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The source code is very well commented, a high quality piece of engineering.

It's seems to be in a Lisp dialect that predates common lisp unfortunately.

Fortunately it is the Lisp dialect much of Common Lisp was based on: Maclisp.

And is there a way it from my machine without installing MacLisp? is there some way to translate MacLisp into Common Lisp?

There are already SHRDLU versions in Common Lisp.