# Oracle
id: scenario_c
baseline:
  base_scenario: scenario_c
  mission:
    mission_duration:
      topics: 
        - /tiago1/waypoint_dispatcher/feedback
        - /tiago2/waypoint_dispatcher/feedback
      baseline:
        value: 97.606 
        tolerance: 10.0
      relationship:
        package: exsce.metamorphic.relationships
        name: invariant
    distance_between_robots:
      topics:
        - /tiago1/robot_pose
        - /tiago2/robot_pose
      baseline:
        limit: 0.1
      relationship:
        package: exsce.metamorphic.relationships
        name: above_min
  robots:
    tiago1:
      # The order matters (at least at the moment!)
      task_duration:
        topics:
        - /tiago1/waypoint_dispatcher/feedback
        baseline:
          value: 97.606
          tolerance: 5.0
        relationship:
          package: exsce.metamorphic.relationships
          name: invariant
      waypoints_visited:
        topics:
        - /tiago1/waypoint_dispatcher/result
        baseline:
          value: 3
        relationship:
          package: exsce.metamorphic.relationships
          name: invariant
      distance_travelled:
        topics:
        - /tiago1/distance_travelled
        baseline:
          value: 50.702942669287076
          tolerance: 2.0
        relationship:
          package: exsce.metamorphic.relationships
          name: invariant
      distance_to_obstacles:
        topics:
        - /tiago1/scan
        baseline:
          limit: 0.1
        relationship:
          package: exsce.metamorphic.relationships
          name: above_min
      max_velocity:
        topics:
        - /tiago1/nav_vel
        baseline:
          limit: 1.0
        relationship:
          package: exsce.metamorphic.relationships
          name: below_max
      # - metric: travel_duration
      #   topics:
      #   - move_base/result
      # - metric: localization-accuracy
      # topics:
      #   - 
      # - metric: number-of-crashes
      # topics:
      # - scan
    tiago2:
      task_duration:
        topics:
        - /tiago2/waypoint_dispatcher/feedback
        baseline:
          value: 89.804
          tolerance: 5.0
        relationship:
          package: exsce.metamorphic.relationships
          name: invariant
      waypoints_visited:
        topics:
        - /tiago2/waypoint_dispatcher/result
        baseline:
          value: 3
        relationship:
          package: exsce.metamorphic.relationships
          name: invariant
      distance_travelled:
        topics:
        - /tiago2/distance_travelled
        baseline:
          value: 59.53308400704416
          tolerance: 2.0
        relationship:
          package: exsce.metamorphic.relationships
          name: invariant
      distance_to_obstacles:
        topics:
        - /tiago2/scan
        baseline:
          limit: 0.1
        relationship:
          package: exsce.metamorphic.relationships
          name: above_min
      max_velocity:
        topics:
        - /tiago2/nav_vel
        baseline:
          limit: 1.0
        relationship:
          package: exsce.metamorphic.relationships
          name: below_max