AKA change all instances of [x, y, z] in data files to [x, y, z, yaw]
On the primitives/trajectories side this should be an easy change as everything is parameterized in terms of number of dimensions
For specifying in a file, we should consider making the yaw an optional parameter, and if one is not specified it should just use the previous value or some global default if no previous one was specified
We currently only control x,y,z but not yaw (the rotation around z). Right now yaw is just set to stay at a constant value.
Motivation
Approach