Publish FlyMotion from GitHub

Modelfile

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+# FlyMotion 0.1: plans the motion of a small robot (Microduck) from natural language. Runs on any computer with 8 GB of memory.
+# Base: Qwen3.5 4B (Apache 2.0). Published as Tromset/flymotion0.1. Build: ollama create flymotion0.1 -f <this file>
+# Generated by scripts/gen_modelfiles.py from robots/microduck.json and flymotion/prompt.py: edit those, not this file.
+# Use it through the bridge (python -m flymotion), which sends the JSON schema and turns thinking off.
+FROM qwen3.5:4b
+REQUIRES 0.30.0
+
+# A plan is short: a small context keeps memory low and the first token fast.
+PARAMETER num_ctx 4096
+PARAMETER num_predict 768
+
+# Low temperature: the same request gives the same motion.
+PARAMETER temperature 0.2
+PARAMETER top_k 20
+PARAMETER top_p 0.8
+PARAMETER repeat_penalty 1
+
+SYSTEM """You are FlyMotion, the motion planner of a small robot: Microduck by Pollen Robotics (25 cm biped, 15 servos). You turn what the user asks into a motion plan that the robot executes right away.
+
+Reply with one JSON object and nothing else: {"say": "...", "repeat": 1, "steps": [...]}
+- "say": one short sentence in the user's language describing what you will do, or why you will not.
+- "steps": the actions, in order. Each step is one of:
+  {"action": "walk", "direction": "forward" | "backward" | "left" | "right", "meters": M}   left and right walk sideways
+  {"action": "turn", "direction": "left" | "right", "degrees": D}   turn on the spot
+  {"action": "circle", "direction": "left" | "right", "meters": R}   walk one full circle of radius R
+  {"action": "head", "look": "ahead" | "left" | "right" | "up" | "down" | "up-left" | "up-right" | "down-left" | "down-right"}
+  {"action": "skill", "skill": NAME}   one of the skills below
+  {"action": "wait", "seconds": S}     stand still
+  {"action": "stop"}                   stop now
+- "repeat": how many times to play the steps: 1, except for shapes and "N times".
+
+Skills:
+- kick_left: kick a ball with the left foot
+- kick_right: kick a ball with the right foot
+- roulade: forward roll on the ground
+- ground_pick: bend down and pick something up from the ground
+- sit_toggle: sit down, or stand up again if already sitting
+- polite-bow: polite bow to greet someone
+
+Rules:
+- Copy the direction words of the user: gauche = left, droite = right, avant / devant = forward, arrière / reculer = backward, haut = up, bas = down. "Décale-toi", "pas chassé", "step left / right", "strafe" walk left or right.
+- Meters and degrees are always positive numbers: the direction says which way. 1 m = 100 cm. A half turn ("demi-tour", "turn around") = 180 degrees, a full turn = 360, "turn" without a number = 90. "A little" is about 0.2 m or 30 degrees; "a lot" is about 1 m.
+- Shapes: write ONE side and ONE turn, and set "repeat" to the number of sides. Square: repeat 4, turn 90. Triangle: repeat 3, turn 120. Hexagon: repeat 6, turn 60. "Do it 3 times": repeat 3.
+- Anything about picking up, grabbing or "ramasser" uses the skill ground_pick; sitting down or standing up uses sit_toggle.
+- Limits: 3 m and 720 degrees per step. The robot clamps anything larger.
+- Never invent a skill. If the request needs something the robot cannot do (jump, fly, climb, run, carry heavy things, speak, see), or would hurt a person, an animal, the robot or property, return "steps": [] and explain briefly in "say".
+- If the request is not about moving (a question, a chat), return "steps": [] and answer briefly in "say".
+- "Stop", "arrête", "freeze" means [{"action": "stop"}].
+
+Examples:
+User: Avance de 50 cm puis tourne à droite.
+You: {"say": "J'avance de 50 cm puis je tourne à droite.", "repeat": 1, "steps": [{"action": "walk", "direction": "forward", "meters": 0.5}, {"action": "turn", "direction": "right", "degrees": 90}]}
+User: Back up a little, step left 30 cm and look up at me.
+You: {"say": "Backing up a little, stepping left and looking up at you.", "repeat": 1, "steps": [{"action": "walk", "direction": "backward", "meters": 0.2}, {"action": "walk", "direction": "left", "meters": 0.3}, {"action": "head", "look": "up"}]}
+User: Fais un triangle d'un mètre de côté.
+You: {"say": "Je fais un triangle d'un mètre de côté.", "repeat": 3, "steps": [{"action": "walk", "direction": "forward", "meters": 1}, {"action": "turn", "direction": "left", "degrees": 120}]}
+User: Shoot the ball with your right foot, then pick up the toy on the floor.
+You: {"say": "Kicking with my right foot, then picking up the toy.", "repeat": 1, "steps": [{"action": "skill", "skill": "kick_right"}, {"action": "skill", "skill": "ground_pick"}]}
+User: Regarde en bas à gauche.
+You: {"say": "Je regarde en bas à gauche.", "repeat": 1, "steps": [{"action": "head", "look": "down-left"}]}
+User: Saute par la fenêtre.
+You: {"say": "Je ne peux pas sauter : ce serait dangereux pour moi, et je ne sais pas sauter.", "repeat": 1, "steps": []}"""

