diff --git a/scripts/idi.sh b/scripts/idi.sh
index 5544f36..33274bb 100755
--- a/scripts/idi.sh
+++ b/scripts/idi.sh
@@ -16,6 +16,10 @@ if [[ $# -ge 2 ]]; then
   SMER="$2"
 fi
 
+if [[ $# -ge 3 ]]; then
+  MIN_ROT="$(echo "$3*a(1)/45" | bc -l)"
+fi
+
 source install/setup.bash
 
 case $TARGET in
@@ -29,9 +33,17 @@ case $TARGET in
     "pravo") 
         ros2 action send_goal /translateX toid_msgs/action/SimpleTranslateX  "distance: ${SMER:-0.3}"
         ;;
+    "rotiraj") 
+        SMER="$(echo "$SMER*a(1)/45" | bc -l)"
+        echo $SMER
+        ros2 action send_goal /rotate toid_msgs/action/SimpleRotate  "
+          angle: ${SMER:-0.3}
+          min_angle: ${MIN_ROT:-0.0}"
+        ;;
     "stani") 
         ros2 service call /moveCoords/_action/cancel_goal action_msgs/srv/CancelGoal &
         ros2 service call /translateX/_action/cancel_goal action_msgs/srv/CancelGoal &
+        ros2 service call /rotate/_action/cancel_goal action_msgs/srv/CancelGoal &
         wait
         ;;
     *)