diff --git a/data/entities.yaml b/data/entities.yaml
index c492aa884..23615f0ef 100644
--- a/data/entities.yaml
+++ b/data/entities.yaml
@@ -635,6 +635,17 @@
 ############################################################
 ### Utility ################################################
 ############################################################
+- name: wall
+  display:
+    char: '+'
+    attr: entity
+  description:
+    - A wall
+  properties: [unwalkable, known, boundary]
+# following are "legacy" walls that do not connect automatically,
+# but require explicitly placing each one - this can be used for
+# precise control, but in most cases the simple 'wall' is better
+# because the 'boundary' updates it to look nice
 - name: upper left corner
   display:
     attr: entity
diff --git a/data/scenarios/Tutorials/move.yaml b/data/scenarios/Tutorials/move.yaml
index 9df927214..dcaa2769d 100644
--- a/data/scenarios/Tutorials/move.yaml
+++ b/data/scenarios/Tutorials/move.yaml
@@ -6,49 +6,60 @@ objectives:
   - id: move_to_first_flower
     teaser: Get the flower
     goal:
-      - Robots can use the `move` command to move forward one unit in the direction they are currently facing.
-      - To complete this challenge, move your robot two spaces to the right, to the coordinates `(2,0)` marked with the purple `flower`{=entity}.
-      - Note that you can chain commands with semicolon, `;`{=snippet}.
-      - You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
+      - |
+        Robots can use the `move` command to move forward one unit in the direction they are currently facing.
+
+        To complete this challenge, move your robot two spaces to the right, to the coordinates `(2,0)`
+        marked with the purple `flower`{=entity}.
+
+        Note that you can chain commands with semicolon, `;`{=snippet}.
+
+        You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
     condition: |
-      r <- robotNamed "check";
-      w <- as r {count "Win"};
-      return (w >= 1)
+      as base {l <- whereami; return (l == (2,0))}
   - id: move_along_corridor
     teaser: Down the corridor
     goal:
-      - Good! Now you need to learn how to effectively repeat actions.
       - |
+        Good! Now you need to learn how to effectively repeat actions.
+
         Previously you could move twice by chaining the move command:
-      - |
-        ```
-        move; move
-        ```
-      - To reuse that command without having to retype it press the upward arrow on your keyboard. This will allow you to select previous commands.
-      - Ahead of you is a six steps long corridor. Move to its end, i.e. the coordinates `(8,0)` marked with the second purple `flower`{=entity}.
-      - You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
+
+        `move; move`
+
+        To reuse that command without having to retype it press the upward arrow on your keyboard.
+        This will allow you to select previous commands.
+
+        Ahead of you is a six steps long corridor. Move to its end, i.e. the coordinates `(8,0)` marked
+        with the second purple `flower`{=entity}.
+
+        You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
     condition: |
-      r <- robotNamed "check";
-      w <- as r {count "Win"};
-      return (w >= 2)
+      as base {l <- whereami; return (l == (8,0))}
     prerequisite: move_to_first_flower
   - id: move_northeast_corner
     teaser: To northeast corner
     goal:
-      - Well done! In addition to `move`, you can use the `turn` command to turn your robot, for example, `turn right` or `turn east`.
-      - Switch to the inventory view in the upper left (by clicking on it or typing **Alt+E**) and select the `treads`{=entity} device to read about the details. If the bottom-left info panel is not big enough to read the whole thing, you can hit **Enter** on the `treads`{=entity} device to pop out the description, or you can focus the info panel (with **Alt+T** or by clicking) and scroll it with arrow keys or **PgUp**/**PgDown**. When you're done reading, you can come back to the REPL prompt by clicking on it or typing **Alt+R**.
-      - Afterwards, move your robot to the coordinates `(8,4)` in the northeast corner marked with two flowers.
       - |
+        Well done! In addition to `move`, you can use the `turn` command to turn your robot, for example,
+        `turn right` or `turn east`.
+
+        Switch to the inventory view in the upper left (by clicking on it or typing **Alt+E**) and select
+        the `treads`{=entity} device to read about the details.
+        If the bottom-left info panel is not big enough to read the whole thing, you can hit **Enter**
