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/tests/test_bridge.py

@@ -1,7 +1,9 @@
 """Tests for the testbed bridge: tool behavior over the in-process transport."""
 
+import asyncio
 import base64
 import io
+import math
 
 import pytest
 from aicc.client import AICCClient
@@ -186,3 +188,62 @@ async def test_single_source_of_truth():
             world = dumped["world"]
             assert set(world.keys()) == {"name", "kind"}
             assert "beacon" not in dumped
+
+
+async def test_animated_move_is_smooth_and_observable(bridge):
+    """A move with duration glides: a concurrent client sees intermediate
+    positions, and the final displacement is exact."""
+    # A transport is a single session: one per client.
+    t1 = InProcessTransport.start(bridge)
+    t2 = InProcessTransport.start(bridge)
+    async with t1, t2:
+        mover = AICCClient(t1)
+        viewer = AICCClient(t2)
+        async with mover, viewer:
+            await mover.handshake()
+            await viewer.handshake()
+            start = (await mover.call_tool("proprioception", {})).output["position"]
+            assert start["x"] == 1.5 and start["z"] == 1.5
+
+            move_task = asyncio.create_task(
+                mover.call_tool("move", {"forward": 2.0, "duration": 0.8})
+            )
+            await asyncio.sleep(0.25)
+            mid = (await viewer.call_tool("proprioception", {})).output["position"]
+            # Moving along the 45-degree diagonal: strictly between start and end.
+            assert 1.5 < mid["x"] < 3.5 and 1.5 < mid["z"] < 3.5
+
+            res = (await move_task).output
+            assert res["moved"] == pytest.approx(2.0, abs=1e-3)
+            assert res["position"]["x"] == pytest.approx(
+                1.5 + 2.0 * math.sin(math.radians(45)), abs=1e-3
+            )
+            assert res["duration"] == 0.8
+
+
+async def test_animated_move_stops_on_collision(bridge):
+    t = InProcessTransport.start(bridge)
+    async with t:
+        client = AICCClient(t)
+        async with client:
+            await client.handshake()
+            bridge.world.capsule.yaw_deg = 180.0  # straight at the north wall
+            res = (
+                await client.call_tool("move", {"forward": 5.0, "duration": 0.6})
+            ).output
+            assert res["collision"] is True
+            assert res["moved"] < 5.0
+            assert res["position"]["z"] == pytest.approx(
+                bridge.world.capsule.radius, abs=1e-3
+            )
+
+
+async def test_move_accepts_duration_zero_default(bridge):
+    t = InProcessTransport.start(bridge)
+    async with t:
+        client = AICCClient(t)
+        async with client:
+            await client.handshake()
+            res = (await client.call_tool("move", {"forward": 1.0})).output
+            assert res["moved"] == pytest.approx(1.0)
+            assert res["duration"] == 0.0