Keep the shape while the players move through it. Pass and rotate, fill the space a teammate vacates, and use the give and go out of the rotation to break in behind and finish.
Set up in a 3-1 and work the rotation unopposed first. The fixo passes to one ala and runs horizontally across court; the far ala comes across into the middle and works a give and go with the ball-side ala, who breaks in behind to finish. Everyone ends in a new position, so run it continuously from the new shape. Add two defenders and go 3v2 once the pattern is smooth.
Positions in futsal are places rather than people. The 3-1 stays a 3-1 for the entire game while the four outfield players circulate through it continuously, which means no player owns a role and every player has to be able to fill every one. That is a genuine difference from the outdoor game, where a left-back is a person, and it is the thing to establish before any of the movement makes sense.
The rule that makes it work is that the rotation starts with the passer. Move the instant you pass, not once you see what happens next. A player who passes and watches has stopped the rotation for everybody behind him, because the space he was supposed to vacate is still occupied and nobody can move into it.
Filling the vacated space is the other half and it is the discipline part. Whenever somebody leaves a position, the nearest player takes it. Not the player whose job it nominally is, since nobody has a nominal job here, but whoever is closest. Positions left empty are how a 3-1 collapses into four players chasing the ball, which on a court is punished within seconds.
The give and go out of the rotation is where the movement becomes an attack rather than an exercise. Rotating tidily and passing sideways for two minutes is comfortable and creates nothing, so the pattern needs a moment where somebody breaks in behind and the ball goes with him.
Expect it to look chaotic at first. Players used to fixed positions find continuous rotation genuinely disorienting, and it takes several sessions before the shape holds while the people move.
Save it to your private drills, then change the animation, adjust positions, swap equipment, or drop it into a session block. Or start from a blank pitch and build your own.