sokoban levels (#1269)

Three simple (demonstration) levels plus one serious challenge, `foresight.yaml`.

![image](https://github.com/swarm-game/swarm/assets/261693/f1f298e1-13ee-4f8d-b153-8c50f5d53ba8)

data/scenarios/Challenges/00-ORDER.txt

@@ -13,3 +13,4 @@ wolf-goat-cabbage.yaml
 friend.yaml
 Mazes
 Ranching
+Sokoban

data/scenarios/Challenges/Sokoban/00-ORDER.txt

@@ -0,0 +1,3 @@
+foresight.yaml
+Simple
+Gadgets

data/scenarios/Challenges/Sokoban/Gadgets/00-ORDER.txt

@@ -0,0 +1,2 @@
+no-reverse.yaml
+one-way.yaml

data/scenarios/Challenges/Sokoban/Gadgets/README.md

@@ -0,0 +1,3 @@
+Taken from this paper:
+"PushPush and Push-1 are NP-hard in 2D"
+https://arxiv.org/abs/cs/0007021

data/scenarios/Challenges/Sokoban/Gadgets/no-reverse.yaml

@@ -0,0 +1,82 @@
+version: 1
+name: No-reverse gadget
+author: Karl Ostmo
+description: |
+  Once a robot passes from left to right, they cannot return they way they came.
+creative: false
+seed: 0
+objectives:
+  - goal:
+      - Grab the flower.
+    condition: |
+      as base {
+        has "flower";
+      };
+robots:
+  - name: base
+    dir: [0, -1]
+    display:
+      attr: gold
+    devices:
+      - branch predictor
+      - ADT calculator
+      - comparator
+      - compass
+      - dictionary
+      - dozer blade
+      - grabber
+      - keyboard
+      - lambda
+      - logger
+      - scanner
+      - strange loop
+      - treads
+      - workbench
+solution: |
+  move;
+  move;
+  turn left;
+  move;
+  turn right;
+  move;
+  turn left;
+  move;
+  move;
+  turn left;
+  move;
+  turn left;
+  push;
+  turn right;
+  move;
+  move;
+  turn right;
+  push;
+  turn right;
+  push;
+  turn left;
+  move;
+  move;
+  grab;
+entities:
+  - name: monolith
+    display:
+      char: '@'
+    description:
+    - Pushable rock
+    properties: [known, unwalkable, portable]
+known: [mountain, water, flower]
+world:
+  default: [grass, water]
+  upperleft: [-1, 1]
+  offset: false
+  palette:
+    'B': [grass, null, base]
+    '.': [grass]
+    '@': [grass, monolith]
+    'A': [grass, mountain]
+    '*': [grass, flower]
+  map: |
+    BA.@.A
+    .A.@.*
+    ..@.AA
+    A...AA

data/scenarios/Challenges/Sokoban/Gadgets/one-way.yaml

@@ -0,0 +1,65 @@
+version: 1
+name: One-way gadget
+author: Karl Ostmo
+description: |
+  Initially permits passage only from left to right.
+creative: false
+seed: 0
+objectives:
+  - goal:
+      - Grab the flower.
+    condition: |
+      as base {
+        has "flower";
+      };
+robots:
+  - name: base
+    dir: [1, 0]
+    display:
+      attr: gold
+    devices:
+      - branch predictor
+      - ADT calculator
+      - comparator
+      - compass
+      - dictionary
+      - dozer blade
+      - grabber
+      - keyboard
+      - lambda
+      - logger
+      - scanner
+      - strange loop
+      - treads
+      - workbench
+solution: |
+  move;
+  move;
+  push;
+  turn right;
+  move;
+  move;
+  grab;
+entities:
+  - name: monolith
+    display:
+      char: '@'
+    description:
+    - Pushable rock
+    properties: [known, unwalkable, portable]
+known: [mountain, water, flower]
+world:
+  default: [grass, water]
+  upperleft: [-1, 1]
+  offset: false
+  palette:
+    'B': [grass, null, base]
+    '.': [grass]
+    '@': [grass, monolith]
+    'A': [grass, mountain]
+    '*': [grass, flower]
+  map: |
+    AAAAAA
+    B..@.A
+    AAA.AA
+    AAA*AA

