id: scenario_a
mission:
  id: mission_a
  type: sequential # parallel
  # tasks:
  allocation: 
    - robot: tiago1
      pkg: floorplan-dsl-environments
      file_path: tasks/brsu_building_c_with_doors/right_long_corridor_task.yaml
    - robot: tiago2
      pkg: floorplan-dsl-environments
      file_path: tasks/brsu_building_c_with_doors/left_long_corridor_task.yaml
environment:
  id: brsu_building_c_with_doors
  models:
    map: 
      map_name: brsu_building_c_with_doors
      pkg: floorplan-DSL-environments
      relative_path: maps/
    gazebo_world: 
      model_name: brsu_building_c_with_doors
      pkg: floorplan-DSL-environments
      relative_path: worlds/
  robots:
    tiago1:
      start_pose: 
      # C069
        id: classroom_c069-w001
        x: 11.721145629882812
        y: 53.50111770629883
        z: 0.0
        roll: 0.0
        pitch: 0.0
        yaw: 0.0
    tiago2:
      start_pose: 
      # C069
        id: classroom_c069-w002
        x: 12.687057495117188
        y: 55.12968444824219
        z: 0.0
        roll: 0.0
        pitch: 0.0
        yaw: 0.0
robots:
  - robot_id: tiago1
    robot_namespace: tiago1
    robot_type: tiago
  - robot_id: tiago2
    robot_namespace: tiago2
    robot_type: tiago