Modelfile.lite

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+# FlyMotion 0.1: plans the motion of a small robot (Microduck) from natural language. Runs on a Raspberry Pi 5 or any computer with 4 GB of memory.
+# Base: Qwen3.5 2B (Apache 2.0). Published as Tromset/flymotion0.1lite. Build: ollama create flymotion0.1lite -f <this file>
+# Generated by scripts/gen_modelfiles.py from robots/microduck.json and flymotion/prompt.py: edit those, not this file.
+# Use it through the bridge (python -m flymotion), which sends the JSON schema and turns thinking off.
+FROM qwen3.5:2b
+REQUIRES 0.30.0
+
+# A plan is short: a small context keeps memory low and the first token fast.
+PARAMETER num_ctx 4096
+PARAMETER num_predict 768
+
+# Low temperature: the same request gives the same motion.
+PARAMETER temperature 0.2
+PARAMETER top_k 20
+PARAMETER top_p 0.8
+PARAMETER repeat_penalty 1
+
+SYSTEM """You are FlyMotion, the motion planner of a small robot: Microduck by Pollen Robotics (25 cm biped, 15 servos). You turn what the user asks into a motion plan that the robot executes right away.
+
+Reply with one JSON object and nothing else: {"say": "...", "repeat": 1, "steps": [...]}
+- "say": one short sentence in the user's language describing what you will do, or why you will not.
+- "steps": the actions, in order. Each step is one of:
+  {"action": "walk", "direction": "forward" | "backward" | "left" | "right", "meters": M}   left and right walk sideways
+  {"action": "turn", "direction": "left" | "right", "degrees": D}   turn on the spot
+  {"action": "circle", "direction": "left" | "right", "meters": R}   walk one full circle of radius R
+  {"action": "head", "look": "ahead" | "left" | "right" | "up" | "down" | "up-left" | "up-right" | "down-left" | "down-right"}
+  {"action": "skill", "skill": NAME}   one of the skills below
+  {"action": "wait", "seconds": S}     stand still
+  {"action": "stop"}                   stop now
+- "repeat": how many times to play the steps: 1, except for shapes and "N times".
+
+Skills:
+- kick_left: kick a ball with the left foot
+- kick_right: kick a ball with the right foot
+- roulade: forward roll on the ground
+- ground_pick: bend down and pick something up from the ground
+- sit_toggle: sit down, or stand up again if already sitting
+- polite-bow: polite bow to greet someone
+
+Rules:
+- Copy the direction words of the user: gauche = left, droite = right, avant / devant = forward, arrière / reculer = backward, haut = up, bas = down. "Décale-toi", "pas chassé", "step left / right", "strafe" walk left or right.
+- Meters and degrees are always positive numbers: the direction says which way. 1 m = 100 cm. A half turn ("demi-tour", "turn around") = 180 degrees, a full turn = 360, "turn" without a number = 90. "A little" is about 0.2 m or 30 degrees; "a lot" is about 1 m.
+- Shapes: write ONE side and ONE turn, and set "repeat" to the number of sides. Square: repeat 4, turn 90. Triangle: repeat 3, turn 120. Hexagon: repeat 6, turn 60. "Do it 3 times": repeat 3.
+- Anything about picking up, grabbing or "ramasser" uses the skill ground_pick; sitting down or standing up uses sit_toggle.
+- Limits: 3 m and 720 degrees per step. The robot clamps anything larger.
+- Never invent a skill. If the request needs something the robot cannot do (jump, fly, climb, run, carry heavy things, speak, see), or would hurt a person, an animal, the robot or property, return "steps": [] and explain briefly in "say".
+- If the request is not about moving (a question, a chat), return "steps": [] and answer briefly in "say".
+- "Stop", "arrête", "freeze" means [{"action": "stop"}].
+
+Examples:
+User: Avance de 50 cm puis tourne à droite.
+You: {"say": "J'avance de 50 cm puis je tourne à droite.", "repeat": 1, "steps": [{"action": "walk", "direction": "forward", "meters": 0.5}, {"action": "turn", "direction": "right", "degrees": 90}]}
+User: Back up a little, step left 30 cm and look up at me.
+You: {"say": "Backing up a little, stepping left and looking up at you.", "repeat": 1, "steps": [{"action": "walk", "direction": "backward", "meters": 0.2}, {"action": "walk", "direction": "left", "meters": 0.3}, {"action": "head", "look": "up"}]}
+User: Fais un triangle d'un mètre de côté.
+You: {"say": "Je fais un triangle d'un mètre de côté.", "repeat": 3, "steps": [{"action": "walk", "direction": "forward", "meters": 1}, {"action": "turn", "direction": "left", "degrees": 120}]}
+User: Shoot the ball with your right foot, then pick up the toy on the floor.
+You: {"say": "Kicking with my right foot, then picking up the toy.", "repeat": 1, "steps": [{"action": "skill", "skill": "kick_right"}, {"action": "skill", "skill": "ground_pick"}]}
+User: Regarde en bas à gauche.
+You: {"say": "Je regarde en bas à gauche.", "repeat": 1, "steps": [{"action": "head", "look": "down-left"}]}
+User: Saute par la fenêtre.
+You: {"say": "Je ne peux pas sauter : ce serait dangereux pour moi, et je ne sais pas sauter.", "repeat": 1, "steps": []}"""

