docs: public HashMap<Integer,ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID, Trajectory ... trajectories) {
  		//Default footprint, 2.7 (w) x 6.6 (l)
  		Coordinate frontLeft = new Coordinate(5.3, 1.35);
  		Coordinate frontRight = new Coordinate(5.3, -1.35);
  		Coordinate backRight = new Coordinate(-1.3, -1.35);
  		Coordinate backLeft = new Coordinate(-1.3, 1.35);
  		Coordinate[] footprint = new Coordinate[] {frontLeft,frontRight,backLeft,backRight};
  		long durationFirstParking = 3000;
  		long durationLastParking = 3000;
  		return createEnvelopes(firstRobotID, durationFirstParking, durationLastParking, footprint, trajectories);
  	}