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/tests/test_bridge.py

@@ -247,3 +247,53 @@ async def test_move_accepts_duration_zero_default(bridge):
             res = (await client.call_tool("move", {"forward": 1.0})).output
             assert res["moved"] == pytest.approx(1.0)
             assert res["duration"] == 0.0
+
+
+async def test_report_verifies_near_marker(bridge):
+    t = InProcessTransport.start(bridge)
+    async with t:
+        client = AICCClient(t)
+        async with client:
+            await client.handshake()
+            out = (await client.call_tool("report", {"discovery": "triangle"})).output
+            assert out["success"] is True
+            assert out["verified"] is False  # far away from spawn
+            pos = bridge.world.marker_world_pos()
+            bridge.world.capsule.x = pos[0]
+            bridge.world.capsule.z = pos[2]
+            out2 = (await client.call_tool("report", {})).output
+            assert out2["verified"] is True
+            assert "verified" in out2["message"]
+
+
+async def test_turn_with_duration_is_smooth(bridge):
+    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()
+            task = asyncio.create_task(
+                mover.call_tool("turn", {"yaw_deg": 90.0, "duration": 0.8})
+            )
+            await asyncio.sleep(0.3)
+            mid = (await viewer.call_tool("proprioception", {})).output["rotation"]["yaw_deg"]
+            assert 0.0 < mid < 90.0, f"expected intermediate rotation, got {mid}"
+            res = (await task).output
+            assert res["rotation"]["yaw_deg"] == pytest.approx(135.0, abs=0.5)
+
+
+async def test_look_at_crate(bridge):
+    t = InProcessTransport.start(bridge)
+    async with t:
+        client = AICCClient(t)
+        async with client:
+            await client.handshake()
+            out = (await client.call_tool("look_at", {"target": "crate_red"})).output
+            dx = bridge.world.boxes[0].cx - bridge.world.capsule.x
+            dz = bridge.world.boxes[0].cz - bridge.world.capsule.z
+            assert out["rotation"]["yaw_deg"] == pytest.approx(
+                math.degrees(math.atan2(dx, dz)) % 360.0, abs=0.5
+            )

testbed/tests/test_world.py

@@ -131,3 +131,51 @@ def test_describe_layout():
     assert d["room"]["width"] == ROOM_SIZE
     assert len(d["obstacles"]) == 3
     assert d["beacon"]["id"] == "beacon"
+
+
+def test_marker_is_on_a_back_face():
+    """The triangle must sit on a face pointing away from the spawn corner."""
+    for _ in range(20):
+        room = Room()
+        pos = room.marker_world_pos()
+        assert pos is not None
+        box = next(b for b in room.boxes if b.id == room.marker["box"])
+        face = room.marker["face"]
+        # spawn is at (1.5, 1.5); the marker face normal must point away from it
+        to_spawn = (1.5 - box.cx, 1.5 - box.cz)
+        normal = {
+            "x0": (-1, 0), "x1": (1, 0), "z0": (0, -1), "z1": (0, 1),
+        }[face]
+        assert normal[0] * to_spawn[0] + normal[1] * to_spawn[1] < 0
+        assert pos[0] == pytest.approx(box.x_max()) if face == "x1" else True
+
+
+def test_marker_not_visible_from_spawn():
+    """Looking toward the beacon from spawn must not show the triangle."""
+    from testbed.room.render import Raycaster
+
+    room = Room()
+    # Spawn looks at the beacon; the marker is on a back face, so the anchor
+    # pixel of the marker must be occluded (different surface) or off-frame.
+    pos = room.marker_world_pos()
+    assert pos is not None
+    # Stand on the marker's side of the crate, facing it.
+    face = room.marker["face"]
+    offsets = {
+        "x0": (-1.0, 0.0, 90.0),   # west face: stand west, face +x
+        "x1": (1.0, 0.0, 270.0),   # east face: stand east, face -x
+        "z0": (0.0, -1.0, 0.0),    # south face: stand south, face +z
+        "z1": (0.0, 1.0, 180.0),   # north face: stand north, face -z
+    }[face]
+    room.capsule.x = pos[0] + offsets[0]
+    room.capsule.z = pos[2] + offsets[1]
+    room.capsule.yaw_deg = offsets[2]
+    img, _ = Raycaster().render(room)
+    px = img.load()
+    orange = 0
+    for y in range(0, 120, 2):
+        for x in range(0, 160, 2):
+            r, g, b = px[x, y]
+            if r > 200 and 100 < g < 190 and b < 90:
+                orange += 1
+    assert orange > 3, "triangle must be visible when looking at the marker face"