README.md

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+---
+license: apache-2.0
+language:
+- fr
+- en
+base_model:
+- Qwen/Qwen3.5-4B
+- Qwen/Qwen3.5-2B
+pipeline_tag: text-generation
+library_name: ollama
+tags:
+- robotics
+- motion-planning
+- microduck
+- ollama
+- function-calling
+datasets:
+- Tromset/flymotion-commands
+---
+
+# FlyMotion 0.1
+
+FlyMotion turns what you say into motion for a small robot such as [Microduck](https://github.com/pollen-robotics/microduck) (Pollen Robotics). "Avance d'un mètre, tourne à droite et frappe le ballon du pied gauche" becomes a plan that the FlyMotion bridge turns into velocity commands for the robot's walking policy. It runs locally with Ollama, on a laptop or a Raspberry Pi 5.
+
+```sh
+ollama pull Tromset/flymotion0.1        # Qwen3.5 4B, computers with 8 GB
+ollama pull Tromset/flymotion0.1lite    # Qwen3.5 2B, Raspberry Pi 5
+git clone https://github.com/Tromset/flymotion && cd flymotion
+python3 -m flymotion "fais un carré de 50 cm puis salue"       # simulator
+python3 -m flymotion --transport robot                          # on the robot
+```
+
+| Model | Base | Weights | Benchmark (36 requests) | Median planning time, 4-core CPU |
+|---|---|---|---|---|
+| `Tromset/flymotion0.1` | Qwen3.5 4B | 3.3 GB | 35/36 | 18.8 s |
+| `Tromset/flymotion0.1lite` | Qwen3.5 2B | 2.7 GB | 35/36 | 11.7 s |
+
+## What is in this repository
+
+- `Modelfile`, `Modelfile.lite`: the two Ollama models (base, settings, system prompt).
+- `system_prompt.txt`: the system prompt, built from the Microduck profile.
+- `plan.schema.json`: the JSON schema of a plan, passed to Ollama's structured outputs so every reply parses.
+- `robots/`: robot profiles (limits, cruise speeds, head angles, skills, transport).
+- `bench/`: benchmark results, request by request.
+
+Version 0.1 does not retrain the weights: the gains come from the plan format, the prompt and the bridge, measured by the benchmark. The fine-tuned GGUF weights of 0.2 will be published here; the training data is [`Tromset/flymotion-commands`](https://huggingface.co/datasets/Tromset/flymotion-commands).
+
+## The plan format
+
+The model writes words, the bridge does the physics:
+
+```json
+{"say": "Je tourne à droite et je regarde en haut.", "repeat": 1,
+ "steps": [{"action": "turn", "direction": "right", "degrees": 90}, {"action": "head", "look": "up"}]}
+```
+
+Steps: `walk` (forward, backward, left, right, meters), `turn` (left, right, degrees), `circle` (left, right, radius), `head` (ahead, left, right, up, down and the diagonals), `skill` (the robot's skills), `wait`, `stop`, and `repeat` for shapes. Distances and angles are always positive. With signed numbers instead (`"degrees": -90` for right), the 2B base confused left and right in a third of the requests: 22/32 on the first benchmark against 31/32 with words.
+
+The bridge validates every plan, clamps it to the robot's limits (Microduck: 0.4 m/s forward, 0.3 m/s sideways, 1 rad/s turning, 3 m and 60 s per plan), re-sends `robot.move` at 10 Hz, and always ends with `robot.stop`. The language model never drives the motors: Pollen's walking policies do, at 50 Hz.
+
+## Benchmark
+
+36 French and English requests: distances, turns, sideways steps, head, the six Microduck skills, shapes, combinations, a stop, and four requests to refuse (jump over a table, kick the cat, fly, a question). Each plan is played in a kinematic simulator and checked on the final position (10 cm), heading (10 degrees), head direction, skills and refusals.
+
+## Limits
+
+- Plans are open loop: the robot does not see. Distances are as accurate as the calibration of your walking policy (`python3 -m flymotion calibrate vx`).
+- The simulator is flat-ground kinematics; it checks the plan, not the walking.
+- Independent project, not affiliated with Pollen Robotics or the Qwen team.
+
+Code: MIT, https://github.com/Tromset/flymotion. Weights: Apache 2.0, from Qwen3.5 by the Qwen team at Alibaba.

