id: scenario_c
mission:
  id: mission_c
  type: parallel 
  allocation:
    - robot: tiago1
      pkg: metamorphic_testing
      file_path: config/tasks/delivery_a.yaml
    - robot: tiago2
      pkg: metamorphic_testing
      file_path: config/tasks/delivery_b.yaml
    # Navigate home tasks should always be at the end (at least for now)
    - robot: tiago1
      pkg: metamorphic_testing
      file_path: config/tasks/navigate_home_1.yaml
    - robot: tiago2
      pkg: metamorphic_testing
      file_path: config/tasks/navigate_home_2.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: # C025
        id: classroom_c025-w002
        x: 43.432926177978516
        y: 38.493873596191406
        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