life2scenario-llm24/Life2Scenario-medium · Datasets at Hugging Face

would you add pedestrian at location (-46.95, -40.84, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9549"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9550"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9551"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9552"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9553"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9554"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9555"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9556"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9557"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9558"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9559"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9560"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9562"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9563"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9564"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9566"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9549"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.664666175842285" y="-72.71819305419922" z="0.03380443528294563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9550"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.820390701293945" y="34.72707748413086" z="0.0030789184384047985"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9551"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.228102684020996" y="-144.44044494628906" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9552"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.561701774597168" y="-74.44459533691406" z="0.0338011160492897"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9553"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.54418182373047" y="-5.600663661956787" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9554"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.077523373067379" y="-149.07164001464844" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9555"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8472201824188232" y="-72.82144927978516" z="0.033782463520765305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9556"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.140666961669922" y="89.1035385131836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9557"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.0013656616211" y="-30.90530014038086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9558"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.547874450683594" y="52.81714630126953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9559"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.296630859375" y="89.949951171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9560"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.723738193511963" y="-5.862267017364502" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9562"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.27674865722656" y="-54.30416488647461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9563"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.76408386230469" y="-61.51059341430664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9564"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.571809768676758" y="-78.78860473632812" z="0.03378894552588463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9566"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.11628723144531" y="-56.53145980834961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.239490509033203" y="-153.1303253173828" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.683061599731445" y="28.33499526977539" z="0.003062019357457757"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9549"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9550"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9551"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9552"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9553"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9554"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9555"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9556"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9557"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9558"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9559"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9560"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9562"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9563"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9564"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9566"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9569"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9549"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.664666175842285" y="-72.71819305419922" z="0.03380443528294563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9550"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.820390701293945" y="34.72707748413086" z="0.0030789184384047985"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9551"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.228102684020996" y="-144.44044494628906" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9552"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.561701774597168" y="-74.44459533691406" z="0.0338011160492897"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9553"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.54418182373047" y="-5.600663661956787" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9554"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.077523373067379" y="-149.07164001464844" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9555"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.8472201824188232" y="-72.82144927978516" z="0.033782463520765305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9556"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.140666961669922" y="89.1035385131836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9557"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.0013656616211" y="-30.90530014038086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9558"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.547874450683594" y="52.81714630126953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9559"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.296630859375" y="89.949951171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9560"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.723738193511963" y="-5.862267017364502" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9562"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.27674865722656" y="-54.30416488647461" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9563"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.76408386230469" y="-61.51059341430664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9564"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.571809768676758" y="-78.78860473632812" z="0.03378894552588463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9566"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.11628723144531" y="-56.53145980834961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.239490509033203" y="-153.1303253173828" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.683061599731445" y="28.33499526977539" z="0.003062019357457757"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9569"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-46.95250701904297" y="-40.838470458984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to display add pedestrian at location (1.18, 68.42, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3062"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3064"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3065"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3068"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3069"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3070"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3071"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3072"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3073"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3075"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3076"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3077"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3078"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3079"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3080"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.006502151489258" y="-158.52471923828125" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3062"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.434637069702148" y="-159.61441040039062" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.9431718587875366" y="3.448565721511841" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3064"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-62.24943161010742" y="-5.504756927490234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3065"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.7718987464904785" y="-156.04107666015625" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.595542907714844" y="-78.07383728027344" z="0.033792611211538315"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.6837797164917" y="25.557662963867188" z="0.00306110386736691"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3068"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.348158836364746" y="-158.95510864257812" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3069"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.9182186126709" y="37.44003677368164" z="0.003070030128583312"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3070"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.556929588317871" y="-156.59019470214844" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3071"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.308025360107422" y="52.009037017822266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3072"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.787484169006348" y="-161.95550537109375" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3073"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.873337745666504" y="30.95493507385254" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.100658416748047" y="20.3739070892334" z="0.003038711380213499"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3075"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.8479156494140625" y="-73.54891967773438" z="0.03375164046883583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3076"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.098133563995361" y="30.532033920288086" z="0.0030126189813017845"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3077"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.762752532958984" y="-47.5308837890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3078"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2265452146530151" y="-67.5082778930664" z="0.033783797174692154"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3079"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.808837890625" y="-3.249549388885498" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3080"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.636052131652832" y="82.16809844970703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.26630401611328" y="89.57015991210938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3062"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3064"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3065"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3068"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3069"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3070"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3071"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_3072"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3073"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3075"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_3076"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3077"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_3078"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3079"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3080"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_3082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.006502151489258" y="-158.52471923828125" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3062"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.434637069702148" y="-159.61441040039062" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.9431718587875366" y="3.448565721511841" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3064"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-62.24943161010742" y="-5.504756927490234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3065"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.7718987464904785" y="-156.04107666015625" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.595542907714844" y="-78.07383728027344" z="0.033792611211538315"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.6837797164917" y="25.557662963867188" z="0.00306110386736691"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3068"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.348158836364746" y="-158.95510864257812" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3069"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.9182186126709" y="37.44003677368164" z="0.003070030128583312"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3070"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.556929588317871" y="-156.59019470214844" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3071"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.308025360107422" y="52.009037017822266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_3072"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.787484169006348" y="-161.95550537109375" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3073"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.873337745666504" y="30.95493507385254" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.100658416748047" y="20.3739070892334" z="0.003038711380213499"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3075"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.8479156494140625" y="-73.54891967773438" z="0.03375164046883583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_3076"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.098133563995361" y="30.532033920288086" z="0.0030126189813017845"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3077"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.762752532958984" y="-47.5308837890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_3078"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2265452146530151" y="-67.5082778930664" z="0.033783797174692154"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3079"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.808837890625" y="-3.249549388885498" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3080"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.636052131652832" y="82.16809844970703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.26630401611328" y="89.57015991210938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_3082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.180273413658142" y="68.4248046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to ask you to remove pedestrian actor named pedestrian_w_transform_17525? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_17524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_17524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.490829467773438" y="-78.1957015991211" z="0.03381339833140373"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="82.18604278564453" y="78.57061767578125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_17524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_17524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.490829467773438" y="-78.1957015991211" z="0.03381339833140373"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please remove pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6494"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6495"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6497"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6498"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6500"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6503"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6504"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6505"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6506"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6507"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6509"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6510"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6511"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6494"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.910676956176758" y="-69.81266021728516" z="0.033760376274585724"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6495"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6364150047302246" y="-96.11164855957031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6497"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.66390228271484" y="31.84838104248047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6498"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.07041931152344" y="83.85826873779297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6500"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.86417388916016" y="-65.5854263305664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.733270645141602" y="19.22823143005371" z="0.0030827713198959827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.91622161865234" y="30.29959487915039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6503"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-45.252784729003906" y="51.2936897277832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6504"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.04254913330078" y="30.729267120361328" z="0.0029897689819335938"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6505"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.880075454711914" y="-62.44285583496094" z="0.033800240606069565"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6506"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.804264068603516" y="-150.9942626953125" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6507"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.39186096191406" y="-79.8763656616211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6509"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.2170524597168" y="90.4246826171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6510"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.193538665771484" y="-149.16647338867188" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6511"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.744248390197754" y="-64.96771240234375" z="0.03376556187868118"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.613864898681641" y="-75.77291870117188" z="0.03376159444451332"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.545979022979736" y="-84.92782592773438" z="0.03380676358938217"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.135303258895874" y="-156.77456665039062" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.305837631225586" y="81.18898010253906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.561960220336914" y="-153.28018188476562" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6494"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6495"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6497"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6498"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6500"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6503"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6504"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6505"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6506"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6507"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6509"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6510"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6511"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6494"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.910676956176758" y="-69.81266021728516" z="0.033760376274585724"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6495"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6364150047302246" y="-96.11164855957031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6497"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.66390228271484" y="31.84838104248047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6498"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.07041931152344" y="83.85826873779297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6500"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.86417388916016" y="-65.5854263305664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.733270645141602" y="19.22823143005371" z="0.0030827713198959827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.91622161865234" y="30.29959487915039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6503"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-45.252784729003906" y="51.2936897277832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6504"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.04254913330078" y="30.729267120361328" z="0.0029897689819335938"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6505"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.880075454711914" y="-62.44285583496094" z="0.033800240606069565"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6506"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.804264068603516" y="-150.9942626953125" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6507"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.39186096191406" y="-79.8763656616211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6509"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.2170524597168" y="90.4246826171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6510"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.193538665771484" y="-149.16647338867188" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6511"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.744248390197754" y="-64.96771240234375" z="0.03376556187868118"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.545979022979736" y="-84.92782592773438" z="0.03380676358938217"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.135303258895874" y="-156.77456665039062" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.305837631225586" y="81.18898010253906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.561960220336914" y="-153.28018188476562" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to remove pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9602"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9603"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9605"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9606"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9607"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9608"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9609"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9610"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9612"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9615"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9616"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9618"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9602"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.077781677246094" y="26.682758331298828" z="0.0030293655581772327"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9603"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.59241485595703" y="43.296165466308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9605"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.778289794921875" y="32.81027603149414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9606"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.418981552124023" y="-145.7207489013672" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9607"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.179896831512451" y="-151.59402465820312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9608"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.035152435302734" y="36.547367095947266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9609"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.708760738372803" y="-151.37872314453125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9610"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.736475944519043" y="-55.30815887451172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9612"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.078682899475098" y="-146.05364990234375" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9615"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-60.19951629638672" y="97.36648559570312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9616"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-79.30542755126953" y="92.56816101074219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9618"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.636378765106201" y="-71.55118560791016" z="0.03376895934343338"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9602"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9603"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9605"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9606"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9607"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9608"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9609"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9610"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9612"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9615"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9616"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9602"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.077781677246094" y="26.682758331298828" z="0.0030293655581772327"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9603"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.59241485595703" y="43.296165466308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9605"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.778289794921875" y="32.81027603149414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9606"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.418981552124023" y="-145.7207489013672" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9607"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.179896831512451" y="-151.59402465820312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9608"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.035152435302734" y="36.547367095947266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9609"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.708760738372803" y="-151.37872314453125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9610"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.736475944519043" y="-55.30815887451172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9612"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.078682899475098" y="-146.05364990234375" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9615"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-60.19951629638672" y="97.36648559570312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9616"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-79.30542755126953" y="92.56816101074219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22639"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22640"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22641"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22643"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22644"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22646"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22647"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22648"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22649"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22650"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22651"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22652"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22653"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22654"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22655"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22656"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22658"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22659"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22661"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