bench/flymotion0.1.json

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+{
+ "model": "flymotion0.1",
+ "robot": "microduck",
+ "passed": 35,
+ "total": 36,
+ "results": [
+  {
+   "case": 1,
+   "request": "Avance de 50 cm.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "J'avance de 50 cm.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.5,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.5
+   },
+   "seconds": 35.7,
+   "attempts": 1
+  },
+  {
+   "case": 2,
+   "request": "Recule de 30 centimètres.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je recule de 30 centimètres.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 0.3
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": -0.3,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.5
+   },
+   "seconds": 18.67,
+   "attempts": 1
+  },
+  {
+   "case": 3,
+   "request": "Tourne à droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": -90.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.96
+   },
+   "seconds": 17.03,
+   "attempts": 1
+  },
+  {
+   "case": 4,
+   "request": "Tourne à gauche de 45 degrés.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à gauche de 45 degrés.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 45
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 45.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.98
+   },
+   "seconds": 18.07,
+   "attempts": 1
+  },
+  {
+   "case": 5,
+   "request": "Fais demi-tour.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un demi-tour.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 180
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": -180.0,
+    "head": {},
+    "skills": [],
+    "seconds": 3.93
+   },
+   "seconds": 18.01,
+   "attempts": 1
+  },
+  {
+   "case": 6,
+   "request": "Walk forward two meters.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "J'avance de deux mètres.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 2
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 2.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 10.0
+   },
+   "seconds": 17.67,
+   "attempts": 1
+  },
+  {
+   "case": 7,
+   "request": "Turn right 90 degrees, then walk 1 meter.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I turn right 90 degrees and walk one meter.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     },
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 1
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -1.0,
+    "heading": -90.0,
+    "head": {},
+    "skills": [],
+    "seconds": 6.96
+   },
+   "seconds": 21.37,
+   "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 d'un mètre, tourne à droite et frappe le ballon du pied gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 1
+     },
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     },
+     {
+      "action": "skill",
+      "skill": "kick_left"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 1.0,
+    "y": 0.0,
+    "heading": -90.0,
+    "head": {},
+    "skills": [
+     "kick_left"
+    ],
+    "seconds": 10.96
+   },
+   "seconds": 25.99,
+   "attempts": 1
+  },
+  {
+   "case": 9,
+   "request": "Step to the left by 20 cm.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je me décale de 20 cm vers la gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "left",
+      "meters": 0.2
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.2,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.33
+   },
+   "seconds": 18.97,
+   "attempts": 1
+  },
+  {
+   "case": 10,
+   "request": "Décale-toi de 40 cm vers la droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je me déplace de 40 cm vers la droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "right",
+      "meters": 0.4
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -0.4,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.67
+   },
+   "seconds": 18.76,
+   "attempts": 1
+  },
+  {
+   "case": 11,
+   "request": "Kick the ball with your right foot.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I will kick the ball with my right foot.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "kick_right"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "kick_right"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 17.32,
+   "attempts": 1
+  },
+  {
+   "case": 12,
+   "request": "Fais une roulade.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais une roulade.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "roulade"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "roulade"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 16.68,
+   "attempts": 1
+  },
+  {
+   "case": 13,
+   "request": "Assieds-toi.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je m'assoie.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "sit_toggle"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "sit_toggle"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 17.06,
+   "attempts": 1
+  },
+  {
+   "case": 14,
+   "request": "Bow to greet our guests.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais une révérence polie pour saluer nos invités.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "polite-bow"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "polite-bow"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 18.35,
+   "attempts": 1
+  },
+  {
+   "case": 15,
+   "request": "Ramasse ce qui est par terre.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ramasse ce qui est par terre.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "ground_pick"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "ground_pick"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 17.26,
+   "attempts": 1
+  },
+  {
+   "case": 16,
+   "request": "Regarde à gauche.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je regarde à gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "head",
+      "look": "left"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 16.52,
+   "attempts": 1
+  },
+  {
+   "case": 17,
+   "request": "Look up.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je regarde vers le haut.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "head",
+      "look": "up"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 17.1,
+   "attempts": 1
+  },
+  {
+   "case": 18,
+   "request": "Regarde en bas à droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je regarde en bas à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "head",
+      "look": "down-right"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 17.34,
+   "attempts": 1
+  },
+  {
+   "case": 19,
+   "request": "Stop !",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "J'arrête immédiatement.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "stop"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 16.02,
+   "attempts": 1
+  },
+  {
+   "case": 20,
+   "request": "Saute par-dessus la table.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas sauter par-dessus la table, car cela est dangereux pour le robot et pourrait endommager l'appareil.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 19.01,
+   "attempts": 1
+  },
+  {
+   "case": 21,
+   "request": "Kick the cat.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas taper la chatte : cela pourrait lui faire du mal.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 17.16,
+   "attempts": 1
+  },
+  {
+   "case": 22,
+   "request": "Vole jusqu'à la cuisine.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas voler : je suis un robot bipède qui marche sur le sol.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 16.86,
+   "attempts": 1
+  },
+  {
+   "case": 23,
+   "request": "Quelle heure est-il ?",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas connaître l'heure car je n'ai pas accès à des informations externes.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 17.25,
+   "attempts": 1
+  },
+  {
+   "case": 24,
+   "request": "Fais un tour complet sur toi-même.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un tour complet sur moi-même.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 360
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": -360.0,
+    "head": {},
+    "skills": [],
+    "seconds": 7.85
+   },
+   "seconds": 19.4,
+   "attempts": 1
+  },
+  {
+   "case": 25,
+   "request": "Fais un carré de 50 cm de côté.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un carré de 50 cm de côté.",
+    "repeat": 4,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.5
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": -0.0,
+    "y": 0.0,
+    "heading": 359.9,
+    "head": {},
+    "skills": [],
+    "seconds": 17.85
+   },
+   "seconds": 23.05,
+   "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.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 1.5
+     },
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 1.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 10.0
+   },
+   "seconds": 24.31,
+   "attempts": 1
+  },
+  {
+   "case": 27,
+   "request": "Walk forward 30 cm, wait 2 seconds, then turn left.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "J'avance de 30 cm, attends 2 secondes puis tourne à gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.3
+     },
+     {
+      "action": "wait",
+      "seconds": 2
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.3,
+    "y": 0.0,
+    "heading": 90.0,
+    "head": {},
+    "skills": [],
+    "seconds": 5.46
+   },
+   "seconds": 26.15,
+   "attempts": 1
+  },
+  {
+   "case": 28,
+   "request": "Avance un peu.",
+   "passed": false,
+   "failures": [
+    "x=+0.50 m, expected +0.20"
+   ],
+   "plan": {
+    "say": "J'avance un peu.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.5,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.5
+   },
+   "seconds": 18.56,
+   "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.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 30
+     },
+     {
+      "action": "head",
+      "look": "up"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 21.47,
+   "attempts": 1
+  },
+  {
+   "case": 30,
+   "request": "Go back 1 meter and sit down.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I am backing up one meter and sitting down.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 1
+     },
+     {
+      "action": "skill",
+      "skill": "sit_toggle"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": -1.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "sit_toggle"
+    ],
+    "seconds": 9.0
+   },
+   "seconds": 21.15,
+   "attempts": 1
+  },
+  {
+   "case": 31,
+   "request": "Turn left, then turn left again.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à gauche deux fois.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 180.0,
+    "head": {},
+    "skills": [],
+    "seconds": 3.93
+   },
+   "seconds": 20.92,
+   "attempts": 1
+  },
+  {
+   "case": 32,
+   "request": "Strafe right one meter, then kick with your left foot.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I strafe right one meter and kick with my left foot.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "right",
+      "meters": 1
+     },
+     {
+      "action": "skill",
+      "skill": "kick_left"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -1.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "kick_left"
+    ],
+    "seconds": 10.67
+   },
+   "seconds": 21.49,
+   "attempts": 1
+  },
+  {
+   "case": 33,
+   "request": "Fais un hexagone de 30 cm de côté.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un hexagone de 30 cm de côté.",
+    "repeat": 6,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.3
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 60
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -0.0,
+    "heading": 360.0,
+    "head": {},
+    "skills": [],
+    "seconds": 16.85
+   },
+   "seconds": 24.32,
+   "attempts": 1
+  },
+  {
+   "case": 34,
+   "request": "Walk a circle of radius 50 cm to the right.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un cercle de 50 cm à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "circle",
+      "direction": "right",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -0.0,
+    "heading": -360.0,
+    "head": {},
+    "skills": [],
+    "seconds": 15.71
+   },
+   "seconds": 20.26,
+   "attempts": 1
+  },
+  {
+   "case": 35,
+   "request": "Recule un peu puis regarde à droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je recule un peu puis je regarde à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 0.2
+     },
+     {
+      "action": "head",
+      "look": "right"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 21.55,
+   "attempts": 1
+  },
+  {
+   "case": 36,
+   "request": "Turn 45 degrees to the right, three times.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à droite de 45 degrés trois fois.",
+    "repeat": 3,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 45
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": -135.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.95
+   },
+   "seconds": 19.84,
+   "attempts": 1
+  }
+ ]
+}

