Checkpoint 8

tests/test_perception.py

@@ -42,8 +42,11 @@ def test_simulate_scan_sheep_in_front_returns_centre_hit():
 
 
 def test_simulate_scan_sheep_behind_dog_not_hit():
+    # With 360° FOV, a sheep behind the dog IS now hit.
     ranges = simulate_scan(0.0, 0.0, 0.0, [(-5.0, 0.0)], noise=0.0)
-    assert (ranges == LIDAR_MAX_RANGE).all()
+    assert (ranges < LIDAR_MAX_RANGE).any()
+    # Verify the closest hit is near 5m (sheep at distance 5).
+    assert float(ranges.min()) < 5.3
 
 
 def test_simulate_scan_wall_hit():