def METHOD_NAME(self, parameters):
    """
    The actual body of the mission. Should attempt to execute whatever is expected
    of the mission, using the interfaces set up in :meth:`~.setup` or :meth:`~.setup_base` to
    command actuator movements, read perception output, etc. Should use :meth:`~.send_feedback`
    to update clients about what the mission is doing at the moment.
    If something goes wrong, raise an exception describing what went wrong
    and the mission will be aborted.
    If it executes successfully, return with a string to send a final result
    to the connected clients. Missions can also spawn other missions in the
    run function using :meth:`.run_submission`.
    Args:
        parameters: Arguments to modify the behavior of the mission. By default
            will be a json decoded object from the string passed in the goal,
            but can be changed by overriding decode_parameters.
    """