22663"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22639"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.8568299412727356" y="25.249147415161133" z="0.0030717086046934128"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22640"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.6227030754089355" y="-146.7257843017578" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22641"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.6597900390625" y="55.84650421142578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22643"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.9762749671936035" y="-65.57593536376953" z="0.033757779747247696"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22644"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.053340911865234" y="-71.98515319824219" z="0.03378341719508171"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22646"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.16617584228516" y="-22.039770126342773" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22647"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.63892650604248" y="-61.7285270690918" z="0.03380325064063072"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22648"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.631343841552734" y="24.384822845458984" z="0.0030861662235111"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22649"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.919639587402344" y="68.15670013427734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22650"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.857452392578125" y="41.3620719909668" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22651"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.24609375" y="23.504783630371094" z="0.0030595397111028433"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22652"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.42261505126953" y="34.66220474243164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22653"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.27953815460205" y="-55.46333312988281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22654"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.536663055419922" y="45.475852966308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22655"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.73200798034668" y="-74.15431213378906" z="0.03373825177550316"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22656"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.885013103485107" y="-80.27152252197266" z="0.03375007584691048"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22658"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.86407470703125" y="35.298561096191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22659"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.45220947265625" y="-79.38540649414062" z="0.033780213445425034"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.90667724609375" y="35.00920486450195" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22661"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.00089263916016" y="62.67387008666992" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.820901393890381" y="-86.1420669555664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22663"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.338796615600586" y="-57.836402893066406" z="0.03377769514918327"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22639"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22640"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22641"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22643"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22644"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22646"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22647"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22648"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22649"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22650"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22652"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22653"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22654"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22655"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22656"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22658"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22659"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22660"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22661"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22662"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22663"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22639"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.8568299412727356" y="25.249147415161133" z="0.0030717086046934128"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22640"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.6227030754089355" y="-146.7257843017578" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22641"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.6597900390625" y="55.84650421142578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22643"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.9762749671936035" y="-65.57593536376953" z="0.033757779747247696"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22644"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.053340911865234" y="-71.98515319824219" z="0.03378341719508171"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22646"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.16617584228516" y="-22.039770126342773" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22647"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.63892650604248" y="-61.7285270690918" z="0.03380325064063072"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22648"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.631343841552734" y="24.384822845458984" z="0.0030861662235111"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22649"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.919639587402344" y="68.15670013427734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22650"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.857452392578125" y="41.3620719909668" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22652"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.42261505126953" y="34.66220474243164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22653"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.27953815460205" y="-55.46333312988281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22654"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.536663055419922" y="45.475852966308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22655"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.73200798034668" y="-74.15431213378906" z="0.03373825177550316"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22656"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.885013103485107" y="-80.27152252197266" z="0.03375007584691048"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22658"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.86407470703125" y="35.298561096191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22659"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.45220947265625" y="-79.38540649414062" z="0.033780213445425034"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22660"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.90667724609375" y="35.00920486450195" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22661"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.00089263916016" y="62.67387008666992" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22662"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.820901393890381" y="-86.1420669555664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22663"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.338796615600586" y="-57.836402893066406" z="0.03377769514918327"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6888"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6888"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8229897022247314" y="37.3084602355957" z="0.0030403898563236"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6888"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6890"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6888"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8229897022247314" y="37.3084602355957" z="0.0030403898563236"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6890"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.005638122558594" y="29.085718154907227" z="0.0030689621344208717"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate add pedestrian at location (-99.07, -94.79, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18113"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18114"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18115"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18116"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18117"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18118"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18119"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18120"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18121"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18122"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18124"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18125"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18126"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18127"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18128"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18129"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18130"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18131"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18133"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18135"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18113"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7384836673736572" y="36.7490234375" z="0.0030346298590302467"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18114"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.53452682495117" y="-31.81342315673828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18115"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.970185279846191" y="-67.1947021484375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18116"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.159915924072266" y="74.41410827636719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18117"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.427490234375" y="84.05744171142578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18118"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.312220573425293" y="-251.81736755371094" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18119"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.239377975463867" y="-238.97413635253906" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18120"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.53507399559021" y="20.850772857666016" z="0.0030298614874482155"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18121"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.063446044921875" y="14.928766250610352" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18122"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.69119644165039" y="-237.77732849121094" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18124"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.03775405883789" y="-251.8278350830078" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18125"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.459774017333984" y="-53.185890197753906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18126"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.089168548583984" y="55.64133834838867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18127"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.8910670280456543" y="-76.35309600830078" z="0.03377208486199379"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18128"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.34603500366211" y="-8.15169620513916" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18129"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.984037399291992" y="-246.9580841064453" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18130"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.78738021850586" y="99.87272644042969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18131"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.217321395874023" y="-62.56001281738281" z="0.033719826489686966"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.32024383544922" y="84.9631576538086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18133"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.997495174407959" y="21.45221710205078" z="0.0030660629272460938"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.91569137573242" y="17.718923568725586" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18135"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.108674049377441" y="-70.50410461425781" z="0.03374939039349556"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.17252540588379" y="70.56514739990234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.681671142578125" y="31.915430068969727" z="0.0030461500864475965"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18113"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18114"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18115"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18116"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18117"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18118"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18119"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18120"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18121"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18122"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18124"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18125"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18126"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18127"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18128"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18129"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18130"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18131"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18133"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18135"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18113"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7384836673736572" y="36.7490234375" z="0.0030346298590302467"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18114"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.53452682495117" y="-31.81342315673828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18115"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.970185279846191" y="-67.1947021484375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18116"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.159915924072266" y="74.41410827636719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18117"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.427490234375" y="84.05744171142578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18118"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.312220573425293" y="-251.81736755371094" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18119"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.239377975463867" y="-238.97413635253906" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18120"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.53507399559021" y="20.850772857666016" z="0.0030298614874482155"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18121"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.063446044921875" y="14.928766250610352" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18122"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.69119644165039" y="-237.77732849121094" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18124"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.03775405883789" y="-251.8278350830078" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18125"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.459774017333984" y="-53.185890197753906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18126"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.089168548583984" y="55.64133834838867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18127"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="3.8910670280456543" y="-76.35309600830078" z="0.03377208486199379"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18128"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.34603500366211" y="-8.15169620513916" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18129"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.984037399291992" y="-246.9580841064453" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18130"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.78738021850586" y="99.87272644042969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18131"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.217321395874023" y="-62.56001281738281" z="0.033719826489686966"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.32024383544922" y="84.9631576538086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18133"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.997495174407959" y="21.45221710205078" z="0.0030660629272460938"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.91569137573242" y="17.718923568725586" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18135"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.108674049377441" y="-70.50410461425781" z="0.03374939039349556"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.17252540588379" y="70.56514739990234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.681671142578125" y="31.915430068969727" z="0.0030461500864475965"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.07109832763672" y="-94.78770446777344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

could you add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20075"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20076"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20077"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20078"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20079"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20080"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20083"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20084"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20085"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20086"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20088"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20089"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.581805229187012" y="-254.01480102539062" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20075"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.435949325561523" y="-256.8213806152344" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20076"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.12461853027344" y="81.89479064941406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20077"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.814199447631836" y="-61.6783332824707" z="0.033789824694395065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20078"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.377155303955078" y="-76.64380645751953" z="0.0337962731719017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20079"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.441134452819824" y="-250.6361846923828" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20080"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="70.58694458007812" y="-36.34074020385742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.000158309936523" y="-76.90628051757812" z="0.03373733535408974"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.07504940032959" y="-251.21994018554688" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20083"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.027529716491699" y="-247.46096801757812" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20084"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.475844860076904" y="27.870874404907227" z="0.0030458068940788507"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20085"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.1368408203125" y="-67.56096649169922" z="0.033779218792915344"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20086"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.65257263183594" y="17.533893585205078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20088"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.49815368652344" y="-15.92104721069336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20089"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.44915199279785" y="-70.22440338134766" z="0.03379631042480469"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20075"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20076"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20077"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20078"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20079"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20080"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20083"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20084"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20085"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20086"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20088"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20089"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20090"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.581805229187012" y="-254.01480102539062" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20075"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.435949325561523" y="-256.8213806152344" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20076"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.12461853027344" y="81.89479064941406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20077"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.814199447631836" y="-61.6783332824707" z="0.033789824694395065"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20078"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.377155303955078" y="-76.64380645751953" z="0.0337962731719017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20079"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.441134452819824" y="-250.6361846923828" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20080"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="70.58694458007812" y="-36.34074020385742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.000158309936523" y="-76.90628051757812" z="0.03373733535408974"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.07504940032959" y="-251.21994018554688" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20083"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.027529716491699" y="-247.46096801757812" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20084"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.475844860076904" y="27.870874404907227" z="0.0030458068940788507"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20085"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.1368408203125" y="-67.56096649169922" z="0.033779218792915344"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20086"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.65257263183594" y="17.533893585205078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20088"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.49815368652344" y="-15.92104721069336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20089"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.44915199279785" y="-70.22440338134766" z="0.03379631042480469"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20090"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.21879768371582" y="21.20217514038086" z="0.003013992216438055"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27633"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27633"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.109222412109375" y="-158.28843688964844" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27633"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27634"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27633"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.109222412109375" y="-158.28843688964844" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27634"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.272506713867188" y="-62.32468795776367" z="0.03375743702054024"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate add pedestrian at location (-97.6, -57.35, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11115"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11116"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11117"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11118"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11119"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11120"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11121"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11122"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11115"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6908273696899414" y="-72.33914184570312" z="0.033766668289899826"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11116"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.43011474609375" y="6.4658989906311035" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11117"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.92607498168945" y="-70.53792572021484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11118"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.86699676513672" y="31.325929641723633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11119"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.266223907470703" y="-151.1810760498047" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11120"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.022247791290283" y="-46.52994155883789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11121"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.201946258544922" y="-7.451666831970215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11122"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5157524347305298" y="33.296302795410156" z="0.003007812425494194"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_11115"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11116"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11117"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11118"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_11119"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11120"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11121"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_11122"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_11123"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_11115"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6908273696899414" y="-72.33914184570312" z="0.033766668289899826"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11116"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.43011474609375" y="6.4658989906311035" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11117"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.92607498168945" y="-70.53792572021484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11118"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.86699676513672" y="31.325929641723633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_11119"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.266223907470703" y="-151.1810760498047" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11120"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.022247791290283" y="-46.52994155883789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11121"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.201946258544922" y="-7.451666831970215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_11122"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5157524347305298" y="33.296302795410156" z="0.003007812425494194"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_11123"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-97.59931945800781" y="-57.34825897216797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to direct