movement: smooth animated moves (move duration, observable intermediate positions) + proactive cruise (glide while the LLM thinks, collision-safe, reported back); verified mission with gpt-5.6-luna

testbed/bridge.py

@@ -85,6 +85,7 @@ class MoveOutput(BaseModel):
     collision_normal: Vec3 | None
     position: Vec3
     tick: int
+    duration: float = 0.0
 
 
 class TurnOutput(BaseModel):
@@ -165,6 +166,31 @@ class RoomBridge(Bridge):
     def _tick(self) -> int:
         return self.world.advance_tick()
 
+    async def _animate_move(
+        self, forward: float, duration: float
+    ) -> tuple[float, Any | None]:
+        """Smoothly displace the capsule over ``duration`` seconds.
+
+        The position advances in small timed steps, so concurrent clients
+        (e.g. the live viewer) observe genuine gliding motion instead of a
+        teleport. Collision resolution is unchanged.
+        """
+        world = self.world
+        n = max(1, min(int(duration / 0.1), 200))
+        step = forward / n
+        dt = duration / n
+        total = 0.0
+        hit: Any | None = None
+        for i in range(n):
+            moved, h = world.move_forward(step)
+            total += moved
+            if h is not None or moved < step * 0.01:
+                hit = h
+                break
+            if i < n - 1:
+                await asyncio.sleep(dt)
+        return total, hit
+
     def _vec3(self, x: float, y: float, z: float) -> Vec3:
         return Vec3(x=round(x, 3), y=round(y, 3), z=round(z, 3))
 
@@ -263,13 +289,21 @@ class RoomBridge(Bridge):
 
         @self.tool(
             cls=ToolClass.ACTUATOR,
-            description="Move the capsule forward along its heading by the given distance in meters.",
+            description=(
+                "Move the capsule forward along its heading by the given distance in meters. "
+                "duration (seconds) animates the motion smoothly instead of teleporting."
+            ),
         )
-        async def move(forward: float = 1.0) -> MoveOutput:
+        async def move(forward: float = 1.0, duration: float = 0.0) -> MoveOutput:
             tick = self._tick()
             if forward < 0.0 or forward > 5.0:
                 raise ValueError(f"forward must be in [0, 5] m, got {forward}")
-            moved, hit = world.move_forward(forward)
+            if duration < 0.0 or duration > 10.0:
+                raise ValueError(f"duration must be in [0, 10] s, got {duration}")
+            if duration > 0.0:
+                moved, hit = await self._animate_move(forward, duration)
+            else:
+                moved, hit = world.move_forward(forward)
             c = world.capsule
             normal = None
             if hit is not None:
@@ -294,6 +328,7 @@ class RoomBridge(Bridge):
                 collision_normal=normal,
                 position=self._vec3(c.x, 0.0, c.z),
                 tick=tick,
+                duration=round(duration, 3),
             ).model_dump()
 
         @self.tool(