waypoints:
  - pose:
      position:
        x: 3
        y: 0
      orientation:
        z: 0
        w: 1
  - pose:
      position:
        x: 6
        y: 0
      orientation:
        z: 0
        w: 1
  - pose:
      position:
        x: 9
        y: 0
      orientation:
        z: 0
        w: 1
  - pose:
      position:
        x: 11
        y: -1
      orientation:
        z: -0.7071068
        w: 0.7071068
  - pose:
      position:
        x: 11
        y: -2
      orientation:
        z: -0.9489846
        w: 0.3153224
  - pose:
      position:
        x: 9
        y: -3
      orientation:
        z: 1
        w: 0
  - pose:
      position:
        x: 6
        y: -3
      orientation:
        z: 1
        w: 0
  - pose:
      position:
        x: 3
        y: -3
      orientation:
        z: 1
        w: 0
  - pose:
      position:
        x: 0
        y: -3
      orientation:
        z: 1
        w: 0