motion.template.yaml

---
plan:
  description: "in place rotation from 45-degree forwards"
  name: "inplace_rotation_from_45_fwd"
  start_state:
    body:
      position_in_meters_relative_to_world:
        x: 0.0
        y: 0.0
      orientation_in_radians_relative_to_world:
        z: 0.0
      angular_velocity_in_radians_per_second:
        z: 0.0
      linear_velocity_in_meters_per_second:
        x: 0.0
        y: 0.0
    modules:
      - name: "left-front"
        orientation_in_radians_relative_to_body: 0.0
        velocity_in_meters_per_second: 0.0
      - name: "left_rear"
        orientation_in_radians_relative_to_body: 0.0
        velocity_in_meters_per_second: 0.0
      - name: "right-rear"
        orientation_in_radians_relative_to_body: 0.0
        velocity_in_meters_per_second: 0.0
      - name: "right-front"
        orientation_in_radians_relative_to_body: 0.0
        velocity_in_meters_per_second: 0.0
  commands:
    - time_span: 1.0
      modules:
        - name: "left-front"
          orientation_in_radians_relative_to_body: 0.0
          velocity_in_meters_per_second: 0.0
        - name: "left_rear"
          orientation_in_radians_relative_to_body: 0.0
          velocity_in_meters_per_second: 0.0
        - name: "right-rear"
          orientation_in_radians_relative_to_body: 0.0
          velocity_in_meters_per_second: 0.0
        - name: "right-front"
          orientation_in_radians_relative_to_body: 0.0
          velocity_in_meters_per_second: 0.0
    - time_span: 1.0
      body:
        angular_velocity_in_radians_per_second:
          z: 0.0
        linear_velocity_in_meters_per_second:
          x: 0.0
          y: 0.0
    - time_span: 1.0
      body:
        angular_velocity_in_radians_per_second:
          z: 0.0
        linear_velocity_in_meters_per_second:
          x: 0.0
          y: 0.0