+        on the `treads`{=entity} device to pop out the description, or you can focus the info panel
+        (with **Alt+T** or by clicking) and scroll it with arrow keys or **PgUp**/**PgDown**.
+        When you're done reading, you can come back to the REPL prompt by clicking on it or typing **Alt+R**.
+
+        Afterwards, move your robot to the coordinates `(8,4)` in the northeast corner marked with another flower.
+
         Remember, you can chain commands with `;`{=snippet}, for example:
-      - |
-        ```
-        move;move;move;move
-        ```
-      - You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
+
+        `move; move; move; move`
+
+        You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
     condition: |
-      r <- robotNamed "check";
-      w <- as r {count "Win"};
-      return (w >= 3)
+      as base {l <- whereami; return (l == (8,4))}
     prerequisite: move_along_corridor
   - goal:
       - Good job! You are now ready to move and turn on your own.
@@ -56,9 +67,7 @@ objectives:
       - Remember you can press the upward arrow on your keyboard to select previous commands.
       - You can open this popup window at any time to remind yourself of the goal using **Ctrl+G**.
     condition: |
-      r <- robotNamed "check";
-      w <- as r {count "Win"};
-      return (w >= 4)
+      as base {l <- whereami; return (l == (8,8))}
     prerequisite: move_northeast_corner
 solution: |
   // 0
@@ -83,52 +92,31 @@ known:
 world:
   palette:
     '.': [blank]
-    '*': [blank, flower, check]
-    'X': [blank, null, 1P flower]
-    'Y': [blank, null, 2P flower]
-    'Z': [blank, null, 3P flower]
     # FIRST ROOM
-    '┌': [blank, upper left corner]
-    '┐': [blank, upper right corner, 1S down and horizontal]
-    '└': [blank, lower left corner]
-    '┘': [blank, lower right corner, 1S up and horizontal]
-    '─': [blank, horizontal wall]
-    '│': [blank, vertical wall]
+    '0': [blank, wall]
+    'A': [blank, flower, check]
     # SECOND ROOM
-    '1': [blank, vertical wall]
-    '-': [blank, null, 1P horizontal]
-    '|': [blank, null, 1P vertical]
-    'c': [blank, null, 1P upper right, 1S left and vertical]
-    'b': [blank, null, 1P lower right]
-    'd': [blank, null, 1P horizontal, 2S up and horizontal]
+    '1': [blank, null, 1P wall]
+    'B': [blank, null, 1P flower]
     # THIRD ROOM
-    '2': [blank, null, 1P horizontal]
-    '~': [blank, null, 2P horizontal]
-    '/': [blank, null, 2P vertical]
-    'R': [blank, null, 2P upper right]
-    'L': [blank, null, 2P upper left, 3S down and horizontal]
-    'K': [blank, null, 2P vertical, 3S left and vertical]
+    '2': [blank, null, 2P wall]
+    'C': [blank, null, 2P flower]
     # FOURTH ROOM
-    '3': [blank, null, 2P vertical]
-    '_': [blank, null, 3P horizontal]
-    '\': [blank, null, 3P vertical]
-    'A': [blank, null, 3P lower left corner]
-    'B': [blank, null, 3P lower right]
-    'C': [blank, null, 3P upper right]
-    'D': [blank, null, 3P upper left]
+    '3': [blank, null, 3P wall]
+    'D': [blank, null, 3P flower]
   upperleft: [-1, 9]
   map: |
-    D_________C
-    \........Z\
-    \..D______B
-    \..\.......
-    \..A___L~~R
-    \......3.Y/
-    A______K../
-    ......./../
-    ┌───┐--d22c
-    │..*1....X|
-    └───┘-----b
+    33333333333
+    3........D3
+    3..33333333
+    3..3.......
+    3..33332222
+    3......2.C2
+    33333332..2
+    .......2..2
+    00000111111
+    0..A0....B1
+    00000111111
 # Font inspiration and a nicely visible separator:
 #
 # ███████ ██     ██  █████  ██████  ███    ███
@@ -150,209 +138,67 @@ robots:
   #################
   - name: check
     system: true
-    program: run "scenarios/Tutorials/move_check.sw"
-  #################
-  ## HORIZONTAL  ##
-  #################
-  - name: 1P horizontal
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="horizontal wall", room=1]);
-      m
-  - name: 2P horizontal
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="horizontal wall", room=2]);
-      m
-  - name: 3P horizontal
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="horizontal wall", room=3]);
-      m
-  #################
-  ## VERTICAL    ##
-  #################
-  - name: 1P vertical
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="vertical wall", room=1]);
-      m
-  - name: 2P vertical
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="vertical wall", room=2]);
-      m
-  - name: 3P vertical
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="vertical wall", room=3]);
-      m
-  #################
-  ## CORNERS     ##
-  #################
-  # the order is:
-  # up left   up right
-  #     D+----+C
-  #      |    |
-  #      |    |
-  #     A+----+B
-  # low left  low right
-  #########
-  ##  A  ##
-  #########
-  - name: 3P lower left corner
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="lower left corner", room=3]);
-      m
-  #########
-  ##  B  ##
-  #########
-  - name: 1P lower right
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="lower right corner", room=1]);
-      m
-  - name: 3P lower right
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="lower right corner", room=3]);
-      m
-  #########
-  ##  C  ##
-  #########
-  - name: 1P upper right
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="upper right corner", room=1]);
-      m
-  - name: 2P upper right
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="upper right corner", room=2]);
-      m
-  - name: 3P upper right
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="upper right corner", room=3]);
-      m
-  #########
-  ##  D  ##
-  #########
-  - name: 2P upper left
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="upper left corner", room=2]);
-      m
-  - name: 3P upper left
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="upper left corner", room=3]);
-      m
+    program: instant (run "scenarios/Tutorials/move_check.sw")
   #################
-  ## SEPARATORS  ##
+  ## WALLS       ##
   #################
-  # 1
-  - name: 1S down and horizontal
+  - name: 1P wall
     system: true
     program: |
       def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="S", entity="down and horizontal wall", room=1]);
-      m
-  - name: 1S up and horizontal
+      instant (
+        run "scenarios/Tutorials/move_surveil.sw";
+        main [entity="wall", room=1]
+      )
+  - name: 2P wall
     system: true
     program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="S", entity="up and horizontal wall", room=1]);
-      m
-  # 2
-  - name: 1S left and vertical
+      def main = \a. noop end
+      instant (
+        run "scenarios/Tutorials/move_surveil.sw";
+        main [entity="wall", room=2]
+      )
+  - name: 3P wall
     system: true
     program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="S", entity="left and vertical wall", room=2]);
-      m
-  - name: 2S up and horizontal
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="S", entity="up and horizontal wall", room=2]);
-      m
-  # 3
-  - name: 3S left and vertical
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="S", entity="left and vertical wall", room=3]);
-      m
-  - name: 3S down and horizontal
-    system: true
-    program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="S", entity="down and horizontal wall", room=3]);
-      m
+      def main = \a. noop end
+      instant (
+        run "scenarios/Tutorials/move_surveil.sw";
+        main [entity="wall", room=3]
+      )
   #################
   ## GARDENERS   ##
   #################
   - name: 1P flower
     system: true
     program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="flower", room=1]);
-      m
+      def main = \a. noop end
+      instant (
+        run "scenarios/Tutorials/move_surveil.sw";
+        main [entity="flower", room=1]
+      )
   - name: 2P flower
     system: true
     program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="flower", room=2]);
-      m
+      def main = \a. noop end
+      instant (
+        run "scenarios/Tutorials/move_surveil.sw";
+        main [entity="flower", room=2]
+      )
   - name: 3P flower
     system: true
     program: |
-      def main = \a. return noop end
-      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
-      main [action="P", entity="flower", room=3]);
-      m
+      def main = \a. noop end
+      instant (
+        run "scenarios/Tutorials/move_surveil.sw";
+        main [entity="flower", room=3]
+      )
 entities:
-  - name: Win
+  - name: door
     display:
-      char: W
-      attr: gold
+      char: 'D'
+      attr: entity
+      invisible: true
     description:
-      - This entity signals that the objective has been met.
+      - A wall
+    properties: [boundary]
diff --git a/data/scenarios/Tutorials/move_check.sw b/data/scenarios/Tutorials/move_check.sw
index b734dea54..a00ec1c27 100644
--- a/data/scenarios/Tutorials/move_check.sw
+++ b/data/scenarios/Tutorials/move_check.sw
@@ -1,67 +1,57 @@
-def until = \c. b <- c; if b {} {until c} end
-def untilSafe = \c. until ( try { c } { return false } ) end
-
-def orM = \p1.\p2. b1 <- p1; if b1 {return true} {p2} end
+def until = \cond. \c. b <- cond; if b {} {c; until cond c} end
 def abs = \x. if (x >= 0) {x} {-x} end
 