you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6421"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6422"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6423"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6424"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6421"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.151013374328613" y="-159.41448974609375" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6422"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.42659759521484" y="-32.92225646972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6423"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.922191619873047" y="-146.54991149902344" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6424"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.12647819519043" y="-48.333152770996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6421"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6422"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6423"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6424"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6426"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6421"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.151013374328613" y="-159.41448974609375" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6422"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.42659759521484" y="-32.92225646972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6423"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.922191619873047" y="-146.54991149902344" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6424"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.12647819519043" y="-48.333152770996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6426"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.30549144744873" y="24.2305850982666" z="0.0030451964121311903"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i want you to add pedestrian at location (-10.04, -0.48, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22267"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22268"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22269"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22270"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22271"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22272"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22273"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22274"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22275"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22276"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22277"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22278"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22279"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22280"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22281"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22282"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22283"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22267"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.211162567138672" y="-243.5408477783203" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22268"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.880053520202637" y="-56.78240203857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22269"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.403224229812622" y="26.818796157836914" z="0.0030362701509147882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22270"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.5964531898498535" y="-25.110586166381836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22271"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.189462661743164" y="-246.89891052246094" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22272"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.823488235473633" y="-238.43112182617188" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22273"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.86099243164062" y="29.287023544311523" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22274"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.904809951782227" y="-70.87026977539062" z="0.0337587334215641"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22275"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.829641342163086" y="-258.1368713378906" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22276"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.096330642700195" y="-9.677358627319336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22277"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.999454140663147" y="37.36603927612305" z="0.0030524826142936945"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22278"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.740602016448975" y="20.017318725585938" z="0.003047141944989562"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22279"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.03527069091797" y="-61.67314147949219" z="0.033749770373106"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22280"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.423768997192383" y="-242.373779296875" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22281"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.959451913833618" y="-237.21461486816406" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22282"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.74016189575195" y="-18.61130714416504" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22283"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.213285446166992" y="33.43865966796875" z="0.0030757903587073088"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22267"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22268"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22269"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22270"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22271"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22272"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22273"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22274"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22275"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22276"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22277"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22278"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22279"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22280"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22281"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22282"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22283"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22284"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22267"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.211162567138672" y="-243.5408477783203" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22268"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.880053520202637" y="-56.78240203857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22269"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.403224229812622" y="26.818796157836914" z="0.0030362701509147882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22270"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.5964531898498535" y="-25.110586166381836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22271"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.189462661743164" y="-246.89891052246094" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22272"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.823488235473633" y="-238.43112182617188" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22273"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.86099243164062" y="29.287023544311523" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22274"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.904809951782227" y="-70.87026977539062" z="0.0337587334215641"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22275"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.829641342163086" y="-258.1368713378906" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22276"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.096330642700195" y="-9.677358627319336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22277"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.999454140663147" y="37.36603927612305" z="0.0030524826142936945"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22278"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.740602016448975" y="20.017318725585938" z="0.003047141944989562"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22279"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.03527069091797" y="-61.67314147949219" z="0.033749770373106"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22280"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.423768997192383" y="-242.373779296875" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22281"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.959451913833618" y="-237.21461486816406" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22282"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.74016189575195" y="-18.61130714416504" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22283"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.213285446166992" y="33.43865966796875" z="0.0030757903587073088"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22284"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.0394287109375" y="-0.47608956694602966" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_21821"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_21821"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.299543380737305" y="-160.2720947265625" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20466"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20467"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20468"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20469"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20471"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20473"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20474"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20475"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20476"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20477"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20478"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20479"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20480"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.589988708496094" y="-69.50276184082031" z="0.03382125869393349"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20466"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.578704833984375" y="78.3958511352539" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20467"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.728240966796875" y="22.421689987182617" z="0.0030292891897261143"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20468"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.173480987548828" y="-68.86736297607422" z="0.033805541694164276"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20469"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.895133018493652" y="-161.28366088867188" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20471"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.00741577148438" y="91.777587890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20473"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6294200420379639" y="-154.22625732421875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20474"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.584362983703613" y="31.566715240478516" z="0.003067397978156805"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20475"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.64444923400879" y="19.57463836669922" z="0.0030886458698660135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20476"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.399593353271484" y="-55.98921203613281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20477"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.603740692138672" y="-76.55648803710938" z="0.033815573900938034"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20478"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.19838523864746" y="-144.1066131591797" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20479"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.09196662902832" y="-78.63976287841797" z="0.033804550766944885"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20480"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.086441040039062" y="-94.58868408203125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20465"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20466"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20467"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20468"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20469"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20471"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20473"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20474"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20475"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20476"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20477"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20478"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20479"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20480"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20481"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20465"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.589988708496094" y="-69.50276184082031" z="0.03382125869393349"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20466"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.578704833984375" y="78.3958511352539" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20467"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.728240966796875" y="22.421689987182617" z="0.0030292891897261143"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20468"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.173480987548828" y="-68.86736297607422" z="0.033805541694164276"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20469"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.895133018493652" y="-161.28366088867188" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20471"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="89.00741577148438" y="91.777587890625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20473"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6294200420379639" y="-154.22625732421875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20474"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.584362983703613" y="31.566715240478516" z="0.003067397978156805"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20475"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.64444923400879" y="19.57463836669922" z="0.0030886458698660135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20476"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.399593353271484" y="-55.98921203613281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20477"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.603740692138672" y="-76.55648803710938" z="0.033815573900938034"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20478"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.19838523864746" y="-144.1066131591797" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20479"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.09196662902832" y="-78.63976287841797" z="0.033804550766944885"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20480"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.086441040039062" y="-94.58868408203125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20481"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.244847774505615" y="35.75624465942383" z="0.0030695723835378885"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to add pedestrian at location (72.13, -11.79, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1128"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1129"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1130"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1131"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1139"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1128"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.134073257446289" y="-81.45589447021484" z="0.03385719284415245"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1129"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.56708526611328" y="-4.486822605133057" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1130"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.76027774810791" y="31.466064453125" z="0.003126945346593857"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1131"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.56840515136719" y="95.97789764404297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.948997497558594" y="-156.72682189941406" z="0.0016365813789889216"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.37641906738281" y="90.43203735351562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.994446873664856" y="-156.49085998535156" z="0.0016365813789889216"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.100029945373535" y="38.540283203125" z="0.0031049347016960382"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.17943572998047" y="77.1409912109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1139"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.17633056640625" y="9.375361442565918" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.70298194885254" y="-71.10359954833984" z="0.03382835164666176"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1128"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1129"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1130"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1131"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1139"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1128"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.134073257446289" y="-81.45589447021484" z="0.03385719284415245"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1129"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.56708526611328" y="-4.486822605133057" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1130"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.76027774810791" y="31.466064453125" z="0.003126945346593857"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1131"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-63.56840515136719" y="95.97789764404297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.948997497558594" y="-156.72682189941406" z="0.0016365813789889216"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.37641906738281" y="90.43203735351562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.994446873664856" y="-156.49085998535156" z="0.0016365813789889216"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.100029945373535" y="38.540283203125" z="0.0031049347016960382"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.17943572998047" y="77.1409912109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1139"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.17633056640625" y="9.375361442565918" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.70298194885254" y="-71.10359954833984" z="0.03382835164666176"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="72.12622833251953" y="-11.790335655212402" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian at location (-43.43, -54.5, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16486"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16487"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16488"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16489"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16490"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16491"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16492"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16493"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16494"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16495"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16496"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16497"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16498"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16499"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16500"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16486"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.13157844543457" y="-70.73247528076172" z="0.033769529312849045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16487"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6636568307876587" y="-78.93241882324219" z="0.033813513815402985"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16488"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.94237518310547" y="56.33623123168945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16489"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.86927795410156" y="-17.392627716064453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16490"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="42.113792419433594" y="65.60858154296875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16491"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.87963104248047" y="95.61019134521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16492"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.31084442138672" y="99.08650207519531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16493"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.136127471923828" y="-75.48540496826172" z="0.03376045078039169"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16494"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.03298950195312" y="76.22969055175781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16495"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.136507272720337" y="-162.10784912109375" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16496"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.627195358276367" y="-67.17020416259766" z="0.03377136215567589"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16497"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.3267059326171875" y="21.752161026000977" z="0.0030590437818318605"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16498"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="87.89310455322266" y="-66.87532806396484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16499"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.095767021179199" y="32.58561325073242" z="0.0030895995441824198"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16500"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3527493476867676" y="-63.56694793701172" z="0.033781394362449646"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.51720428466797" y="-57.035972595214844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16486"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16487"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16488"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16489"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16490"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16491"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16492"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16493"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16494"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16495"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16496"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16497"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16498"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16499"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16500"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16486"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.13157844543457" y="-70.73247528076172" z="0.033769529312849045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16487"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6636568307876587" y="-78.93241882324219" z="0.033813513815402985"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16488"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.94237518310547" y="56.33623123168945" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16489"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.86927795410156" y="-17.392627716064453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16490"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="42.113792419433594" y="65.60858154296875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16491"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.87963104248047" y="95.61019134521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16492"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.31084442138672" y="99.08650207519531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16493"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.136127471923828" y="-75.48540496826172" z="0.03376045078039169"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16494"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.03298950195312" y="76.22969055175781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16495"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.136507272720337" y="-162.10784912109375" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16496"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.627195358276367" y="-67.17020416259766" z="0.03377136215567589"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16497"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.3267059326171875" y="21.752161026000977" z="0.0030590437818318605"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16498"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="87.89310455322266" y="-66.87532806396484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16499"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.095767021179199" y="32.58561325073242" z="0.0030895995441824198"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16500"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3527493476867676" y="-63.56694793701172" z="0.033781394362449646"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.51720428466797" y="-57.035972595214844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.427574157714844" y="-54.50242233276367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to remove pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10202"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10207"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10212"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4893863201141357" y="-148.0045623779297" z="0.0019029616378247738"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.0322723388671875" y="25.492597579956055" z="0.003052787622436881"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.252853393554688" y="29.238313674926758" z="0.003079490503296256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.683435916900635" y="-71.1055908203125" z="0.03382965177297592"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10202"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.834495544433594" y="-73.1923828125" z="0.03378959745168686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.010740280151367" y="-80.99208068847656" z="0.03381507843732834"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.636300086975098" y="-28.282699584960938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.820390224456787" y="23.575960159301758" z="0.0030638885218650103"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10207"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7441312074661255" y="29.582061767578125" z="0.0030703353695571423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10212"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7507641315460205" y="34.519737243652344" z="0.0030651474371552467"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.217564582824707" y="27.176820755004883" z="0.003062133677303791"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.86086654663086" y="-75.02867889404297" z="0.03385074436664581"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.05028533935547" y="87.50286102294922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10207"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10212"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4893863201141357" y="-148.0045623779297" z="0.0019029616378247738"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.0322723388671875" y="25.492597579956055" z="0.003052787622436881"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.252853393554688" y="29.238313674926758" z="0.003079490503296256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.683435916900635" y="-71.1055908203125" z="0.03382965177297592"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.010740280151367" y="-80.99208068847656" z="0.03381507843732834"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.636300086975098" y="-28.282699584960938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.820390224456787" y="23.575960159301758" z="0.0030638885218650103"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10207"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7441312074661255" y="29.582061767578125" z="0.0030703353695571423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10212"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7507641315460205" y="34.519737243652344" z="0.0030651474371552467"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.217564582824707" y="27.176820755004883" z="0.003062133677303791"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.86086654663086" y="-75.02867889404297" z="0.03385074436664581"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.05028533935547" y="87.50286102294922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to remove pedestrian actor named pedestrian_w_transform_27301? