code: public HashMap<Integer,ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID, String ... pathFiles) {
  		//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, pathFiles);
  	}
docs: Create a trajectory envelope for each given reference to a file containing a path.
  Robot IDs are assigned starting from the given integer. This method creates three envelopes for each
  path: the main {@link TrajectoryEnvelope} covering the path; one {@link TrajectoryEnvelope} for the
  starting position of the robot; and one one {@link TrajectoryEnvelope} for the final parking position
  of the robot. The three envelopes are constrained with {@link AllenIntervalConstraint.Type#Meets} constraints.
  The two parking envelopes have a duration of 3000 ms each. A default footprint of size 2.7 (w) x 6.6 (l) is used.
  @param firstRobotID The starting robot ID.
  @param pathFiles The files containing paths over which to create the {@link TrajectoryEnvelope}s.
  @return A mapping between robot IDs and the newly created sets of {@link TrajectoryEnvelope}s.