data/scenarios/Challenges/Sokoban/Simple/00-ORDER.txt

@@ -0,0 +1 @@
+trapdoor.yaml

data/scenarios/Challenges/Sokoban/Simple/trapdoor.yaml

@@ -0,0 +1,117 @@
+version: 1
+name: Trapdoor 1
+author: Karl Ostmo
+# NOTES: There is a way to push the blocks
+# so that you cannot get back the way you
+# came. This is the "trap door".
+# But there is one other route that will allow
+# you to go back.
+description: |
+  Bring the flower back.
+creative: false
+seed: 0
+objectives:
+  - goal:
+      - Place the flower on the target.
+      - You may have to start over if you get stuck.
+    condition: |
+      as base {
+        teleport self (0,0);
+        ishere "flower";
+      };
+robots:
+  - name: base
+    dir: [1, 0]
+    display:
+      attr: gold
+    devices:
+      - branch predictor
+      - ADT calculator
+      - comparator
+      - compass
+      - dictionary
+      - dozer blade
+      - grabber
+      - keyboard
+      - lambda
+      - logger
+      - scanner
+      - strange loop
+      - treads
+      - workbench
+solution: |
+  def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+  move;
+  turn right;
+  move;
+  turn left;
+
+  doN 2 move;
+  turn left;
+  move;
+  turn right;
+  move;
+  turn left;
+  move;
+  turn right;
+  doN 2 move;
+  turn right;
+  push;
+  turn back;
+  move;
+  turn left;
+  doN 2 move;
+  turn left;
+  move;
+  turn left;
+  push;
+  turn right;
+  move;
+  turn left;
+  doN 3 push;
+  turn left;
+  doN 2 move;
+  turn right;
+  doN 2 move;
+  f <- grab;
+  turn back;
+
+  doN 2 move;
+  turn left;
+  doN 2 move;
+  turn right;
+  doN 3 move;
+  turn right;
+  move;
+  turn left;
+  doN 2 move;
+  turn left;
+  move;
+  turn right;
+  doN 3 move;
+  turn right;
+  move;
+  place f;
+entities:
+  - name: monolith
+    display:
+      char: '@'
+    description:
+    - Pushable rock
+    properties: [known, unwalkable, portable]
+known: [mountain, water, flower]
+world:
+  default: [grass, water]
+  upperleft: [-1, 1]
+  offset: false
+  palette:
+    'B': [ice, null, base]
+    '.': [grass]
+    'x': [dirt]
+    '@': [grass, monolith]
+    'A': [grass, mountain]
+    '*': [grass, flower]
+  map: |
+    xxxAA...A..*
+    xBxA..@@A...
+    xxx..A.....A