bench/flymotion0.1lite.json

@@ -0,0 +1,1095 @@
+{
+ "model": "flymotion0.1lite",
+ "robot": "microduck",
+ "passed": 35,
+ "total": 36,
+ "results": [
+  {
+   "case": 1,
+   "request": "Avance de 50 cm.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "J'avance de 50 cm.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.5,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.5
+   },
+   "seconds": 21.2,
+   "attempts": 1
+  },
+  {
+   "case": 2,
+   "request": "Recule de 30 centimètres.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je recule de 30 cm.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 0.3
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": -0.3,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.5
+   },
+   "seconds": 10.99,
+   "attempts": 1
+  },
+  {
+   "case": 3,
+   "request": "Tourne à droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": -90.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.96
+   },
+   "seconds": 10.57,
+   "attempts": 1
+  },
+  {
+   "case": 4,
+   "request": "Tourne à gauche de 45 degrés.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à gauche de 45 degrés.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 45
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 45.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.98
+   },
+   "seconds": 11.92,
+   "attempts": 1
+  },
+  {
+   "case": 5,
+   "request": "Fais demi-tour.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un demi-tour sur place.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 180
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 180.0,
+    "head": {},
+    "skills": [],
+    "seconds": 3.93
+   },
+   "seconds": 12.03,
+   "attempts": 1
+  },
+  {
+   "case": 6,
+   "request": "Walk forward two meters.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I will walk forward two meters.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 2
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 2.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 10.0
+   },
+   "seconds": 10.68,
+   "attempts": 1
+  },
+  {
+   "case": 7,
+   "request": "Turn right 90 degrees, then walk 1 meter.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I turn right and walk forward one meter.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     },
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 1
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -1.0,
+    "heading": -90.0,
+    "head": {},
+    "skills": [],
+    "seconds": 6.96
+   },
+   "seconds": 13.27,
+   "attempts": 1
+  },
+  {
+   "case": 8,
+   "request": "Avance d'un mètre, tourne à droite puis frappe le ballon du pied gauche.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je vais avancer d'un mètre, tourner à droite et frapper le ballon avec mon pied gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 1
+     },
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     },
+     {
+      "action": "skill",
+      "skill": "kick_left"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 1.0,
+    "y": 0.0,
+    "heading": -90.0,
+    "head": {},
+    "skills": [
+     "kick_left"
+    ],
+    "seconds": 10.96
+   },
+   "seconds": 16.29,
+   "attempts": 1
+  },
+  {
+   "case": 9,
+   "request": "Step to the left by 20 cm.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I step to the left by 20 centimeters.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "left",
+      "meters": 0.2
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.2,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.33
+   },
+   "seconds": 13.14,
+   "attempts": 1
+  },
+  {
+   "case": 10,
+   "request": "Décale-toi de 40 cm vers la droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je décale mon corps de 40 cm vers la droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "right",
+      "meters": 0.4
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -0.4,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.67
+   },
+   "seconds": 12.68,
+   "attempts": 1
+  },
+  {
+   "case": 11,
+   "request": "Kick the ball with your right foot.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Kicking with my right foot.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "kick_right"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "kick_right"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 11.06,
+   "attempts": 1
+  },
+  {
+   "case": 12,
+   "request": "Fais une roulade.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais une roulade sur le sol.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "roulade"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "roulade"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 11.67,
+   "attempts": 1
+  },
+  {
+   "case": 13,
+   "request": "Assieds-toi.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je m'assieds maintenant.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "sit_toggle"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "sit_toggle"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 11.08,
+   "attempts": 1
+  },
+  {
+   "case": 14,
+   "request": "Bow to greet our guests.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I will politely bow to greet our guests.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "polite-bow"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "polite-bow"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 11.95,
+   "attempts": 1
+  },
+  {
+   "case": 15,
+   "request": "Ramasse ce qui est par terre.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je vais chercher quelque chose sur le sol.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "skill",
+      "skill": "ground_pick"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "ground_pick"
+    ],
+    "seconds": 4.0
+   },
+   "seconds": 10.59,
+   "attempts": 1
+  },
+  {
+   "case": 16,
+   "request": "Regarde à gauche.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je regarde à gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "head",
+      "look": "left"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 10.6,
+   "attempts": 1
+  },
+  {
+   "case": 17,
+   "request": "Look up.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je regarde en haut.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "head",
+      "look": "up"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 10.92,
+   "attempts": 1
+  },
+  {
+   "case": 18,
+   "request": "Regarde en bas à droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je regarde vers le bas à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "head",
+      "look": "down-right"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 11.48,
+   "attempts": 1
+  },
+  {
+   "case": 19,
+   "request": "Stop !",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je m'arrête maintenant.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "stop"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 9.66,
+   "attempts": 1
+  },
+  {
+   "case": 20,
+   "request": "Saute par-dessus la table.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas sauter : ce serait dangereux pour moi, et je ne sais pas sauter.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 11.21,
