id: scenario_b
mission:
  id: mission_b
  type: parallel 
  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: # C025
        id: classroom_c025-w001
        x: 44.80387496948242
        y: 37.15502166748047
        z: 0.0
        roll: 0.0
        pitch: 0.0
        yaw: 0.0
    tiago2:
      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
robots:
  - robot_id: tiago1
    robot_namespace: tiago1
    robot_type: tiago
  - robot_id: tiago2
    robot_namespace: tiago2
    robot_type: tiago