data/scenarios/Challenges/Sokoban/_foresight/solution.sw

@@ -0,0 +1,198 @@
+def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+def moveUntilBlocked =
+    isBlocked <- blocked;
+    if isBlocked {} {
+        move;
+        moveUntilBlocked;
+    }
+    end;
+
+def pushUntilBarrier =
+    try {
+        push;
+        pushUntilBarrier;
+    } {}
+    end;
+
+def goAroundCell =
+    turn right;
+    move;
+    turn left;
+    doN 2 move;
+    turn left;
+    end;
+
+def repositionFromMiddle =
+    turn right;
+    move;
+    turn left;
+    move;
+    turn right;
+    moveUntilBlocked;
+    end;
+
+def childShared =
+    goAroundCell;
+    moveUntilBlocked;
+    end;
+
+def childSharedPrep =
+    move;
+    turn back;
+    watch forward;
+    wait 200;
+    end;
+
+def childSharedWait =
+    childSharedPrep;
+    pushUntilBarrier;
+    end;
+
+def firstChild =
+    childShared;
+    turn right;
+    childSharedWait;
+
+    doN 4 (turn left; moveUntilBlocked);
+    repositionFromMiddle;
+    turn left;
+    childSharedWait;
+    end;
+
+def secondChild =
+    childShared;
+
+    doN 1 (turn left; moveUntilBlocked);
+    
+    turn right;
+    childSharedWait;
+    doN 3 (turn left; moveUntilBlocked);
+
+    repositionFromMiddle;
+    doN 1 (turn right; moveUntilBlocked);
+    turn left;
+    childSharedWait;
+    end;
+
+def thirdChild =
+    childShared;
+    
+    doN 2 (turn left; moveUntilBlocked);
+    turn right;
+    childSharedWait;
+    doN 2 (turn left; moveUntilBlocked);
+    
+    repositionFromMiddle;
+    doN 2 (turn right; moveUntilBlocked);
+    turn left;
+    childSharedWait;
+    end;
+
+def fourthChild =
+    childShared;
+    doN 3 (turn left; moveUntilBlocked);
+    turn right;
+    childSharedWait;
+    doN 1 (turn left; moveUntilBlocked);
+
+    repositionFromMiddle;
+    doN 3 (turn right; moveUntilBlocked);
+    turn left;
+    childSharedWait;
+    end;
+
+def fifthChild =
+    childShared;
+    doN 4 (turn left; moveUntilBlocked);
+    turn right;
+    childSharedPrep;
+    doN 2 push;
+
+    repositionFromMiddle;
+    doN 4 (turn right; moveUntilBlocked);
+    turn left;
+    childSharedWait;
+
+    turn right;
+    move;
+    turn left;
+    move;
+    turn left;
+    doN 3 push;
+    end;
+
+def firstLeg =
+    build {fifthChild};
+    build {fourthChild};
+    build {thirdChild};
+    build {secondChild};
+    build {firstChild};
+    wait 10;
+    
+    push;
+    turn right;
+    move;
+    turn left;
+    move;
+    turn left;
+    pushUntilBarrier;
+
+    wait 4;
+    move;
+    doN 5 (turn left; moveUntilBlocked);
+
+    turn right;
+    move;
+    turn left;
+    doN 2 move;
+    turn left;
+    doN 2 move;
+    turn left;
+    move;
+    turn left;
+    doN 3 push;
+    end;
+
+def getToCaveEntrance =
+    moveUntilBlocked;
+    turn right;
+    move;
+    turn left;
+    move;
+    turn right;
+    move;
+    turn left;
+    doN 2 move;
+    turn left;
+    move;
+    turn left;
+    push;
+    turn right;
+    doN 2 move;
+    turn right;
+    push;
+    turn right;
+    push;
+    turn left;
+    doN 3 move;
+    turn left;
+    doN 3 move;
+
+    x <- grab;
+    equip x;
+    doN 18 move;
+    turn left;
+    doN 5 move;
+    turn left;
+    move;
+    turn right;
+    doN 10 push;
+    end;
+
+def go =
+    getToCaveEntrance;
+    firstLeg;
+    end;
+
+go;

