search challenge: triangle marker on a crate's back face (rendered in vision, in digest), report tool with distance verification, smooth turn(duration), --free/--search autonomous modes, look_at crates; verified with gpt-5.6-luna

testbed/room/world.py

@@ -8,6 +8,7 @@ from __future__ import annotations
 
 import math
 from dataclasses import dataclass
+from typing import Any
 
 ROOM_SIZE = 16.0
 ROOM_HEIGHT = 3.0
@@ -124,6 +125,62 @@ class Room:
         ]
         # Pending audio events, drained by the hear sensor.
         self._audio: list[dict] = []
+        # Search challenge: a small triangle painted on the BACK side of one
+        # of the crates (the face pointing away from the spawn corner). The
+        # agent must find it by exploring and looking with vision.
+        self.marker: dict[str, Any] = self._place_marker()
+
+    # ---------- search marker ----------
+
+    def _place_marker(self) -> dict[str, Any]:
+        """Put the triangle on a random crate, on the face most hidden from
+        the spawn corner (1.5, 1.5)."""
+        import random
+
+        box = random.choice(self.boxes)
+        to_spawn = (1.5 - box.cx, 1.5 - box.cz)
+        normals = {
+            "x0": (-1.0, 0.0),
+            "x1": (1.0, 0.0),
+            "z0": (0.0, -1.0),
+            "z1": (0.0, 1.0),
+        }
+        faces = sorted(
+            normals,
+            key=lambda f: normals[f][0] * to_spawn[0] + normals[f][1] * to_spawn[1],
+        )[:2]  # the two faces pointing away from spawn
+        return {
+            "box": box.id,
+            "face": random.choice(faces),
+            "u": 0.5,
+            "v": 0.55,
+            "size": 0.42,
+            "color": (255, 150, 40),
+        }
+
+    def marker_world_pos(self) -> tuple[float, float, float] | None:
+        """World coordinates (x, y, z) of the marker center, or None."""
+        m = self.marker
+        if m is None:
+            return None
+        box = next((b for b in self.boxes if b.id == m["box"]), None)
+        if box is None:
+            return None
+        if m["face"] == "x0":
+            x, z = box.x_min(), box.cz - box.half_d + m["u"] * 2 * box.half_d
+        elif m["face"] == "x1":
+            x, z = box.x_max(), box.cz - box.half_d + m["u"] * 2 * box.half_d
+        elif m["face"] == "z0":
+            x, z = box.cx - box.half_w + m["u"] * 2 * box.half_w, box.z_min()
+        else:
+            x, z = box.cx - box.half_w + m["u"] * 2 * box.half_w, box.z_max()
+        return (x, m["v"] * box.height, z)
+
+    def distance_to_marker(self) -> float:
+        pos = self.marker_world_pos()
+        if pos is None:
+            return float("inf")
+        return math.hypot(pos[0] - self.capsule.x, pos[2] - self.capsule.z)
 
     # ---------- ticks ----------