00100	(ADD (IF-NEEDED STEP-UP (ON !?(X(ROBOT !,X)) !?(Z(BOX !,Z)))
00200	"AUX"((CS CONTEXT)(C1(PUSH-CONTEXT)) Z1 Z2 Y)
00250	(CSETQ CONTEXT C1)
00275	(REMOVE 'STEP-UP)
00287	(CSETQ Z1(FETCH !"(ON !;X !>Y)))
00300	:L(TRY-NEXT Z1 '(GO 'ENDA ))
00400	(CSETQ Z2(FETCH !"(STACKED ,Z ,Y)))
00500	(TRY-NEXT Z2 '(GO 'LA))
00600	(PRINT !"(STEP_UP ,X ,Y ,Z))
00700	(ADD !"(ON ,X ,Z))
00800	(AU-REVOIR(INSTANCE)) 
00850	:ENDA(CSETQ CONTEXT CS)(ADIEU)
00875	:LA(CSETQ CONTEXT CS)(CSETQ C1(PUSH-CONTEXT))(GO 'L)
00887	)
00900	)
     

00100	(ADD (IF-NEEDED CLIMB(ONTOP !>(X(ROBOT !,X)))
00200	"AUX"((CS CONTEXT)(C1(PUSH-CONTEXT))C2 C3 C4 Z1 Z2 Z3 Z4 Z5 V W Y Z)
00300	(CSETQ CONTEXT C1)(CSETQ Z1(FETCH !"(ON ,X !>Y)))
00350	:L(TRY-NEXT Z1 '(GO 'ENDA))
00375	(CSETQ C2(PUSH-CONTEXT))(CSETQ CONTEXT C2)
00400	(CSETQ Z2(FETCH !"(STACKED !>V ,Y)))
00500	:M(TRY-NEXT Z2 '(GO 'LA))
00550	(CSETQ C3(PUSH-CONTEXT))(CSETQ CONTEXT C3)
00600	(CSETQ Z3(FETCH !"(ON ,X ,V)))
00700	:N(TRY-NEXT Z3 '(GO 'MA))
00800	(CSETQ Z4(FETCH !"(ON ,X !>Z)))
00850	(CSETQ C4(PUSH-CONTEXT))(CSETQ CONTEXT C4)
00900	:O(TRY-NEXT Z4 '(GO 'NA))
01000	(CSETQ Z5(FETCH !"(STACKED !>W ,Z)))
01100	(TRY-NEXT Z4 '(GO 'OA))
01200	(ADD !"(ONTOP ,X))
01300	(PRINT !"(ONTOP ,X))
01400	(AU-REVOIR(INSTANCE))
01500	:LA(CSETQ CONTEXT CS)(CSETQ C1(PUSH-CONTEXT))(GO L)
01510	:MA(CSETQ CONTEXT C1)(CSETQ C2(PUSH-CONTEXT))(GO M)
01520	:NA(CSETQ CONTEXT C2)(CSETQ C3(PUSH-CONTEXT))(GO N)
01530	:OA(CSETQ CONTEXT C3)(CSETQ C4(PUSH-CONTEXT))(GO O)
01540	:ENDA(CSETQ CONTEXT CS)(ADIEU))
01600	)
     

00100	(ADD(IF-NEEDED STAND-ON(ON !?(X(ROBOT !,X)) !?(Z(BOX !,Z)))
00200	   "AUX"((CS CONTEXT)(C1(PUSH-CONTEXT)) Z1 Z2 Y)
00250	(CSETQ CONTEXT C1)
00280	(CSETQ Z1(FETCH !"(ATR !;X !>Y)))
00300	:L(TRY-NEXT Z1 '(GO 'ENDA ))
00350	(CSETQ C2(PUSH-CONTEXT))(CSETQ CONTEXT C2)
00400	(CSETQ Z2(FETCH !"(ATB !;Z ,Y)))
00500	(TRY-NEXT Z2 '(GO 'LA))
00650	(ADD !"(ON ,X ,Z))
00675	(PRINT !"(STAND-ON ,X ,Z))
00700	(AU-REVOIR(INSTANCE))
00710	:ENDA(CSETQ CONTEXT CS)(ADIEU)
00720	:LA(CSETQ CONTEXT CS)(CSETQ C1(PUSH-CONTEXT))(GO 'L)
00730	)
00800	)
00900	(DE ROBOT(X)(MEMQ X ROB))(DE BOX(X)(MEMQ X BOX))
01000	(SETQ ROB '(M))(SETQ BOX '(B1 B2 B3))
01100	(ADD '(ATB B1 L))(ADD '(STACKED B2 B1)) (ADD '(STACKED B3 B2))
01200	(ADD '(ATR M L))(CSETQ YY CONTEXT)(CSETQ Z(FETCH '(ON M B1)))(TRY-NEXT Z)
01250	(PRINT CONTEXT)(CSETQ CONTEXT YY)(CSETQ Z(FETCH '(ONTOP M)))
01275	(TRY-NEXT Z)
01300