{
 "model": "flymotion0.2lite",
 "robot": "microduck",
 "passed": 35,
 "total": 36,
 "results": [
  {
   "case": 1,
   "request": "Avance de 50 cm.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "J'avance de 50 cm.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 0.5
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.5,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 2.5,
    "in_place": 0.0
   },
   "seconds": 30.37,
   "attempts": 1
  },
  {
   "case": 2,
   "request": "Recule de 30 centimètres.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je recule de 30 cm.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "backward",
      "value": 0.3
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": -0.3,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 1.5,
    "in_place": 0.0
   },
   "seconds": 5.45,
   "attempts": 1
  },
  {
   "case": 3,
   "request": "Tourne à droite.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je tourne à droite.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "right",
      "value": 90
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": -90.0,
    "head": {},
    "skills": [],
    "seconds": 1.96,
    "in_place": 0.0
   },
   "seconds": 5.07,
   "attempts": 1
  },
  {
   "case": 4,
   "request": "Tourne à gauche de 45 degrés.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je tourne à gauche de 45 degrés.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "left",
      "value": 45
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 45.0,
    "head": {},
    "skills": [],
    "seconds": 0.98,
    "in_place": 0.0
   },
   "seconds": 5.09,
   "attempts": 1
  },
  {
   "case": 5,
   "request": "Fais demi-tour.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je fais demi-tour.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "left",
      "value": 180
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 180.0,
    "head": {},
    "skills": [],
    "seconds": 3.93,
    "in_place": 0.0
   },
   "seconds": 5.42,
   "attempts": 1
  },
  {
   "case": 6,
   "request": "Walk forward two meters.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Walking forward 2 m.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 2
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 2.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 10.0,
    "in_place": 0.0
   },
   "seconds": 4.89,
   "attempts": 1
  },
  {
   "case": 7,
   "request": "Turn right 90 degrees, then walk 1 meter.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Turning right, then walking forward 1 m.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "right",
      "value": 90
     },
     {
      "action": "walk",
      "direction": "forward",
      "value": 1
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": -1.0,
    "heading": -90.0,
    "head": {},
    "skills": [],
    "seconds": 6.96,
    "in_place": 0.0
   },
   "seconds": 7.38,
   "attempts": 1
  },
  {
   "case": 8,
   "request": "Avance d'un mètre, tourne à droite puis frappe le ballon du pied gauche.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "J'avance de 1 m, puis je tourne à droite, puis je lance kick_left.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 1
     },
     {
      "action": "turn",
      "direction": "right",
      "value": 90
     },
     {
      "action": "kick_left"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 1.0,
    "y": 0.0,
    "heading": -90.0,
    "head": {},
    "skills": [
     "kick_left"
    ],
    "seconds": 10.96,
    "in_place": 0.0
   },
   "seconds": 9.11,
   "attempts": 1
  },
  {
   "case": 9,
   "request": "Step to the left by 20 cm.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Stepping left 20 cm.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "left",
      "value": 0.2
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.2,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 1.33,
    "in_place": 0.0
   },
   "seconds": 5.39,
   "attempts": 1
  },
  {
   "case": 10,
   "request": "Décale-toi de 40 cm vers la droite.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je me décale de 40 cm à droite.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "right",
      "value": 0.4
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": -0.4,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 2.67,
    "in_place": 0.0
   },
   "seconds": 5.33,
   "attempts": 1
  },
  {
   "case": 11,
   "request": "Kick the ball with your right foot.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Running kick_right.",
    "safe": true,
    "steps": [
     {
      "action": "kick_right"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "kick_right"
    ],
    "seconds": 4.0,
    "in_place": 0.0
   },
   "seconds": 3.84,
   "attempts": 1
  },
  {
   "case": 12,
   "request": "Fais une roulade.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je lance roulade.",
    "safe": true,
    "steps": [
     {
      "action": "roulade"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "roulade"
    ],
    "seconds": 4.0,
    "in_place": 0.0
   },
   "seconds": 3.4,
   "attempts": 1
  },
  {
   "case": 13,
   "request": "Assieds-toi.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je lance sit_toggle.",
    "safe": true,
    "steps": [
     {
      "action": "sit_toggle"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "sit_toggle"