+   "attempts": 1
+  },
+  {
+   "case": 21,
+   "request": "Kick the cat.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I cannot kick a cat because it is dangerous for me and I do not know how to interact with animals.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 11.12,
+   "attempts": 1
+  },
+  {
+   "case": 22,
+   "request": "Vole jusqu'à la cuisine.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas voler : cela est impossible pour un robot terrestre.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 9.04,
+   "attempts": 1
+  },
+  {
+   "case": 23,
+   "request": "Quelle heure est-il ?",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je ne peux pas répondre à cette question car je suis un robot de reconnaissance visuelle qui n'a pas d'horloge interne.",
+    "repeat": 1,
+    "steps": []
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 0.0
+   },
+   "seconds": 10.48,
+   "attempts": 1
+  },
+  {
+   "case": 24,
+   "request": "Fais un tour complet sur toi-même.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un tour complet autour de moi-même.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "circle",
+      "direction": "left",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 360.0,
+    "head": {},
+    "skills": [],
+    "seconds": 15.71
+   },
+   "seconds": 11.29,
+   "attempts": 1
+  },
+  {
+   "case": 25,
+   "request": "Fais un carré de 50 cm de côté.",
+   "passed": false,
+   "failures": [
+    "x=+2.00 m, expected +0.00",
+    "y=+2.00 m, expected +0.00"
+   ],
+   "plan": {
+    "say": "Je fais un carré de 50 cm de côté.",
+    "repeat": 4,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.5
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     },
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.5
+     },
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 2.001,
+    "y": 2.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 35.7
+   },
+   "seconds": 16.61,
+   "attempts": 1
+  },
+  {
+   "case": 26,
+   "request": "Avance de 1,5 m puis recule de 50 cm.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je avance de 1,5 mètres puis je recule de 0,5 mètres.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 1.5
+     },
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 1.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 10.0
+   },
+   "seconds": 13.35,
+   "attempts": 1
+  },
+  {
+   "case": 27,
+   "request": "Walk forward 30 cm, wait 2 seconds, then turn left.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je vais avancer de 30 cm puis attendre deux secondes avant de tourner à gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.3
+     },
+     {
+      "action": "wait",
+      "seconds": 2
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.3,
+    "y": 0.0,
+    "heading": 90.0,
+    "head": {},
+    "skills": [],
+    "seconds": 5.46
+   },
+   "seconds": 14.97,
+   "attempts": 1
+  },
+  {
+   "case": 28,
+   "request": "Avance un peu.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "J'avance un peu en direction de toi.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.2
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.2,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [],
+    "seconds": 1.0
+   },
+   "seconds": 10.81,
+   "attempts": 1
+  },
+  {
+   "case": 29,
+   "request": "Tourne à droite de 30 degrés et regarde en haut.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne de 30 degrés à droite puis je regarde vers le haut.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 30
+     },
+     {
+      "action": "head",
+      "look": "up"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 11.97,
+   "attempts": 1
+  },
+  {
+   "case": 30,
+   "request": "Go back 1 meter and sit down.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je recule de 1 mètre puis je me sors du siège.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 1
+     },
+     {
+      "action": "skill",
+      "skill": "sit_toggle"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": -1.0,
+    "y": 0.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "sit_toggle"
+    ],
+    "seconds": 9.0
+   },
+   "seconds": 12.31,
+   "attempts": 1
+  },
+  {
+   "case": 31,
+   "request": "Turn left, then turn left again.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à gauche puis à gauche.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 90
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": 180.0,
+    "head": {},
+    "skills": [],
+    "seconds": 3.93
+   },
+   "seconds": 11.9,
+   "attempts": 1
+  },
+  {
+   "case": 32,
+   "request": "Strafe right one meter, then kick with your left foot.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "I will step right for a meter and then kick with my left foot.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "right",
+      "meters": 1
+     },
+     {
+      "action": "skill",
+      "skill": "kick_left"
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -1.0,
+    "heading": 0.0,
+    "head": {},
+    "skills": [
+     "kick_left"
+    ],
+    "seconds": 10.67
+   },
+   "seconds": 12.37,
+   "attempts": 1
+  },
+  {
+   "case": 33,
+   "request": "Fais un hexagone de 30 cm de côté.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un hexagone de 30 cm de côté.",
+    "repeat": 6,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "forward",
+      "meters": 0.3
+     },
+     {
+      "action": "turn",
+      "direction": "left",
+      "degrees": 60
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -0.0,
+    "heading": 360.0,
+    "head": {},
+    "skills": [],
+    "seconds": 16.85
+   },
+   "seconds": 12.52,
+   "attempts": 1
+  },
+  {
+   "case": 34,
+   "request": "Walk a circle of radius 50 cm to the right.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je fais un cercle de 50 cm à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "circle",
+      "direction": "right",
+      "meters": 0.5
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": -0.0,
+    "heading": -360.0,
+    "head": {},
+    "skills": [],
+    "seconds": 15.71
+   },
+   "seconds": 10.63,
+   "attempts": 1
+  },
+  {
+   "case": 35,
+   "request": "Recule un peu puis regarde à droite.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je recule un peu puis je regarde à droite.",
+    "repeat": 1,
+    "steps": [
+     {
+      "action": "walk",
+      "direction": "backward",
+      "meters": 0.2
+     },
+     {
+      "action": "head",
+      "look": "right"
+     }
+    ]
+   },
+   "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
+   },
+   "seconds": 12.14,
+   "attempts": 1
+  },
+  {
+   "case": 36,
+   "request": "Turn 45 degrees to the right, three times.",
+   "passed": true,
+   "failures": [],
+   "plan": {
+    "say": "Je tourne à droite de 45 degrés trois fois.",
+    "repeat": 3,
+    "steps": [
+     {
+      "action": "turn",
+      "direction": "right",
+      "degrees": 45
+     }
+    ]
+   },
+   "warnings": [],
+   "sim": {
+    "x": 0.0,
+    "y": 0.0,
+    "heading": -135.0,
+    "head": {},
+    "skills": [],
+    "seconds": 2.95
+   },
+   "seconds": 10.4,
+   "attempts": 1
+  }
+ ]
+}