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27284"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27285"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27287"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27288"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27289"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27290"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27293"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27294"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27296"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27297"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27298"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27299"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27301"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27302"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27304"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27305"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27284"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.232555389404297" y="26.60752296447754" z="0.0030374526977539062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27285"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.767664909362793" y="35.08939743041992" z="0.0030615616124123335"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27287"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.549259185791016" y="51.85091018676758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27288"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.196019172668457" y="-64.4380111694336" z="0.0338301844894886"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27289"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.571048736572266" y="-28.849830627441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27290"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.157113075256348" y="-69.84798431396484" z="0.033776700496673584"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27293"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.48113250732422" y="33.37955856323242" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27294"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.46061706542969" y="60.220428466796875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27296"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.97012996673584" y="22.378692626953125" z="0.0030012130737304688"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27297"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5724496841430664" y="-66.52599334716797" z="0.03379875048995018"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27298"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.0791015625" y="-7.400041103363037" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27299"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.448244094848633" y="-153.8096466064453" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27301"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.263772964477539" y="-67.89070892333984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27302"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.322433471679688" y="38.06096267700195" z="0.0030358503572642803"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.234212875366211" y="-162.75511169433594" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27304"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.481457710266113" y="-80.25829315185547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27305"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.109756469726562" y="29.093679428100586" z="0.003056602319702506"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.54150390625" y="-10.215021133422852" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27284"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27285"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27287"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27288"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27289"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27290"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27293"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27294"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27296"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27297"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27298"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27299"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27302"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27304"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27305"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27306"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27284"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.232555389404297" y="26.60752296447754" z="0.0030374526977539062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27285"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.767664909362793" y="35.08939743041992" z="0.0030615616124123335"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27287"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.549259185791016" y="51.85091018676758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27288"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.196019172668457" y="-64.4380111694336" z="0.0338301844894886"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27289"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.571048736572266" y="-28.849830627441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27290"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.157113075256348" y="-69.84798431396484" z="0.033776700496673584"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27293"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.48113250732422" y="33.37955856323242" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27294"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.46061706542969" y="60.220428466796875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27296"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.97012996673584" y="22.378692626953125" z="0.0030012130737304688"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27297"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5724496841430664" y="-66.52599334716797" z="0.03379875048995018"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27298"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.0791015625" y="-7.400041103363037" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27299"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.448244094848633" y="-153.8096466064453" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27302"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.322433471679688" y="38.06096267700195" z="0.0030358503572642803"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.234212875366211" y="-162.75511169433594" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27304"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.481457710266113" y="-80.25829315185547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27305"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.109756469726562" y="29.093679428100586" z="0.003056602319702506"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27306"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.54150390625" y="-10.215021133422852" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to remove pedestrian actor named pedestrian_close_to_standing_27635? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27633"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27634"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27635"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27636"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27637"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27638"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27639"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27641"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27642"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27645"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27633"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.109222412109375" y="-158.28843688964844" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27634"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.272506713867188" y="-62.32468795776367" z="0.03375743702054024"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27635"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.523133277893066" y="20.30421257019043" z="0.0030204772483557463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27636"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.083415985107422" y="-42.7577018737793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27637"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.52315139770508" y="42.30241012573242" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27638"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.96504974365234" y="-1.1480960845947266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27639"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.66727828979492" y="-88.15797424316406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27641"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.1516804695129395" y="-72.84321594238281" z="0.03377468138933182"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27642"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.90958023071289" y="-28.119094848632812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27645"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.29167175292969" y="-123.30352783203125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27633"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27634"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27636"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27637"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27638"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27639"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27641"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27642"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_27645"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27633"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.109222412109375" y="-158.28843688964844" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27634"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.272506713867188" y="-62.32468795776367" z="0.03375743702054024"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27636"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.083415985107422" y="-42.7577018737793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27637"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.52315139770508" y="42.30241012573242" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27638"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.96504974365234" y="-1.1480960845947266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27639"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="41.66727828979492" y="-88.15797424316406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27641"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.1516804695129395" y="-72.84321594238281" z="0.03377468138933182"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27642"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.90958023071289" y="-28.119094848632812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_27645"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.29167175292969" y="-123.30352783203125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16429"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16430"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16431"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16433"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16434"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16435"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16436"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16437"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16438"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16439"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16440"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16441"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16444"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16445"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16446"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16447"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16429"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.13527488708496" y="37.683998107910156" z="0.0030515289399772882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16430"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.654074668884277" y="-71.97674560546875" z="0.033831823617219925"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16431"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.69102478027344" y="-20.73300552368164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.443962097167969" y="26.371694564819336" z="0.0030754469335079193"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16433"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.387187957763672" y="31.186246871948242" z="0.0030422210693359375"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16434"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.31305980682373" y="-149.13645935058594" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16435"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.211756706237793" y="-153.18292236328125" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16436"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="35.26596450805664" y="0.5892274975776672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16437"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.239249229431152" y="-151.86509704589844" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16438"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.781378746032715" y="-76.50345611572266" z="0.033818550407886505"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16439"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.93001365661621" y="-156.7219696044922" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16440"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.618839263916016" y="-151.4161834716797" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16441"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.921968460083008" y="-77.97848510742188" z="0.03382045775651932"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.966360092163086" y="-79.48302459716797" z="0.03381812945008278"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-90.81678771972656" y="-47.62071990966797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16444"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.19328498840332" y="-74.72885131835938" z="0.0338008888065815"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16445"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.86609935760498" y="-70.19888305664062" z="0.03377265855669975"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16446"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6714892387390137" y="38.3792610168457" z="0.003039893927052617"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16447"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.015083312988281" y="-150.6802978515625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16429"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16430"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16431"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16433"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16434"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16435"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16436"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16437"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16438"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16439"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16440"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16441"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16442"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16443"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16444"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16445"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16446"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16447"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16448"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16429"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.13527488708496" y="37.683998107910156" z="0.0030515289399772882"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16430"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.654074668884277" y="-71.97674560546875" z="0.033831823617219925"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16431"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.69102478027344" y="-20.73300552368164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.443962097167969" y="26.371694564819336" z="0.0030754469335079193"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16433"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.387187957763672" y="31.186246871948242" z="0.0030422210693359375"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16434"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.31305980682373" y="-149.13645935058594" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16435"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.211756706237793" y="-153.18292236328125" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16436"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="35.26596450805664" y="0.5892274975776672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16437"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.239249229431152" y="-151.86509704589844" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16438"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.781378746032715" y="-76.50345611572266" z="0.033818550407886505"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16439"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.93001365661621" y="-156.7219696044922" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16440"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.618839263916016" y="-151.4161834716797" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16441"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.921968460083008" y="-77.97848510742188" z="0.03382045775651932"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16442"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.966360092163086" y="-79.48302459716797" z="0.03381812945008278"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16443"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-90.81678771972656" y="-47.62071990966797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16444"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.19328498840332" y="-74.72885131835938" z="0.0338008888065815"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16445"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.86609935760498" y="-70.19888305664062" z="0.03377265855669975"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16446"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6714892387390137" y="38.3792610168457" z="0.003039893927052617"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16447"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.015083312988281" y="-150.6802978515625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16448"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5030648708343506" y="-73.4918212890625" z="0.03380748629570007"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6028"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6029"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6030"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6032"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6036"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6038"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6028"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.065017700195312" y="-70.9549331665039" z="0.03377853333950043"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6029"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.616756439208984" y="-81.614013671875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6030"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.462337493896484" y="-73.52388000488281" z="0.03378887102007866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.81351852416992" y="67.57744598388672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6032"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.40419578552246" y="-153.07652282714844" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.96855163574219" y="-46.480716705322266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.557499885559082" y="-70.71463775634766" z="0.033795926719903946"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.394161224365234" y="-3.2912983894348145" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6036"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.81616973876953" y="54.168434143066406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6038"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.088566780090332" y="27.157073974609375" z="0.0030804062262177467"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.21719741821289" y="-65.53298950195312" z="0.03376659378409386"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="40.807247161865234" y="37.46348571777344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.140782356262207" y="-79.74405670166016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.8878583908081055" y="-151.54864501953125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.89588737487793" y="3.2067830562591553" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6028"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6029"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6030"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6032"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6036"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6038"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6039"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6040"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6041"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6042"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6043"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6044"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6028"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.065017700195312" y="-70.9549331665039" z="0.03377853333950043"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6029"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.616756439208984" y="-81.614013671875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6030"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.462337493896484" y="-73.52388000488281" z="0.03378887102007866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.81351852416992" y="67.57744598388672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6032"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.40419578552246" y="-153.07652282714844" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.96855163574219" y="-46.480716705322266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.557499885559082" y="-70.71463775634766" z="0.033795926719903946"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.394161224365234" y="-3.2912983894348145" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6036"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.81616973876953" y="54.168434143066406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6038"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.088566780090332" y="27.157073974609375" z="0.0030804062262177467"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6039"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.21719741821289" y="-65.53298950195312" z="0.03376659378409386"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6040"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="40.807247161865234" y="37.46348571777344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6041"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.140782356262207" y="-79.74405670166016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6042"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.8878583908081055" y="-151.54864501953125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6043"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.89588737487793" y="3.2067830562591553" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6044"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.796171188354492" y="-161.90994262695312" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to add pedestrian at location (64.52, -62.78, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14780"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14781"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14782"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14783"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14784"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14785"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14786"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14787"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14788"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14789"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14790"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14791"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14792"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14793"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14794"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14795"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14796"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14797"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14798"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14799"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14800"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14801"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14802"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14803"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14804"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14805"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14780"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.636351585388184" y="-69.21683502197266" z="0.03376632556319237"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14781"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.51498413085938" y="73.50438690185547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14782"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.8906354904174805" y="-90.28650665283203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14783"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.42213439941406" y="84.11427307128906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14784"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.072089195251465" y="-50.19244384765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14785"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.63731575012207" y="-138.2128448486328" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14786"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.349359035491943" y="18.49359893798828" z="0.0030901336576789618"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14787"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.594565391540527" y="25.303251266479492" z="0.0030948638450354338"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14788"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="71.1498031616211" y="55.5653190612793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14789"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.933906614780426" y="31.408817291259766" z="0.0030505370814353228"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14790"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.749792098999023" y="-77.94410705566406" z="0.033796653151512146"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14791"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.68883228302002" y="-157.35833740234375" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14792"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.545458793640137" y="-78.32669830322266" z="0.03382354602217674"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14793"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.370428085327148" y="-68.9417724609375" z="0.03381248563528061"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14794"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.347997665405273" y="-150.7607421875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14795"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.398447036743164" y="-97.58145904541016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14796"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.75945281982422" y="14.745420455932617" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14797"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.8806896209716797" y="-70.28732299804688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14798"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.328749656677246" y="-26.583471298217773" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14799"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.251983642578125" y="79.18663024902344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14800"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.033729553222656" y="24.35809898376465" z="0.00301532750017941"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14801"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.05976867675781" y="-46.146610260009766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14802"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.968172788619995" y="34.998619079589844" z="0.0030577469151467085"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14803"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.223861694335938" y="-71.84306335449219" z="0.033815041184425354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14804"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4812816381454468" y="32.29692840576172" z="0.0030691528227180243"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14805"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.05079460144043" y="4.352923393249512" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14780"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14781"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14782"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14783"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14784"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14785"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14786"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14787"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14788"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14789"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14790"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14791"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14792"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14793"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14794"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14795"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14796"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14797"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14798"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14799"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14800"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14801"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14802"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14803"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14804"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14805"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14806"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14780"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.636351585388184" y="-69.21683502197266" z="0.03376632556319237"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14781"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.51498413085938" y="73.50438690185547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14782"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.8906354904174805" y="-90.28650665283203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14783"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.42213439941406" y="84.11427307128906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14784"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.072089195251465" y="-50.19244384765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14785"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.63731575012207" y="-138.2128448486328" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14786"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.349359035491943" y="18.49359893798828" z="0.0030901336576789618"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14787"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.594565391540527" y="25.303251266479492" z="0.0030948638450354338"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14788"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="71.1498031616211" y="55.5653190612793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14789"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.933906614780426" y="31.408817291259766" z="0.0030505370814353228"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14790"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.749792098999023" y="-77.94410705566406" z="0.033796653151512146"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14791"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.68883228302002" y="-157.35833740234375" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14792"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.545458793640137" y="-78.32669830322266" z="0.03382354602217674"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14793"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.370428085327148" y="-68.9417724609375" z="0.03381248563528061"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14794"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.347997665405273" y="-150.7607421875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14795"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.398447036743164" y="-97.58145904541016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14796"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.75945281982422" y="14.745420455932617" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14797"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.8806896209716797" y="-70.28732299804688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14798"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.328749656677246" y="-26.583471298217773" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14799"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.251983642578125" y="79.18663024902344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14800"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.033729553222656" y="24.35809898376465" z="0.00301532750017941"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14801"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-64.05976867675781" y="-46.146610260009766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14802"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.968172788619995" y="34.998619079589844" z="0.0030577469151467085"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14803"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.223861694335938" y="-71.84306335449219" z="0.033815041184425354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14804"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4812816381454468" y="32.29692840576172" z="0.0030691528227180243"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14805"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.05079460144043" y="4.352923393249512" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14806"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.5229263305664" y="-62.78200149536133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i want you to add pedestrian at location (24.8, 54.39, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4202"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4203"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4207"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.83945369720459" y="27.40960693359375" z="0.0030686568934470415"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.59992599487305" y="63.03129959106445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4202"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.568302154541016" y="-42.33380126953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4203"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.37099838256836" y="-99.11366271972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.989437103271484" y="29.64284896850586" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.060113906860352" y="-143.77505493164062" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.597023010253906" y="88.18256378173828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4207"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.738895416259766" y="43.39223861694336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4202"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4203"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4207"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.83945369720459" y="27.40960693359375" z="0.0030686568934470415"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.59992599487305" y="63.03129959106445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4202"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.568302154541016" y="-42.33380126953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4203"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.37099838256836" y="-99.11366271972656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.989437103271484" y="29.64284896850586" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.060113906860352" y="-143.77505493164062" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.597023010253906" y="88.18256378173828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4207"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.738895416259766" y="43.39223861694336" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.800739288330078" y="54.39406967163086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i want you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4569"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4575"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4576"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4577"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4578"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4579"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4580"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4581"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.938319206237793" y="38.115482330322266" z="0.0030741882510483265"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4569"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.325882911682129" y="-150.60719299316406" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.74340057373047" y="70.66885375976562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.159266471862793" y="-159.32362365722656" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.9167596101760864" y="-50.32933044433594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.31046295166016" y="1.625355839729309" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4575"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.74423217773438" y="-78.97915649414062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4576"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.258305549621582" y="32.53952407836914" z="0.0030703735537827015"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4577"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.80409240722656" y="-27.9742488861084" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4578"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="70.77051544189453" y="14.480979919433594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4579"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.789026260375977" y="-58.29019546508789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4580"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.704862356185913" y="-152.441162109375" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4581"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.48397970199585" y="-74.79399871826172" z="0.033785630017519"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4569"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4575"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4576"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4577"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4578"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4579"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4580"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4581"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4582"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.938319206237793" y="38.115482330322266" z="0.0030741882510483265"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4569"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.325882911682129" y="-150.60719299316406" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.74340057373047" y="70.66885375976562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.159266471862793" y="-159.32362365722656" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.9167596101760864" y="-50.32933044433594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.31046295166016" y="1.625355839729309" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4575"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="95.74423217773438" y="-78.97915649414062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4576"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.258305549621582" y="32.53952407836914" z="0.0030703735537827015"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4577"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.80409240722656" y="-27.9742488861084" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4578"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="70.77051544189453" y="14.480979919433594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4579"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.789026260375977" y="-58.29019546508789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4580"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.704862356185913" y="-152.441162109375" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4581"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.48397970199585" y="-74.79399871826172" z="0.033785630017519"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4582"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.100964546203613" y="32.002132415771484" z="0.0030604552011936903"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to direct you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_29946"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_29946"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.497871398925781" y="-74.07310485839844" z="0.033831365406513214"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15902"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15903"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15904"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15905"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15906"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15907"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15908"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15909"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15902"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.543678283691406" y="28.241512298583984" z="0.003029785118997097"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15903"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7057700753211975" y="17.071414947509766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15904"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.591400146484375" y="25.483013153076172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15905"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.129547119140625" y="19.661386489868164" z="0.0030512618832290173"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15906"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.37578010559082" y="-144.67344665527344" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15907"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.278337478637695" y="-146.89242553710938" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15908"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.3832924365997314" y="23.345741271972656" z="0.0030730818398296833"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15909"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.102079391479492" y="-75.84529876708984" z="0.033803556114435196"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15902"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15903"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_15904"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15905"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15906"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15907"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15908"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_15909"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15910"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15902"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.543678283691406" y="28.241512298583984" z="0.003029785118997097"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15903"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7057700753211975" y="17.071414947509766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_15904"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.591400146484375" y="25.483013153076172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15905"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.129547119140625" y="19.661386489868164" z="0.0030512618832290173"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15906"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.37578010559082" y="-144.67344665527344" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15907"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.278337478637695" y="-146.89242553710938" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15908"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.3832924365997314" y="23.345741271972656" z="0.0030730818398296833"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_15909"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.102079391479492" y="-75.84529876708984" z="0.033803556114435196"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15910"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.694605827331543" y="34.0025634765625" z="0.003050575265660882"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19363"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19365"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.038971900939941" y="-89.99044036865234" z="0.03374934941530228"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19363"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2961890697479248" y="27.12407112121582" z="0.003034133929759264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19365"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.219441413879395" y="34.95570755004883" z="0.003048286307603121"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19363"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.038971900939941" y="-89.99044036865234" z="0.03374934941530228"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19363"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2961890697479248" y="27.12407112121582" z="0.003034133929759264"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to remove pedestrian actor named pedestrian_w_transform_14750? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.82654857635498" y="23.767881393432617" z="0.003106193384155631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.08024215698242" y="79.26061248779297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.96676254272461" y="20.932130813598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.3551225662231445" y="-143.47967529296875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2603193521499634" y="29.223543167114258" z="0.002995719900354743"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.689628601074219" y="15.07667350769043" z="0.0030437849927693605"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.82654857635498" y="23.767881393432617" z="0.003106193384155631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.08024215698242" y="79.26061248779297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.3551225662231445" y="-143.47967529296875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2603193521499634" y="29.223543167114258" z="0.002995719900354743"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.689628601074219" y="15.07667350769043" z="0.0030437849927693605"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18541"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5215457081794739" y="-143.92901611328125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.361674189567566" y="-140.45217895507812" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.054507255554199" y="24.490724563598633" z="0.0030335234478116035"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.970569610595703" y="-68.9597396850586" z="0.03376598283648491"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.90019226074219" y="84.6917724609375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.875303268432617" y="-151.26461791992188" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.538854598999023" y="-77.5789566040039" z="0.03375701978802681"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.729067802429199" y="-63.98670196533203" z="0.03375701978802681"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.262660980224609" y="31.210012435913086" z="0.0030178832821547985"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18541"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.38358688354492" y="-20.207365036010742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18535"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18536"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_18537"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18538"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_18539"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18540"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_18541"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_18542"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5215457081794739" y="-143.92901611328125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.361674189567566" y="-140.45217895507812" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.054507255554199" y="24.490724563598633" z="0.0030335234478116035"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18535"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.970569610595703" y="-68.9597396850586" z="0.03376598283648491"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18536"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.90019226074219" y="84.6917724609375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_18537"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.875303268432617" y="-151.26461791992188" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18538"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.538854598999023" y="-77.5789566040039" z="0.03375701978802681"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_18539"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.729067802429199" y="-63.98670196533203" z="0.03375701978802681"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18540"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.262660980224609" y="31.210012435913086" z="0.0030178832821547985"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_18541"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.38358688354492" y="-20.207365036010742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_18542"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3408353328704834" y="32.08505630493164" z="0.0030178832821547985"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.518378734588623" y="43.58005905151367" z="0.0030648421961814165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.597036361694336" y="-5.595154762268066" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.518378734588623" y="43.58005905151367" z="0.0030648421961814165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.597036361694336" y="-5.595154762268066" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.909659385681152" y="-150.06813049316406" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian at location (-68.93, 