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From: pjd@demon.siemens.com (dr. funk)
Newsgroups: comp.edu
Subject: Logo ES (robbie rules)
Message-ID: <54195@siemens.siemens.com>
Date: 1 Mar 91 14:15:21 GMT
Sender: news@siemens.siemens.com
Distribution: na
Organization: siemens corporate research inc
Lines: 73

TO INIT.ROBBIE
MAKE "RULE.BASE []
P1 P2 P3 P4 P5 P6 P7
RECYCLE
(PR NODES [free nodes.])
END

TO P1
RULE "P1
PRED [PUT.ON #>OBJECT #>SUPPORT]
ACTION [MARK #*#*]
ACTION [SHOVE [PUT.AT #<OBJECT [SPACE ON #<SUPPORT]]]
END.OF.RULE
END

TO P2
RULE "P2
PRED [PUT.AT #>OBJECT #>NEWPLACE]
ACTION [MARK #*#*]
ACTION [SHOVE [TARGET #<OBJECT #<NEWPLACE]]
ACTION [SHOVE [GRASP #<OBJECT]]
END.OF.RULE
END

TO P3
RULE "P3
PRED [MOVE #>OBJECT]
PRED [#>SUPPORT SUPPORTS #<OBJECT]
ACTION [MARK [#<SUPPORT SUPPORTS #<OBJECT]]
END.OF.RULE
END

TO P4
RULE "P4
PRED [MOVE #>OBJECT]
ACTION [MARK #*#*]
ACTION [NOTICE [TARGET #<OBJECT #>NEWPLACE]]
ACTION [SEND [Move.hand #<NEWPLACE]]
ACTION [SEND [Ungrasp]]
END.OF.RULE
END

TO P5
RULE "P5
PRED [GRASP #>OBJECT]
PRED [#<OBJECT SUPPORTS NOTHING]
ACTION [MARK #*#*]
ACTION [SHOVE [MOVE #<OBJECT]]
ACTION [SEND [Move.hand [TOP OF #<OBJECT]]]
ACTION [SEND [Grasp #<OBJECT]]
END.OF.RULE
END

TO P6
RULE "P6
PRED [GRASP #>OBJECT]
PRED [#<OBJECT SUPPORTS #>OBSTRUCTION]
ACTION [SHOVE [PUT.ON #<OBSTRUCTION FLOOR]]
END.OF.RULE
END

TO P7
RULE "P7
PRED [GRASP #>OBJECT]
ACTION [RECEIVE [What is on #<OBJECT]]
ACTION [NOTICE [GRASP #<OBJECT]]
END.OF.RULE
END

--
paul j. drongowski
siemens corporate research inc    pjd@demon.siemens.com
princeton, new jersey 08540       (617) 734-6547