data/scenarios/Challenges/Sokoban/foresight.yaml

@@ -0,0 +1,133 @@
+version: 1
+name: Foresight
+author: Karl Ostmo
+description: |
+  Have assistants take their marks to execute the heist.
+creative: false
+seed: 0
+attrs:
+  - name: barrier
+    fg: "#222222"
+    bg: "#111111"
+  - name: bluish
+    fg: "#bbbbff"
+objectives:
+  - goal:
+      - Push a monolith onto the base's initial location.
+    condition: |
+      as base {
+        teleport self (0,0);
+        ishere "monolith";
+      };
+  - teaser: Pick flower
+    hidden: true
+    optional: true
+    goal:
+      - Grab the flower
+    condition: |
+      as base {
+        has "flower";
+      };
+robots:
+  - name: base
+    display:
+      attr: bluish
+    dir: [0, 1]
+    devices:
+      - branch predictor
+      - ADT calculator
+      - comparator
+      - compass
+      - dictionary
+      - dozer blade
+      - grabber
+      - hourglass
+      - keyboard
+      - lambda
+      - logger
+      - net
+      - scanner
+      - strange loop
+      - treads
+      - welder
+    inventory:
+      - [5, dozer blade]
+      - [5, ADT calculator]
+      - [5, branch predictor]
+      - [5, hourglass]
+      - [5, comparator]
+      - [5, counter]
+      - [5, dictionary]
+      - [5, grabber]
+      - [5, lambda]
+      - [5, lodestone]
+      - [5, logger]
+      - [5, net]
+      - [5, rolex]
+      - [5, scanner]
+      - [5, solar panel]
+      - [5, string]
+      - [5, strange loop]
+      - [5, treads]
+solution: |
+   run "scenarios/Challenges/Sokoban/_foresight/solution.sw"
+entities:
+  - name: monolith
+    display:
+      char: '@'
+      attr: gold
+    description:
+    - Pushable rock
+    properties: [known, unwalkable, portable]
+  - name: crate
+    display:
+      attr: wood
+      char: '▪'
+    description:
+    - Pushable crate
+    properties: [known, portable, unwalkable]
+  - name: wall
+    display:
+      attr: barrier
+      char: '#'
+    description:
+    - Unmovable barrier
+    properties: [known, unwalkable]
+known: [mountain, water, 3D printer, flower]
+world:
+  default: [grass, water]
+  upperleft: [-21, 10]
+  offset: false
+  palette:
+    'B': [ice, null, base]
+    '.': [grass]
+    '*': [grass, flower]
+    'b': [grass, boat]
+    '3': [grass, 3D printer]
+    '@': [grass, monolith]
+    'c': [grass, crate]
+    'A': [grass, wall]
+    'w': [dirt, water]
+    'x': [stone]
+    'z': [dirt]
+  map: |
+    ..................3...A.
+    .................AAAA.A*
+    .AAAAAAAAAAAAAAAAA.A..AA
+    .A.................Acc..
+    .AA.AAAAAAAAAAAAAA.A..c.
+    ..A.AA.AAAAAAAAAAA.AAA..
+    .@A.AA...........A.....A
+    ..A.AA.AAAAAAAA.AA....AA
+    ..A.AA.AzzzA.AA.A.......
+    ..A.AA.Azzz..AA.A...xxx.
+    ..A.AA.AA..A.AA.A...xBx.
+    ..A.A.....AA.AA.AAA.xxx.
+    ..A.AAAAA.AA.AA.A.......
+    ..A.AAAAAAAA.AA.A.......
+    ..A...........A.A.......
+    ..A.AAAAAAAAAAA.A.......
+    ..AAAAAAAAAAAAA.A.......
+    ................A.......
+    .AAAAAAAAAAAAAA.A.......
+    .............bAAA.......

data/scenarios/Testing/1234-push-command.yaml

@@ -49,7 +49,6 @@ entities:
   description:
   - Pushable crate
   properties: [known, portable, unwalkable]
-  capabilities: [push]
 known: [tree, flower, boulder, water]
 world:
   default: [blank]

test/integration/Main.hs

@@ -207,6 +207,13 @@ testScenarioSolution _ci _em =
             [ testSolution Default "Challenges/Ranching/capture"
             , testSolution (Sec 30) "Challenges/Ranching/gated-paddock"
             ]
+        , testGroup
+            "Sokoban"
+            [ testSolution Default "Challenges/Sokoban/foresight.yaml"
+            , testSolution Default "Challenges/Sokoban/Gadgets/no-reverse.yaml"
+            , testSolution Default "Challenges/Sokoban/Gadgets/one-way.yaml"
+            , testSolution Default "Challenges/Sokoban/Simple/trapdoor.yaml"
+            ]
         ]
     , testGroup
         "Regression tests"