91.38, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4386"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4387"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4388"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4389"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4390"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4391"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4392"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4393"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4394"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4395"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4396"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4398"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4399"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4401"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4405"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4406"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4386"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.144309997558594" y="25.182748794555664" z="0.00306358328089118"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4387"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9472395181655884" y="27.779573440551758" z="0.0030674743466079235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4388"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.599973678588867" y="-158.0961456298828" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4389"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.015082359313965" y="-77.84822082519531" z="0.033791352063417435"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4390"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.300369262695312" y="-73.1395492553711" z="0.03379173204302788"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4391"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.670631408691406" y="-79.31094360351562" z="0.03381141647696495"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4392"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.293397903442383" y="-80.51164245605469" z="0.033761825412511826"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4393"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9499380588531494" y="-85.96591186523438" z="0.03378387540578842"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4394"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.8714599609375" y="-64.43341064453125" z="0.033750876784324646"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4395"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.32021427154541" y="22.843399047851562" z="0.003021316369995475"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4396"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.4073703289031982" y="-152.47657775878906" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.371416091918945" y="-63.202884674072266" z="0.033777426928281784"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4398"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.273891925811768" y="-79.44469451904297" z="0.03381446748971939"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4399"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.638354301452637" y="37.97908401489258" z="0.003022537101060152"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.723825931549072" y="-155.6043701171875" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4401"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.780139923095703" y="60.287322998046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.3558464050293" y="-71.14974212646484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.30180358886719" y="-48.29887771606445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="42.19677734375" y="96.35026550292969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4405"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.924278259277344" y="-39.663818359375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4406"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.801892280578613" y="36.930397033691406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4386"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4387"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4388"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4389"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4390"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4391"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4392"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4393"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4394"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4395"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4396"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4398"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4399"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4401"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4405"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4406"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4407"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4386"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.144309997558594" y="25.182748794555664" z="0.00306358328089118"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4387"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9472395181655884" y="27.779573440551758" z="0.0030674743466079235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4388"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-19.599973678588867" y="-158.0961456298828" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4389"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.015082359313965" y="-77.84822082519531" z="0.033791352063417435"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4390"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.300369262695312" y="-73.1395492553711" z="0.03379173204302788"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4391"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.670631408691406" y="-79.31094360351562" z="0.03381141647696495"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4392"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.293397903442383" y="-80.51164245605469" z="0.033761825412511826"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4393"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9499380588531494" y="-85.96591186523438" z="0.03378387540578842"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4394"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.8714599609375" y="-64.43341064453125" z="0.033750876784324646"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4395"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.32021427154541" y="22.843399047851562" z="0.003021316369995475"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4396"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.4073703289031982" y="-152.47657775878906" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.371416091918945" y="-63.202884674072266" z="0.033777426928281784"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4398"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.273891925811768" y="-79.44469451904297" z="0.03381446748971939"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4399"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.638354301452637" y="37.97908401489258" z="0.003022537101060152"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.723825931549072" y="-155.6043701171875" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4401"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.780139923095703" y="60.287322998046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.3558464050293" y="-71.14974212646484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.30180358886719" y="-48.29887771606445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="42.19677734375" y="96.35026550292969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4405"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.924278259277344" y="-39.663818359375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4406"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.801892280578613" y="36.930397033691406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4407"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-68.92523193359375" y="91.377685546875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

could you add pedestrian at location (11.72, -71.6, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_226"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_227"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_228"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_229"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.403836250305176" y="-82.68151092529297" z="0.033846624195575714"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.653799057006836" y="-141.57696533203125" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.157257080078125" y="-97.52474975585938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_226"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.445693969726562" y="29.526975631713867" z="0.003035926725715399"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_227"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.2448153495788574" y="-157.12327575683594" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_228"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.880266189575195" y="36.18568801879883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_229"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.778048515319824" y="-65.39535522460938" z="0.03381858766078949"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_226"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_227"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_228"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_229"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_231"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.403836250305176" y="-82.68151092529297" z="0.033846624195575714"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.653799057006836" y="-141.57696533203125" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.157257080078125" y="-97.52474975585938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_226"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.445693969726562" y="29.526975631713867" z="0.003035926725715399"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_227"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.2448153495788574" y="-157.12327575683594" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_228"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.880266189575195" y="36.18568801879883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_229"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.778048515319824" y="-65.39535522460938" z="0.03381858766078949"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_231"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.71635913848877" y="-71.60133361816406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.41745948791504" y="-155.7303466796875" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.12197875976562" y="-16.11438751220703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="68.44742584228516" y="24.050004959106445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.237756729125977" y="28.505277633666992" z="0.0030511473305523396"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4171"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4172"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4173"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4174"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.41745948791504" y="-155.7303466796875" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4171"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.12197875976562" y="-16.11438751220703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4172"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="68.44742584228516" y="24.050004959106445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4173"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.237756729125977" y="28.505277633666992" z="0.0030511473305523396"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4174"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.476643562316895" y="-150.56475830078125" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to display add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9779"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9779"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.583529472351074" y="28.984695434570312" z="0.0030088424682617188"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9779"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9780"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9779"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.583529472351074" y="28.984695434570312" z="0.0030088424682617188"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9780"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.189149856567383" y="30.430227279663086" z="0.0030451964121311903"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to ask you to remove pedestrian actor named pedestrian_w_transform_7781? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7773"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7774"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7776"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7777"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7778"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7779"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7780"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7781"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7782"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.612780570983887" y="33.494258880615234" z="0.0030368040315806866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.422421455383301" y="-54.096458435058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.681741714477539" y="-156.09011840820312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.956356048583984" y="-144.2730255126953" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.833497047424316" y="27.014976501464844" z="0.0030410385224968195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.119153022766113" y="-155.55393981933594" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7773"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.239814758300781" y="-160.14678955078125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7774"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.037031173706055" y="20.110897064208984" z="0.003012428293004632"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7776"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.176496982574463" y="-75.82495880126953" z="0.033784255385398865"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7777"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.1224365234375" y="-76.42095947265625" z="0.03376808017492294"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7778"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.56512451171875" y="-36.07281494140625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7779"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.873078346252441" y="38.90738296508789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7780"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.183340072631836" y="-62.1274528503418" z="0.03378311172127724"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7781"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.81462097167969" y="19.034669876098633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7782"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.91682434082031" y="-54.563697814941406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7773"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7774"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7776"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7777"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7778"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7779"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_7780"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7782"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.612780570983887" y="33.494258880615234" z="0.0030368040315806866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.422421455383301" y="-54.096458435058594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.681741714477539" y="-156.09011840820312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.956356048583984" y="-144.2730255126953" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.833497047424316" y="27.014976501464844" z="0.0030410385224968195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.119153022766113" y="-155.55393981933594" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7773"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.239814758300781" y="-160.14678955078125" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7774"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.037031173706055" y="20.110897064208984" z="0.003012428293004632"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7776"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.176496982574463" y="-75.82495880126953" z="0.033784255385398865"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7777"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.1224365234375" y="-76.42095947265625" z="0.03376808017492294"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7778"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.56512451171875" y="-36.07281494140625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7779"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.873078346252441" y="38.90738296508789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_7780"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.183340072631836" y="-62.1274528503418" z="0.03378311172127724"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7782"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.91682434082031" y="-54.563697814941406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i want you to remove pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24980"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24981"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24982"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24983"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24984"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24985"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24986"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24987"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24988"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24990"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24992"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24993"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24994"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24995"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24996"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24997"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24998"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24999"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25000"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25001"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25002"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25003"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24980"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.443482398986816" y="27.07583236694336" z="0.003079490503296256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24981"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.788726806640625" y="-25.366802215576172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24982"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.535079479217529" y="38.183631896972656" z="0.0030845641158521175"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24983"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.427190780639648" y="-145.45541381835938" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24984"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.48445129394531" y="63.44632339477539" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24985"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.243281364440918" y="-74.0815200805664" z="0.033750686794519424"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24986"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-45.81721496582031" y="76.08024597167969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24987"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.423484802246094" y="-63.71986389160156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24988"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.7088029384613037" y="-157.4322967529297" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24990"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.16176700592041" y="4.7811055183410645" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24992"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.434048891067505" y="-168.12037658691406" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24993"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.170825958251953" y="-164.32839965820312" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24994"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.879505157470703" y="-69.36542510986328" z="0.03378307446837425"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24995"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.27085876464844" y="-61.657135009765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24996"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.25003051757812" y="-26.637666702270508" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24997"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.739051818847656" y="88.6281509399414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24998"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.32026672363281" y="-28.11679458618164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24999"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.895822763442993" y="38.90003967285156" z="0.0030231093987822533"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25000"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.324695587158203" y="29.253887176513672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25001"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.81247615814209" y="-146.13613891601562" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25002"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="23.121212005615234" y="-14.425713539123535" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25003"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.3316009044647217" y="-61.05229949951172" z="0.033761825412511826"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24980"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24981"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24982"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24983"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24984"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24985"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24986"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24987"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24988"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24990"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24992"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24993"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24995"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24996"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24997"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24998"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24999"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25000"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25001"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25002"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25003"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24980"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.443482398986816" y="27.07583236694336" z="0.003079490503296256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24981"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.788726806640625" y="-25.366802215576172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24982"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.535079479217529" y="38.183631896972656" z="0.0030845641158521175"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24983"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.427190780639648" y="-145.45541381835938" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24984"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.48445129394531" y="63.44632339477539" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24985"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.243281364440918" y="-74.0815200805664" z="0.033750686794519424"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24986"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-45.81721496582031" y="76.08024597167969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24987"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.423484802246094" y="-63.71986389160156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24988"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.7088029384613037" y="-157.4322967529297" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24990"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.16176700592041" y="4.7811055183410645" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24992"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.434048891067505" y="-168.12037658691406" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24993"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.170825958251953" y="-164.32839965820312" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24995"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="77.27085876464844" y="-61.657135009765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24996"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.25003051757812" y="-26.637666702270508" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24997"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-47.739051818847656" y="88.6281509399414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24998"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.32026672363281" y="-28.11679458618164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24999"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.895822763442993" y="38.90003967285156" z="0.0030231093987822533"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25000"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.324695587158203" y="29.253887176513672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25001"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.81247615814209" y="-146.13613891601562" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25002"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="23.121212005615234" y="-14.425713539123535" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25003"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.3316009044647217" y="-61.05229949951172" z="0.033761825412511826"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i need you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24545"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24546"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24547"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24548"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24549"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24545"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.442832946777344" y="-62.46889877319336" z="0.03375697880983353"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24546"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.794065475463867" y="31.818984985351562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24547"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.6479377746582" y="-17.05524253845215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24548"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.859783172607422" y="31.92962074279785" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24549"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.29962158203125" y="19.21131134033203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24545"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24546"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24547"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24548"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24549"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24550"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24545"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.442832946777344" y="-62.46889877319336" z="0.03375697880983353"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24546"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.794065475463867" y="31.818984985351562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24547"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.6479377746582" y="-17.05524253845215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24548"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.859783172607422" y="31.92962074279785" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24549"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.29962158203125" y="19.21131134033203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24550"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.277538299560547" y="-143.53958129882812" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23203"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23207"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23209"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23210"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23211"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.975588321685791" y="33.75621795654297" z="0.003072395222261548"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.13901138305664" y="36.69504928588867" z="0.0030329131986945868"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.781250953674316" y="19.733455657958984" z="0.0030360030941665173"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.28856086730957" y="-69.53824615478516" z="0.03381698578596115"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.778481483459473" y="26.438608169555664" z="0.0030037688557058573"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23203"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-60.25011444091797" y="-54.7581672668457" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.867863655090332" y="29.020240783691406" z="0.0030310440342873335"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-58.333106994628906" y="-56.545413970947266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5514827966690063" y="-159.37457275390625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23207"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.241804122924805" y="-141.50125122070312" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.072345733642578" y="-147.7861328125" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23209"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.1677565574645996" y="-78.092041015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23210"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.088443756103516" y="-144.35015869140625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23211"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.284236907958984" y="-30.704158782958984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23197"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23201"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23203"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_23204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23207"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23209"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23210"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23211"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23212"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23197"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.975588321685791" y="33.75621795654297" z="0.003072395222261548"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.13901138305664" y="36.69504928588867" z="0.0030329131986945868"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.781250953674316" y="19.733455657958984" z="0.0030360030941665173"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.28856086730957" y="-69.53824615478516" z="0.03381698578596115"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23201"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.778481483459473" y="26.438608169555664" z="0.0030037688557058573"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23203"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-60.25011444091797" y="-54.7581672668457" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_23204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.867863655090332" y="29.020240783691406" z="0.0030310440342873335"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-58.333106994628906" y="-56.545413970947266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5514827966690063" y="-159.37457275390625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23207"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.241804122924805" y="-141.50125122070312" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.072345733642578" y="-147.7861328125" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23209"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.1677565574645996" y="-78.092041015625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23210"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.088443756103516" y="-144.35015869140625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23211"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.284236907958984" y="-30.704158782958984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23212"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.909649848937988" y="-69.98475646972656" z="0.03377422317862511"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i need you to remove pedestrian actor named pedestrian_w_transform_14705? