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When the robot translates backward and to the left, the front-left wheel and the rear-right wheel will rotate backward, so
their rotation speed values should be negative, while the front-right wheel and the rear-left wheel will stay still, so their
rotation speed values should be zero.
When the robot rotates to the left, the front-right wheel and the rear-right wheel will rotate forward, so their rotation speed values
should be positive, while the front-left wheel and the rear-left wheel will rotate backwards, so their rotation speed values should
be negative.
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