1575-nested-structure-definition.yaml

version: 1
name: Structure recognizer - nested structure
description: |
  Ensure nested structures are assembled correctly.
  Demonstrate structure recognition both before
  a member is removed and after replacing it.
creative: false
objectives:
  - teaser: Re-recognized
    prerequisite: grab_tree
    goal:
      - |
        Replace `tree`{=entity} after grabbing.
        The `double ring`{=structure} structure should be recognized again.
    condition: |
      foundStructure <- structure "double ring" 0;
      return $ case foundStructure (\_. false) (\_. true);
  - teaser: Pre-recognized
    id: pre_recognized
    prerequisite:
      not: grab_tree
    goal:
      - |
        Pre-placed structure must be recognized
    condition: |
      foundStructure <- structure "double ring" 0;
      return $ case foundStructure (\_. false) (\_. true);
  - teaser: Grab tree
    id: grab_tree
    goal:
      - |
        Grab a `tree`{=entity}
    condition: |
      as base {
        has "tree";
      }
solution: |
  move; move;
  t <- grab;
  place t;
robots:
  - name: base
    dir: south
    devices:
      - grabber
      - treads
structures:
  - name: double ring
    recognize: [north]
    structure:
      palette:
        's': [ice, tree]
      mask: '.'
      structures:
        - name: treering
          structure:
            palette:
              'p': [dirt, tree]
            map: |
              p
              p
      placements:
        - src: treering
          offset: [0, 0]
        - src: treering
          offset: [2, 0]
      map: |
        .s.
        ...
  - name: flowerbox
    recognize: [north]
    structure:
      palette:
        'f': [ice, flower]
      mask: '.'
      map: |
        fff
        f.f
        f.f
        fff
known: [tree, flower]
world:
  name: root
  dsl: |
    {blank}
  placements:
    - src: double ring
      offset: [4, -2]
    - src: flowerbox
      offset: [1, 0]
  palette:
    '.': [grass]
    'B': [grass, null, base]
  upperleft: [-4, 7]
  map: |
    ....B...
    ........
    ........
    ........
    ........