code: public HashMap<Integer,ArrayList<TrajectoryEnvelope>> createEnvelopes(int firstRobotID, long durationFirstParking, long durationLastParking, Coordinate[] footprint, String ... pathFiles) {
  
  		Trajectory[] trajectories = new Trajectory[pathFiles.length];
  		for (int i = 0; i < pathFiles.length; i++) {
  			trajectories[i] = new Trajectory(pathFiles[i]);
  		}
  		return createEnvelopes(firstRobotID, durationFirstParking, durationLastParking, footprint, trajectories);
  	}
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 given duration.
  @param firstRobotID The starting robot ID.
  @param durationFirstParking The duration of the first parking {@link TrajectoryEnvelope}.
  @param durationLastParking The duration of the final parking {@link TrajectoryEnvelope}.
  @param footprint Coordinates representing the footprint of the robot.
  @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.