MANIP :B1))

((!MANIP :B2))

((!MANIP :B3))

((!MANIP :B4))

((!MANIP :B5))

((!MANIP :B6))

((!MANIP :B7))

((!MANIP :B10))

((!SUPPORT :TABLE :B1))

((!SUPPORT :TABLE :B3))

((!SUPPORT :BOX :B4))

((!SUPPORT :TABLE :B10))

((!SUPPORT :TABLE :B6))

((!SUPPORT :TABLE :BOX))

((!AT :BOX (600 600 0)))

((!IS :BOX !BOX))

((!IS :TABLE !TABLE))

((!CONTAIN :BOX :B4))

((!SHAPE :B1 !RECTANGULAR))

((!SHAPE :B3 !RECTANGULAR))

((!SHAPE :B2 !POINTED))

((!SHAPE :B4 !POINTED))

((!SHAPE :B5 !POINTED))
((!SHAPE :B6 !RECTANGULAR))

((!SHAPE :B7 !RECTANGULAR))

((!SHAPE :B10 !RECTANGULAR))

((!COLOR :B1 !RED))

((!COLOR :B2 !GREEN))

((!COLOR :B3 !GREEN))

((!COLOR :B4 !BLUE))

((!COLOR :B5 !RED))

((!COLOR :B6 !RED))

((!COLOR :B7 !GREEN))

((!COLOR :B10 !BLUE))

((!COLOR :BOX !WHITE))

((!COLOR :TABLE !BLACK))

((!CALL :SHRDLU SHRDLU))
((!CALL :FRIEND YOU))
NIL

(SETQ HANDAT (SETQ HANDAT2 (QUOTE (40 0 0))))

(SETQ THTIME 0)

(THFLUSH HISTORY)

(ERRSET (STARTHISTORY))

(SETQ PLAN NIL)

(MAPC (QUOTE (LAMBDA (X Y) (PUTPROP X (LIST Y) (QUOTE COLOR))))
      (QUOTE (:B1 :B2 :B3 :B4 :B5 :B6 :B7 :B10))
      (QUOTE (CB1 CB2 CB3 CB4 CB5 CB6 CB7 CB10)))

(IOC V)