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
+            )