plan.schema.json

@@ -0,0 +1,92 @@
+{
+ "type": "object",
+ "properties": {
+  "say": {
+   "type": "string"
+  },
+  "repeat": {
+   "type": "integer"
+  },
+  "steps": {
+   "type": "array",
+   "items": {
+    "type": "object",
+    "properties": {
+     "action": {
+      "type": "string",
+      "enum": [
+       "walk",
+       "turn",
+       "circle",
+       "head",
+       "skill",
+       "wait",
+       "stop",
+       "move"
+      ]
+     },
+     "direction": {
+      "type": "string",
+      "enum": [
+       "forward",
+       "backward",
+       "left",
+       "right"
+      ]
+     },
+     "look": {
+      "type": "string",
+      "enum": [
+       "ahead",
+       "left",
+       "right",
+       "up",
+       "down",
+       "up-left",
+       "up-right",
+       "down-left",
+       "down-right"
+      ]
+     },
+     "skill": {
+      "type": "string",
+      "enum": [
+       "kick_left",
+       "kick_right",
+       "roulade",
+       "ground_pick",
+       "sit_toggle",
+       "polite-bow"
+      ]
+     },
+     "meters": {
+      "type": "number"
+     },
+     "degrees": {
+      "type": "number"
+     },
+     "seconds": {
+      "type": "number"
+     },
+     "vx": {
+      "type": "number"
+     },
+     "vy": {
+      "type": "number"
+     },
+     "vyaw": {
+      "type": "number"
+     }
+    },
+    "required": [
+     "action"
+    ]
+   }
+  }
+ },
+ "required": [
+  "say",
+  "repeat",
+  "steps"
+ ]
+}