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14702"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14705"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14706"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14709"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14710"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14711"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.440757751464844" y="-2.088423490524292" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.622322082519531" y="-149.09910583496094" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14702"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.239667892456055" y="-92.01972961425781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14705"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.59867477416992" y="-1.8567487001419067" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14706"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.83126449584961" y="86.23820495605469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14709"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.02723503112793" y="-72.27669525146484" z="0.03385242447257042"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14710"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.84416961669922" y="-49.382694244384766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14711"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="83.72960662841797" y="81.71857452392578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14695"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14698"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14702"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14706"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14709"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14710"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14711"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14695"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.440757751464844" y="-2.088423490524292" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14698"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.622322082519531" y="-149.09910583496094" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14702"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.239667892456055" y="-92.01972961425781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14706"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.83126449584961" y="86.23820495605469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14709"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.02723503112793" y="-72.27669525146484" z="0.03385242447257042"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14710"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.84416961669922" y="-49.382694244384766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14711"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="83.72960662841797" y="81.71857452392578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please remove pedestrian actor named pedestrian_w_transform_12720? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12717"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12718"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12719"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12720"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12722"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12726"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12728"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12730"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12732"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12733"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12734"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12737"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12738"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12739"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12741"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12743"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12717"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-81.49165344238281" y="-51.77052688598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12718"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.77030372619629" y="-239.74765014648438" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12719"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.315927028656006" y="-74.06263732910156" z="0.03377757966518402"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12720"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-54.89991760253906" y="61.98549270629883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12722"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.200225830078125" y="48.675270080566406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12726"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.554685592651367" y="41.83940887451172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12728"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.04240417480469" y="51.735870361328125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12730"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.81168365478516" y="67.72198486328125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12732"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.5963363647461" y="-53.512264251708984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12733"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="80.89232635498047" y="-55.57638931274414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12734"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.35088348388672" y="81.01956176757812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12737"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.29600715637207" y="22.189037322998047" z="0.003008422674611211"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12738"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.35901641845703" y="72.49736785888672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12739"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.92462921142578" y="62.68449020385742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12741"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.311317443847656" y="49.570003509521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12743"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.33339309692383" y="22.9337100982666" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12717"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12718"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12719"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12722"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12726"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12728"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12730"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12732"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12733"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12734"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12737"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12738"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12739"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12741"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12743"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12717"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-81.49165344238281" y="-51.77052688598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12718"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.77030372619629" y="-239.74765014648438" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12719"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.315927028656006" y="-74.06263732910156" z="0.03377757966518402"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12722"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.200225830078125" y="48.675270080566406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12726"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.554685592651367" y="41.83940887451172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12728"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.04240417480469" y="51.735870361328125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12730"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.81168365478516" y="67.72198486328125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12732"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.5963363647461" y="-53.512264251708984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12733"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="80.89232635498047" y="-55.57638931274414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12734"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.35088348388672" y="81.01956176757812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12737"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.29600715637207" y="22.189037322998047" z="0.003008422674611211"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12738"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.35901641845703" y="72.49736785888672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12739"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.92462921142578" y="62.68449020385742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12741"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.311317443847656" y="49.570003509521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12743"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.33339309692383" y="22.9337100982666" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22870"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22871"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22872"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22873"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22874"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22875"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22877"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22878"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22879"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22880"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22881"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22882"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22883"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22884"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22885"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22886"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22887"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22888"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22889"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22870"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5108957290649414" y="30.998004913330078" z="0.00310314167290926"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22871"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2953318357467651" y="21.948867797851562" z="0.0031011200044304132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22872"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.72715377807617" y="20.929109573364258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22873"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.408782958984375" y="-28.60504913330078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22874"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.495406150817871" y="-69.04727172851562" z="0.03383808210492134"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22875"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.20986938476562" y="35.998653411865234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22877"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.121899604797363" y="-78.97187805175781" z="0.033864326775074005"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22878"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.50499725341797" y="-73.72836303710938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22879"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.42660522460938" y="-17.24380874633789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22880"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.96642303466797" y="-0.08580832928419113" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22881"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8840551376342773" y="-43.22439193725586" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22882"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.063326835632324" y="-157.83114624023438" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22883"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.286274433135986" y="37.37900161743164" z="0.0031085966620594263"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22884"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.89805793762207" y="-63.50727844238281" z="0.033812638372182846"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22885"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.122182846069336" y="-33.64653778076172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22886"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.752210855484009" y="30.084827423095703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22887"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.229034423828125" y="30.90355682373047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22888"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.7370593547821045" y="-147.358154296875" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22889"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.20486831665039" y="-61.422027587890625" z="0.033750228583812714"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22870"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22871"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22872"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22873"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22874"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22875"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22877"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22878"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22879"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22880"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22881"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22882"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22883"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22884"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22885"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22886"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22887"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22888"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22889"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22890"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22870"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5108957290649414" y="30.998004913330078" z="0.00310314167290926"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22871"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2953318357467651" y="21.948867797851562" z="0.0031011200044304132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22872"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.72715377807617" y="20.929109573364258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22873"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.408782958984375" y="-28.60504913330078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22874"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.495406150817871" y="-69.04727172851562" z="0.03383808210492134"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22875"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.20986938476562" y="35.998653411865234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22877"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.121899604797363" y="-78.97187805175781" z="0.033864326775074005"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22878"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.50499725341797" y="-73.72836303710938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22879"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.42660522460938" y="-17.24380874633789" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22880"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-44.96642303466797" y="-0.08580832928419113" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22881"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8840551376342773" y="-43.22439193725586" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22882"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.063326835632324" y="-157.83114624023438" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22883"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.286274433135986" y="37.37900161743164" z="0.0031085966620594263"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22884"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.89805793762207" y="-63.50727844238281" z="0.033812638372182846"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22885"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="15.122182846069336" y="-33.64653778076172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22886"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.752210855484009" y="30.084827423095703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22887"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.229034423828125" y="30.90355682373047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22888"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.7370593547821045" y="-147.358154296875" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22889"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.20486831665039" y="-61.422027587890625" z="0.033750228583812714"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22890"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.587589740753174" y="-64.16207885742188" z="0.03376098722219467"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25565"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25566"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25569"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25575"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25576"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25577"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25581"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25583"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25584"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25585"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25586"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25565"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.24690055847168" y="-146.86141967773438" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25566"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.61598014831543" y="-77.46278381347656" z="0.03383873030543327"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.265958786010742" y="17.611610412597656" z="0.0030967711936682463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-81.61017608642578" y="44.40471649169922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25569"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.2279052734375" y="64.45578002929688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.992241859436035" y="89.26661682128906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="19.940662384033203" y="-5.788836479187012" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.547147750854492" y="25.926271438598633" z="0.003130798228085041"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.604643821716309" y="-64.28983306884766" z="0.03386634588241577"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25575"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.220335006713867" y="-147.5358123779297" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25576"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.94519805908203" y="-5.76169490814209" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25577"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.422807455062866" y="-161.09762573242188" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25581"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.374431610107422" y="24.683555603027344" z="0.003107871860265732"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25583"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.08120346069336" y="28.830604553222656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25584"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.024904251098633" y="-97.50607299804688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25585"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.978074312210083" y="-68.45539855957031" z="0.033859822899103165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25586"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.584718704223633" y="-76.73859405517578" z="0.03386661410331726"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25565"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25566"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25569"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25576"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25577"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25581"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25583"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25584"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25585"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25586"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25565"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.24690055847168" y="-146.86141967773438" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25566"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.61598014831543" y="-77.46278381347656" z="0.03383873030543327"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.265958786010742" y="17.611610412597656" z="0.0030967711936682463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-81.61017608642578" y="44.40471649169922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25569"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.2279052734375" y="64.45578002929688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.992241859436035" y="89.26661682128906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="19.940662384033203" y="-5.788836479187012" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.547147750854492" y="25.926271438598633" z="0.003130798228085041"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.604643821716309" y="-64.28983306884766" z="0.03386634588241577"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25576"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.94519805908203" y="-5.76169490814209" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25577"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.422807455062866" y="-161.09762573242188" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25581"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.374431610107422" y="24.683555603027344" z="0.003107871860265732"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25583"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.08120346069336" y="28.830604553222656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25584"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.024904251098633" y="-97.50607299804688" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25585"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.978074312210083" y="-68.45539855957031" z="0.033859822899103165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25586"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.584718704223633" y="-76.73859405517578" z="0.03386661410331726"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_560"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_561"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_562"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_563"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_564"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_565"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_566"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_560"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.001674652099609" y="-155.56089782714844" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_561"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.873303413391113" y="-76.85468292236328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_562"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5653119087219238" y="-168.23533630371094" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_563"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.37616729736328" y="5.7279052734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_564"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.202625274658203" y="-63.125240325927734" z="0.03375789523124695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_565"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.014593124389648" y="-154.0637969970703" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_566"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.210595965385437" y="-67.76583862304688" z="0.03375789523124695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.429195404052734" y="69.07324981689453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.00250244140625" y="-58.96238327026367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.232887268066406" y="-14.783973693847656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.97782897949219" y="86.27594757080078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_560"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_561"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_562"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_563"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_564"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_565"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_566"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_560"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.001674652099609" y="-155.56089782714844" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_561"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.873303413391113" y="-76.85468292236328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_562"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5653119087219238" y="-168.23533630371094" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_563"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.37616729736328" y="5.7279052734375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_564"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.202625274658203" y="-63.125240325927734" z="0.03375789523124695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_565"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.014593124389648" y="-154.0637969970703" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_566"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.210595965385437" y="-67.76583862304688" z="0.03375789523124695"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-37.429195404052734" y="69.07324981689453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-69.00250244