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/demo.py

@@ -142,6 +142,7 @@ async def run_llm_agent(
     vision: bool | None = None,
     digest: bool | None = None,
     look_every: int = 0,
+    cruise: float = 0.0,
 ) -> dict[str, Any]:
     """Autonomous LLM run: controller + nudge/correct loop (see llm_agent)."""
     from testbed.llm_agent import LLMController, run_llm_agent_loop
@@ -233,9 +234,9 @@ async def run_scripted_agent(
 
         if detour_steps > 0:
             # Escape the obstacle before re-aiming: keep the detour heading.
-            mv = (await client.call_tool("move", {"forward": 0.8})).output
+            mv = (await client.call_tool("move", {"forward": 0.8, "duration": 0.6})).output
             summary["tool_calls"] += 1
-            log("tool", 'move({"forward": 0.8}) [detour]')
+            log("tool", 'move({"forward": 0.8, "duration": 0.6}) [detour]')
             log("bridge", f"ok {json.dumps(mv)}")
             if mv.get("moved", 0.0) < 0.2 and detour_turns < 6:
                 detour_turns += 1
@@ -267,9 +268,9 @@ async def run_scripted_agent(
             log("tool", f'turn({{"yaw_deg": {delta * 0.8:.1f}}})')
             log("bridge", f"ok {json.dumps(turn)}")
         else:
-            mv = (await client.call_tool("move", {"forward": 0.8})).output
+            mv = (await client.call_tool("move", {"forward": 0.8, "duration": 0.6})).output
             summary["tool_calls"] += 1
-            log("tool", 'move({"forward": 0.8})')
+            log("tool", 'move({"forward": 0.8, "duration": 0.6})')
             log("bridge", f"ok {json.dumps(mv)}")
             if mv.get("collision"):
                 consecutive_collisions += 1
@@ -315,6 +316,7 @@ async def run_demo(args: argparse.Namespace) -> dict[str, Any]:
                 vision=args.vision,
                 digest=args.digest,
                 look_every=args.look_every,
+                cruise=args.cruise,
             )
         elif args.agent == "scripted":
             summary = await run_scripted_agent(
@@ -338,6 +340,7 @@ async def run_demo(args: argparse.Namespace) -> dict[str, Any]:
                     vision=args.vision,
                     digest=args.digest,
                     look_every=args.look_every,
+                    cruise=args.cruise,
                 )
                 if summary.get("interacted"):
                     return summary
@@ -431,6 +434,12 @@ def main() -> int:
         default=3,
         help="attach a fresh camera frame every N agent steps (0 disables; default 3)",
     )
+    parser.add_argument(
+        "--cruise",
+        type=float,
+        default=1.0,
+        help="proactive motion: glide forward (meters) while the LLM thinks (0 disables)",
+    )
     parser.add_argument(
         "--frame",
         default="demo_final_frame.png",