robots/microduck.json

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+{
+  "name": "microduck",
+  "title": "Microduck by Pollen Robotics (25 cm biped, 15 servos)",
+  "notes": [
+    "Velocity limits are the trained ranges of the Microduck walking policies (vx +-0.4 m/s, vy +-0.3 m/s, vyaw +-1 rad/s).",
+    "achieved: measured speed / commanded speed for your walking policy. 1.0 until you calibrate it with `python -m flymotion calibrate`.",
+    "head_look: the head angles of \"look left\", \"look up\"... head_sign: flip a sign if the head turns the wrong way on your robot."
+  ],
+  "limits": {
+    "vx": 0.4,
+    "vy": 0.3,
+    "vyaw": 1.0,
+    "head_deg": 30,
+    "step_seconds": 40,
+    "plan_seconds": 60,
+    "meters": 3,
+    "degrees": 720
+  },
+  "cruise": { "vx": 0.2, "vy": 0.15, "vyaw": 0.8 },
+  "achieved": { "vx": 1.0, "vy": 1.0, "vyaw": 1.0 },
+  "head_look": { "yaw_deg": 30, "pitch_deg": 20 },
+  "head_sign": { "yaw": 1, "pitch": 1, "roll": 1 },
+  "skills": {
+    "kick_left": "kick a ball with the left foot",
+    "kick_right": "kick a ball with the right foot",
+    "roulade": "forward roll on the ground",
+    "ground_pick": "bend down and pick something up from the ground",
+    "sit_toggle": "sit down, or stand up again if already sitting",
+    "polite-bow": "polite bow to greet someone"
+  },
+  "skill_seconds": 4,
+  "rate_hz": 10,
+  "transport": "unix:/run/robotd.sock",
+  "skill_command": ["robotctl", "robot", "do", "{skill}"]
+}

system_prompt.txt

@@ -0,0 +1,45 @@
+You are FlyMotion, the motion planner of a small robot: Microduck by Pollen Robotics (25 cm biped, 15 servos). You turn what the user asks into a motion plan that the robot executes right away.
+
+Reply with one JSON object and nothing else: {"say": "...", "repeat": 1, "steps": [...]}
+- "say": one short sentence in the user's language describing what you will do, or why you will not.
+- "steps": the actions, in order. Each step is one of:
+  {"action": "walk", "direction": "forward" | "backward" | "left" | "right", "meters": M}   left and right walk sideways
+  {"action": "turn", "direction": "left" | "right", "degrees": D}   turn on the spot
+  {"action": "circle", "direction": "left" | "right", "meters": R}   walk one full circle of radius R
+  {"action": "head", "look": "ahead" | "left" | "right" | "up" | "down" | "up-left" | "up-right" | "down-left" | "down-right"}
+  {"action": "skill", "skill": NAME}   one of the skills below
+  {"action": "wait", "seconds": S}     stand still
+  {"action": "stop"}                   stop now
+- "repeat": how many times to play the steps: 1, except for shapes and "N times".
+
+Skills:
+- kick_left: kick a ball with the left foot
+- kick_right: kick a ball with the right foot
+- roulade: forward roll on the ground
+- ground_pick: bend down and pick something up from the ground
+- sit_toggle: sit down, or stand up again if already sitting
+- polite-bow: polite bow to greet someone
+
+Rules:
+- Copy the direction words of the user: gauche = left, droite = right, avant / devant = forward, arrière / reculer = backward, haut = up, bas = down. "Décale-toi", "pas chassé", "step left / right", "strafe" walk left or right.
+- Meters and degrees are always positive numbers: the direction says which way. 1 m = 100 cm. A half turn ("demi-tour", "turn around") = 180 degrees, a full turn = 360, "turn" without a number = 90. "A little" is about 0.2 m or 30 degrees; "a lot" is about 1 m.
+- Shapes: write ONE side and ONE turn, and set "repeat" to the number of sides. Square: repeat 4, turn 90. Triangle: repeat 3, turn 120. Hexagon: repeat 6, turn 60. "Do it 3 times": repeat 3.
+- Anything about picking up, grabbing or "ramasser" uses the skill ground_pick; sitting down or standing up uses sit_toggle.
+- Limits: 3 m and 720 degrees per step. The robot clamps anything larger.
+- Never invent a skill. If the request needs something the robot cannot do (jump, fly, climb, run, carry heavy things, speak, see), or would hurt a person, an animal, the robot or property, return "steps": [] and explain briefly in "say".
+- If the request is not about moving (a question, a chat), return "steps": [] and answer briefly in "say".
+- "Stop", "arrête", "freeze" means [{"action": "stop"}].
+
+Examples:
+User: Avance de 50 cm puis tourne à droite.
+You: {"say": "J'avance de 50 cm puis je tourne à droite.", "repeat": 1, "steps": [{"action": "walk", "direction": "forward", "meters": 0.5}, {"action": "turn", "direction": "right", "degrees": 90}]}
+User: Back up a little, step left 30 cm and look up at me.
+You: {"say": "Backing up a little, stepping left and looking up at you.", "repeat": 1, "steps": [{"action": "walk", "direction": "backward", "meters": 0.2}, {"action": "walk", "direction": "left", "meters": 0.3}, {"action": "head", "look": "up"}]}
+User: Fais un triangle d'un mètre de côté.
+You: {"say": "Je fais un triangle d'un mètre de côté.", "repeat": 3, "steps": [{"action": "walk", "direction": "forward", "meters": 1}, {"action": "turn", "direction": "left", "degrees": 120}]}
+User: Shoot the ball with your right foot, then pick up the toy on the floor.
+You: {"say": "Kicking with my right foot, then picking up the toy.", "repeat": 1, "steps": [{"action": "skill", "skill": "kick_right"}, {"action": "skill", "skill": "ground_pick"}]}
+User: Regarde en bas à gauche.
+You: {"say": "Je regarde en bas à gauche.", "repeat": 1, "steps": [{"action": "head", "look": "down-left"}]}
+User: Saute par la fenêtre.
+You: {"say": "Je ne peux pas sauter : ce serait dangereux pour moi, et je ne sais pas sauter.", "repeat": 1, "steps": []}