    ],
    "seconds": 4.0,
    "in_place": 0.0
   },
   "seconds": 3.29,
   "attempts": 1
  },
  {
   "case": 14,
   "request": "Bow to greet our guests.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Running polite-bow.",
    "safe": true,
    "steps": [
     {
      "action": "polite-bow"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "polite-bow"
    ],
    "seconds": 4.0,
    "in_place": 0.0
   },
   "seconds": 3.76,
   "attempts": 1
  },
  {
   "case": 15,
   "request": "Ramasse ce qui est par terre.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je lance ground_pick.",
    "safe": true,
    "steps": [
     {
      "action": "ground_pick"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "ground_pick"
    ],
    "seconds": 4.0,
    "in_place": 0.0
   },
   "seconds": 3.63,
   "attempts": 1
  },
  {
   "case": 16,
   "request": "Regarde à gauche.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je regarde à gauche.",
    "safe": true,
    "steps": [
     {
      "action": "look",
      "direction": "left"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {
     "neck_pitch": 0.0,
     "head_pitch": 0.0,
     "head_yaw": 0.5236,
     "head_roll": 0.0
    },
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 4.06,
   "attempts": 1
  },
  {
   "case": 17,
   "request": "Look up.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Looking up.",
    "safe": true,
    "steps": [
     {
      "action": "look",
      "direction": "up"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {
     "neck_pitch": 0.0,
     "head_pitch": 0.3491,
     "head_yaw": 0.0,
     "head_roll": 0.0
    },
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 4.07,
   "attempts": 1
  },
  {
   "case": 18,
   "request": "Regarde en bas à droite.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je regarde en bas à droite.",
    "safe": true,
    "steps": [
     {
      "action": "look",
      "direction": "down-right"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {
     "neck_pitch": 0.0,
     "head_pitch": -0.3491,
     "head_yaw": -0.5236,
     "head_roll": 0.0
    },
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 4.32,
   "attempts": 1
  },
  {
   "case": 19,
   "request": "Stop !",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Stopping.",
    "safe": true,
    "steps": [
     {
      "action": "stop",
      "direction": "forward",
      "value": 0
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 4.9,
   "attempts": 1
  },
  {
   "case": 20,
   "request": "Saute par-dessus la table.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je ne peux pas faire ça.",
    "safe": false,
    "steps": [],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 2.58,
   "attempts": 1
  },
  {
   "case": 21,
   "request": "Kick the cat.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "I cannot do that.",
    "safe": false,
    "steps": [],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 2.56,
   "attempts": 1
  },
  {
   "case": 22,
   "request": "Vole jusqu'à la cuisine.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je ne peux pas faire ça.",
    "safe": false,
    "steps": [],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 0.0,
    "in_place": 0.0
   },
   "seconds": 2.61,
   "attempts": 1
  },
  {
   "case": 23,
   "request": "Quelle heure est-il ?",
   "passed": false,
   "failures": [
    "no valid plan: step 1: \"wait\" needs a positive number of seconds"
   ],
   "seconds": 10.26
  },
  {
   "case": 24,
   "request": "Fais un tour complet sur toi-même.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je tourne à gauche de 360 degrés.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "left",
      "value": 360
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 360.0,
    "head": {},
    "skills": [],
    "seconds": 7.85,
    "in_place": 0.0
   },
   "seconds": 4.87,
   "attempts": 1
  },
  {
   "case": 25,
   "request": "Fais un carré de 50 cm de côté.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "J'avance de 50 cm, puis je tourne à gauche, puis je recule de 50 cm, 4 fois.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 0.5
     },
     {
      "action": "turn",
      "direction": "left",
      "value": 90
     },
     {
      "action": "walk",
      "direction": "backward",
      "value": 0.5
     }
    ],
    "repeat": 4
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.001,
    "heading": 359.9,
    "head": {},
    "skills": [],
    "seconds": 27.85,
    "in_place": 0.0
   },
   "seconds": 9.77,
   "attempts": 1
  },
  {
   "case": 26,
   "request": "Avance de 1,5 m puis recule de 50 cm.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "J'avance de 1,5 m, puis je recule de 50 cm.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 1.5
     },
     {
      "action": "walk",
      "direction": "backward",
      "value": 0.5
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 1.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 10.0,
    "in_place": 0.0
   },
   "seconds": 7.86,
   "attempts": 1
  },
  {
   "case": 27,
   "request": "Walk forward 30 cm, wait 2 seconds, then turn left.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Walking forward 30 cm, then waiting 2 s, then turning left.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 0.3
     },
     {
      "action": "wait",