-def baseIsAt = \l.
+def open_door = create "door"; swap "door" end
+
+// TRICK:
+// we only check for base at this location
+// so we can sleep for as long as base will take to get here
+def get_dist = \l. \bl.
+  abs (fst l - fst bl) + abs (snd l - snd bl)
+end
+
+def waitForBaseAt = \l. \get_timeout.
     loc <- as base {whereami};
-    // TRICK:
-    // we only check for base at this or neighbor location
-    // so we can sleep for as long as base will take to get there
-    let dist = abs (fst l - fst loc) + abs (snd l - snd loc) in
-    if (dist > 2) {
-        wait $ dist - 1
-    } {};
-    return (loc == l)
+    if (loc == l) {
+        return true
+    } {
+        wait (get_timeout l loc);
+        waitForBaseAt l get_timeout
+    }
 end
 
 def room1 = 
     // l <- whereami;
     let l = (2, 0) in
-    untilSafe (baseIsAt l);
-    instant (
-        create "Win";
-        // open door
-        turn east; move; grab;
-    )
+    waitForBaseAt l (\_. \_. 1);
+    log "room 1 done";
+    // open door
+    turn east; move; open_door;
 end
 
 def room2 =
     let l = (8, 0) in
     teleport self l;
-    untilSafe (baseIsAt l);
-    instant (
-        create "Win";
-        // open doors
-        turn north; move; grab;
-        turn west; move; grab;
-    )
+    waitForBaseAt l get_dist;
+    log "room 2 done";
+    // open doors
+    turn north; move; open_door;
+    turn west; move; open_door;
 end
 
 def room3 =
-    let l = (7, 4) in
-    teleport self l;
-    untilSafe $ orM (baseIsAt l) (baseIsAt (8, 4));
-    instant (
-        create "Win";
-        // open door
-        turn west; move; grab;
-    )
-end
-
-def room4 =
-    let l = (8, 8) in
+    let l = (8, 4) in
     teleport self l;
-    untilSafe (baseIsAt l);
-    create "Win";
+    waitForBaseAt l get_dist;
+    log "room 3 done";
+    // open door
+    turn west; move; move; open_door;
 end
 
 def main =
    room1;
    room2;
    room3;
-   room4;
 end
 
 main
\ No newline at end of file
diff --git a/data/scenarios/Tutorials/move_surveil.sw b/data/scenarios/Tutorials/move_surveil.sw
index 0ef13e609..cd476ac22 100644
--- a/data/scenarios/Tutorials/move_surveil.sw
+++ b/data/scenarios/Tutorials/move_surveil.sw
@@ -1,24 +1,6 @@
-def repeat : Int -> (Int -> Cmd Unit) -> Cmd Unit =
-  \n. \c. if (n == 0) {} {c n; repeat (n-1) c}
-end
-
 def elif = \b.\t.\e. {if b t e} end
 def else = \e. e end
 
