text: """ 
      Data class containing motion parameters controlling
      the quadruped's movement and states.
  """
  
  import numpy as np
  import copy
  from dataclasses import dataclass
  from enum import Enum
  
  
  class MotionState(Enum):
      POSE = 1
      MOTION = 2
  
  @dataclass
  class MotionInputs:
      motion_state = MotionState.POSE
      pos: np.ndarray = np.array([0.0, 0.0, 0.0])
      orn: np.ndarray = np.array([0.0, 0.0, 0.0])
      step_length: float = 0.0  
      yaw_rate: float = 0.0  
  