text: #!/usr/bin/env python
  
  import numpy as np
  from pycrazyswarm import *
  
  if __name__ == "__main__":
      swarm = Crazyswarm()
      timeHelper = swarm.timeHelper
      allcfs = swarm.allcfs
  
      allcfs.takeoff(targetHeight=1.0, duration=3.0)
  
      timeHelper.sleep(3.0)
  
      for cf in allcfs.crazyflies:
          pos = np.array(cf.initialPosition) + np.array([0, 0, 1.0])
          cf.goTo(pos, 0, 2.0)
  
      timeHelper.sleep(2.0)
      # for cf in allcfs.crazyflies:
      #     pos = np.array(cf.initialPosition) + np.array([1, -1, 1.0])
      #     cf.goTo(pos, 1.55, 2.0)
      #
      # timeHelper.sleep(2.0)
  
      for cf in allcfs.crazyflies:
          pos = np.array(cf.initialPosition) + np.array([1, -1, 1.0])
          cf.goTo(pos, 0, 2.0)
  
      timeHelper.sleep(2.0)
  
      allcfs.land(targetHeight=0.44, duration=12.0)
      timeHelper.sleep(12.0)
  