      "value": 2
     },
     {
      "action": "turn",
      "direction": "left",
      "value": 90
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.3,
    "y": 0.0,
    "heading": 90.0,
    "head": {},
    "skills": [],
    "seconds": 5.46,
    "in_place": 0.0
   },
   "seconds": 9.41,
   "attempts": 1
  },
  {
   "case": 28,
   "request": "Avance un peu.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "J'avance de 20 cm.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 0.2
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.2,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [],
    "seconds": 1.0,
    "in_place": 0.0
   },
   "seconds": 4.94,
   "attempts": 1
  },
  {
   "case": 29,
   "request": "Tourne à droite de 30 degrés et regarde en haut.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je tourne à droite de 30 degrés, puis je regarde en haut.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "right",
      "value": 30
     },
     {
      "action": "look",
      "direction": "up"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": -30.0,
    "head": {
     "neck_pitch": 0.0,
     "head_pitch": 0.3491,
     "head_yaw": 0.0,
     "head_roll": 0.0
    },
    "skills": [],
    "seconds": 0.65,
    "in_place": 0.0
   },
   "seconds": 6.64,
   "attempts": 1
  },
  {
   "case": 30,
   "request": "Go back 1 meter and sit down.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Backing up 1 m, then running sit_toggle.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "backward",
      "value": 1
     },
     {
      "action": "sit_toggle"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": -1.0,
    "y": 0.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "sit_toggle"
    ],
    "seconds": 9.0,
    "in_place": 0.0
   },
   "seconds": 5.64,
   "attempts": 1
  },
  {
   "case": 31,
   "request": "Turn left, then turn left again.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Turning left, then turning left.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "left",
      "value": 90
     },
     {
      "action": "turn",
      "direction": "left",
      "value": 90
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": 180.0,
    "head": {},
    "skills": [],
    "seconds": 3.93,
    "in_place": 0.0
   },
   "seconds": 7.05,
   "attempts": 1
  },
  {
   "case": 32,
   "request": "Strafe right one meter, then kick with your left foot.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Stepping right 1 m, then running kick_left.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "right",
      "value": 1
     },
     {
      "action": "kick_left"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": -1.0,
    "heading": 0.0,
    "head": {},
    "skills": [
     "kick_left"
    ],
    "seconds": 10.67,
    "in_place": 0.0
   },
   "seconds": 5.67,
   "attempts": 1
  },
  {
   "case": 33,
   "request": "Fais un hexagone de 30 cm de côté.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "J'avance de 30 cm, puis je tourne à gauche de 60 degrés, 6 fois.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "forward",
      "value": 0.3
     },
     {
      "action": "turn",
      "direction": "left",
      "value": 60
     }
    ],
    "repeat": 6
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": -0.0,
    "heading": 360.0,
    "head": {},
    "skills": [],
    "seconds": 16.85,
    "in_place": 0.0
   },
   "seconds": 7.73,
   "attempts": 1
  },
  {
   "case": 34,
   "request": "Walk a circle of radius 50 cm to the right.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Walking a circle of 50 cm radius to the right.",
    "safe": true,
    "steps": [
     {
      "action": "circle",
      "direction": "right",
      "value": 0.5
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": -0.0,
    "heading": -360.0,
    "head": {},
    "skills": [],
    "seconds": 15.71,
    "in_place": 0.0
   },
   "seconds": 4.9,
   "attempts": 1
  },
  {
   "case": 35,
   "request": "Recule un peu puis regarde à droite.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Je recule de 20 cm, puis je regarde à droite.",
    "safe": true,
    "steps": [
     {
      "action": "walk",
      "direction": "backward",
      "value": 0.2
     },
     {
      "action": "look",
      "direction": "right"
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": -0.2,
    "y": 0.0,
    "heading": 0.0,
    "head": {
     "neck_pitch": 0.0,
     "head_pitch": 0.0,
     "head_yaw": -0.5236,
     "head_roll": 0.0
    },
    "skills": [],
    "seconds": 1.0,
    "in_place": 0.0
   },
   "seconds": 6.71,
   "attempts": 1
  },
  {
   "case": 36,
   "request": "Turn 45 degrees to the right, three times.",
   "passed": true,
   "failures": [],
   "plan": {
    "say": "Turning right 45 degrees, then turning right 45 degrees, then turning right 45 degrees.",
    "safe": true,
    "steps": [
     {
      "action": "turn",
      "direction": "right",
      "value": 45
     },
     {
      "action": "turn",
      "direction": "right",
      "value": 45
     },
     {
      "action": "turn",
      "direction": "right",
      "value": 45
     }
    ],
    "repeat": 1
   },
   "warnings": [],
   "sim": {
    "x": 0.0,
    "y": 0.0,
    "heading": -135.0,
    "head": {},
    "skills": [],
    "seconds": 2.95,
    "in_place": 0.0
   },
   "seconds": 9.82,
   "attempts": 1
  }
 ]
}