| import math |
| from vlm.webconsole.demo1.motion import parse_motion, MotionCmd |
|
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|
| def test_move_forward_cm(): |
| c = parse_motion("move forward 75 cm") |
| assert c.kind == "move" and math.isclose(c.value, 0.75) |
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|
| def test_move_forward_m(): |
| c = parse_motion("go forward 0.5 m") |
| assert c.kind == "move" and math.isclose(c.value, 0.5) |
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|
|
| def test_move_backward_negative(): |
| c = parse_motion("move backward 30 cm") |
| assert c.kind == "move" and math.isclose(c.value, -0.30) |
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|
| def test_turn_left_deg_positive(): |
| c = parse_motion("turn left 90 deg") |
| assert c.kind == "turn" and math.isclose(c.value, math.radians(90)) |
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|
|
| def test_turn_right_deg_negative(): |
| c = parse_motion("turn right 45 degrees") |
| assert c.kind == "turn" and math.isclose(c.value, -math.radians(45)) |
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|
| def test_turn_radians(): |
| c = parse_motion("rotate left 1.57 rad") |
| assert c.kind == "turn" and math.isclose(c.value, 1.57) |
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|
| def test_non_motion_returns_none(): |
| assert parse_motion("is the bottle on the microwave?") is None |
| assert parse_motion("go to the kitchen") is None |
| assert parse_motion("describe the scene") is None |
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|