-def act_lazy: Text -> Text -> Cmd (Cmd Unit) = \a.\e. instant $
-    if (a == "S") {
-        if (e != "") { create e } {};
-        return (swap e; log $ a ++ ": " ++ e)
-    } $elif (a == "G") {
-        return (grab; log a)
-    } $elif (a == "P") {
-        if (e != "") { create e } {};
-        return (place e; log $ a ++ ": " ++ e)
-    } $else {
-        return (fail $ "Finished waiting for check but I don't know what to do: '" ++ a ++ "'")
-    }
-end
-
 def position: Int -> (Int * Int) = \room.
     if (room == 1) {
         (3,0)
@@ -31,36 +13,33 @@ def position: Int -> (Int * Int) = \room.
     }
 end
 
-def room_changes = \room. if (room == 1) {1} {2} end
+def wait_until_change = \pos. \original. \cont.
+    surveil pos;
+    timeout <- random 10000;
+    wait timeout;
+    current <- as self {teleport self pos; scan down};
+    if (current != original) {
+        cont current;
+    } {
+        log $ "no change after " ++ format timeout ++ " ticks - continue";
+        wait_until_change pos original cont
+    }
+end
 
-def main: [action: Text, entity: Text, room: Int] -> Cmd (Cmd Unit) = \args.
+def main: [entity: Text, room: Int] -> Cmd Unit = \args.
     let pos = position args.room in
     log $ format args;
-    target <- as self {teleport self pos; scan down};
-    log $ "at position" ++ format pos ++ ": " ++ format target;
-    act <- act_lazy args.action args.entity;
-    return (
-        // first room optimization - actively wait for one tick to see if the change occured
-        target2 <- as self {teleport self pos; scan down};
-        if (args.room == 1 && target == target2) {
-            turn forward
-        } {};
-        let changes = room_changes args.room in
-        has_changed <-
-            if (target != target2) {
-                log "changed in first tick - skipping one wait";
-                return true
-            } $else {
-                target3 <- as self {teleport self pos; scan down};
-                if (target != target3) { log "changed in second tick - skipping one wait" }{};
-                return $ target != target3
-            };
-        let changed = if has_changed {1} {0} in
-        repeat (changes - changed) (\i.
-            log $ "sleeping until " ++ format pos ++ " changes (countdown: " ++ format i ++ ")";
-            surveil pos;
-            wait 1000000;
-        );
-        act
+    original <- as self {teleport self pos; scan down};
+    log $ "surveil position" ++ format pos ++ ": " ++ format original;
+    create args.entity;
+    log $ "sleeping until " ++ format pos ++ " changes";
+    wait_until_change pos original ( \changed.
+        if (args.room == 1) {
+            place args.entity
+        } {
+            // for later rooms a wall appears and then a door is opened
+            log $ "sleeping until " ++ format pos ++ " changes again";
+            wait_until_change pos changed (\_. place args.entity)
+        }
     )
 end
\ No newline at end of file
diff --git a/src/swarm-doc/Swarm/Doc/Gen.hs b/src/swarm-doc/Swarm/Doc/Gen.hs
index e4362b2c9..ba03c9845 100644
--- a/src/swarm-doc/Swarm/Doc/Gen.hs
+++ b/src/swarm-doc/Swarm/Doc/Gen.hs
@@ -328,7 +328,8 @@ startingInventory = Map.fromList . map swap . E.elems . view robotInventory
 ignoredEntities :: Set Text
 ignoredEntities =
   Set.fromList
-    [ "upper left corner"
+    [ "wall"
+    , "upper left corner"
     , "upper right corner"
     , "lower left corner"
     , "lower right corner"