140625" y="-58.96238327026367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.232887268066406" y="-14.783973693847656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.97782897949219" y="86.27594757080078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.900625705718994" y="-62.583473205566406" z="0.033757325261831284"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9363"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9364"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9365"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9368"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9369"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9370"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9371"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.6847505569458" y="-69.9253921508789" z="0.03380027785897255"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.676687240600586" y="-78.71676635742188" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9363"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.286063194274902" y="38.85185623168945" z="0.003033599816262722"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9364"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.5370049476623535" y="22.633787155151367" z="0.003075675806030631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9365"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.248976469039917" y="-66.05101013183594" z="0.03380996733903885"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.806034088134766" y="-77.25121307373047" z="0.03379077836871147"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.8270492553711" y="40.45892333984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9368"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.898542404174805" y="21.440736770629883" z="0.0030716704204678535"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9369"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.57020568847656" y="-27.549057006835938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9370"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.67947387695312" y="-24.7774600982666" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9371"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.41131591796875" y="52.95826721191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9361"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9363"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9364"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9365"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9368"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9369"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9370"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9371"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9372"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9361"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.6847505569458" y="-69.9253921508789" z="0.03380027785897255"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.676687240600586" y="-78.71676635742188" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9363"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.286063194274902" y="38.85185623168945" z="0.003033599816262722"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9364"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.5370049476623535" y="22.633787155151367" z="0.003075675806030631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9365"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.248976469039917" y="-66.05101013183594" z="0.03380996733903885"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.806034088134766" y="-77.25121307373047" z="0.03379077836871147"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.8270492553711" y="40.45892333984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9368"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.898542404174805" y="21.440736770629883" z="0.0030716704204678535"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9369"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.57020568847656" y="-27.549057006835938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9370"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="69.67947387695312" y="-24.7774600982666" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9371"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-65.41131591796875" y="52.95826721191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9372"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9872097969055176" y="-155.01364135742188" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to remove pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12274"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12275"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12276"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12277"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12278"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12279"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12280"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12281"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12282"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12283"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12284"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12285"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12288"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12289"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12290"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12291"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12292"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12274"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.518182277679443" y="-69.57154083251953" z="0.03377235308289528"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12275"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.05495548248291" y="-153.28680419921875" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12276"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3579814434051514" y="-71.1709976196289" z="0.033815648406744"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12277"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.18289566040039" y="-23.771190643310547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12278"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.941323280334473" y="24.41254425048828" z="0.0030311965383589268"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12279"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.733280658721924" y="-28.532987594604492" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12280"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.52212142944336" y="-63.11573028564453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12281"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.728189468383789" y="-65.37734985351562" z="0.03383705019950867"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12282"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.066424012184143" y="22.010517120361328" z="0.0030858612153679132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12283"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.432704925537109" y="22.655223846435547" z="0.003076858352869749"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12284"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.025611877441406" y="-57.5216064453125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12285"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.9424057006836" y="38.29905319213867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12288"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.4544148445129395" y="-149.1796417236328" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12289"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.82008934020996" y="73.90415954589844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12290"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.731029510498047" y="41.92548751831055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12291"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.02155685424805" y="-10.62806510925293" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12292"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.885720729827881" y="-161.19781494140625" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12274"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12275"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12276"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12277"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12278"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12279"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12280"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12282"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_12283"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12284"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12285"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12288"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12289"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12290"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12291"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12292"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12274"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.518182277679443" y="-69.57154083251953" z="0.03377235308289528"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12275"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.05495548248291" y="-153.28680419921875" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12276"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.3579814434051514" y="-71.1709976196289" z="0.033815648406744"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12277"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.18289566040039" y="-23.771190643310547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12278"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.941323280334473" y="24.41254425048828" z="0.0030311965383589268"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12279"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.733280658721924" y="-28.532987594604492" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12280"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.52212142944336" y="-63.11573028564453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12282"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.066424012184143" y="22.010517120361328" z="0.0030858612153679132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_12283"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.432704925537109" y="22.655223846435547" z="0.003076858352869749"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12284"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-43.025611877441406" y="-57.5216064453125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12285"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.9424057006836" y="38.29905319213867" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12288"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.4544148445129395" y="-149.1796417236328" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12289"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.82008934020996" y="73.90415954589844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12290"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.731029510498047" y="41.92548751831055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12291"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.02155685424805" y="-10.62806510925293" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12292"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.885720729827881" y="-161.19781494140625" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i want you to add pedestrian at location (-7.72, 26.92, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21740"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21741"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21742"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21743"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21746"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21740"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.141746520996094" y="-65.29341888427734" z="0.03378799185156822"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21741"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.74647045135498" y="34.49482345581055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21742"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.5272331237793" y="82.931640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21743"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.812528133392334" y="-75.1364517211914" z="0.03381916135549545"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.394376754760742" y="-74.84384155273438" z="0.033770713955163956"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21746"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.93392276763916" y="21.09701156616211" z="0.0030173873528838158"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.493289947509766" y="-37.946876525878906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.52203369140625" y="18.521530151367188" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21740"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21741"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21742"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21743"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_21745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_21746"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_21749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21740"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.141746520996094" y="-65.29341888427734" z="0.03378799185156822"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21741"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.74647045135498" y="34.49482345581055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21742"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.5272331237793" y="82.931640625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21743"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.812528133392334" y="-75.1364517211914" z="0.03381916135549545"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_21745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.394376754760742" y="-74.84384155273438" z="0.033770713955163956"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_21746"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.93392276763916" y="21.09701156616211" z="0.0030173873528838158"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.493289947509766" y="-37.946876525878906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-82.52203369140625" y="18.521530151367188" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_21749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.716411113739014" y="26.92376708984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9083"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9084"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9085"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9086"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9087"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9088"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9089"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9090"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9091"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9092"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9093"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9094"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.505817890167236" y="-63.48345184326172" z="0.03378135710954666"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.937950134277344" y="37.68278503417969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9083"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9106497764587402" y="-241.9153289794922" z="0.0016667174641042948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9084"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.328372478485107" y="-66.4489974975586" z="0.033764686435461044"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9085"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="43.86491394042969" y="6.508123397827148" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9086"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.306628227233887" y="29.701858520507812" z="0.0030611418187618256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9087"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2310116291046143" y="-235.75286865234375" z="0.0017453384352847934"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9088"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.83113956451416" y="-231.9789581298828" z="0.0017004775581881404"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9089"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.544519424438477" y="-238.34397888183594" z="0.0017015456687659025"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9090"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.429326057434082" y="-62.330631256103516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9091"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.557466506958008" y="28.388280868530273" z="0.003026237478479743"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9092"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.478515625" y="50.77998352050781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9093"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="42.200340270996094" y="61.274757385253906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9094"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.49598693847656" y="13.222185134887695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9081"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9082"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9083"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9084"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9085"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9086"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9087"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9088"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9089"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9090"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9091"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9092"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9093"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9094"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9095"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9081"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.505817890167236" y="-63.48345184326172" z="0.03378135710954666"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9082"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.937950134277344" y="37.68278503417969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9083"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9106497764587402" y="-241.9153289794922" z="0.0016667174641042948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9084"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.328372478485107" y="-66.4489974975586" z="0.033764686435461044"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9085"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="43.86491394042969" y="6.508123397827148" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9086"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.306628227233887" y="29.701858520507812" z="0.0030611418187618256"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9087"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2310116291046143" y="-235.75286865234375" z="0.0017453384352847934"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9088"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.83113956451416" y="-231.9789581298828" z="0.0017004775581881404"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9089"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.544519424438477" y="-238.34397888183594" z="0.0017015456687659025"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9090"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.429326057434082" y="-62.330631256103516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9091"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.557466506958008" y="28.388280868530273" z="0.003026237478479743"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9092"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="26.478515625" y="50.77998352050781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9093"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="42.200340270996094" y="61.274757385253906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9094"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.49598693847656" y="13.222185134887695" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9095"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.825191497802734" y="-244.38876342773438" z="0.0016748427879065275"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to instruct you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10961"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10963"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10964"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10965"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10966"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10967"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10968"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10969"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10970"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10971"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10972"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10973"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10974"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10975"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10961"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6175665855407715" y="-73.74600982666016" z="0.03375644609332085"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10963"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.36856842041016" y="-23.948810577392578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10964"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.625513076782227" y="31.18197250366211" z="0.0030038070399314165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10965"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.3506755232810974" y="-62.11684799194336" z="0.03375057131052017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10966"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.802891731262207" y="-75.01507568359375" z="0.03375019133090973"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10967"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.166442394256592" y="-79.00003051757812" z="0.03377010300755501"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10968"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.941383361816406" y="9.959321022033691" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10969"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.15089416503906" y="68.25816345214844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10970"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.75639343261719" y="71.44889068603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10971"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-85.53691101074219" y="83.58039855957031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10972"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.228761672973633" y="35.04610824584961" z="0.0030276107136160135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10973"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="62.45878982543945" y="82.28465270996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10974"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.799622058868408" y="-24.216228485107422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10975"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.00081634521484" y="-23.138669967651367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10961"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10963"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10964"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10965"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10966"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10967"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10968"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10969"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10970"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10971"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10972"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10973"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10974"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10975"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10976"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10961"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.6175665855407715" y="-73.74600982666016" z="0.03375644609332085"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10963"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.36856842041016" y="-23.948810577392578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10964"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.625513076782227" y="31.18197250366211" z="0.0030038070399314165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10965"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.3506755232810974" y="-62.11684799194336" z="0.03375057131052017"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10966"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.802891731262207" y="-75.01507568359375" z="0.03375019133090973"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10967"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.166442394256592" y="-79.00003051757812" z="0.03377010300755501"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10968"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.941383361816406" y="9.959321022033691" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10969"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.15089416503906" y="68.25816345214844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10970"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.75639343261719" y="71.44889068603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10971"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-85.53691101074219" y="83.58039855957031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10972"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.228761672973633" y="35.04610824584961" z="0.0030276107136160135"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10973"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="62.45878982543945" y="82.28465270996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10974"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.799622058868408" y="-24.216228485107422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10975"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.00081634521484" y="-23.138669967651367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10976"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.129033088684082" y="-143.61029052734375" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian actor named pedestrian_close_to_adversary_22557? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22556"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_22557"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22558"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22559"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22562"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22563"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22556"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.815124034881592" y="55.2501106262207" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_22557"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.465475082397461" y="-63.0073356628418" z="0.03375228866934776"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22558"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.386917114257812" y="-238.48797607421875" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22559"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.91098022460938" y="-74.52275085449219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22562"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="68.60230255126953" y="97.85777282714844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22563"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.558195114135742" y="-235.06211853027344" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.089900016784668" y="-74.15596008300781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.878177642822266" y="-4.387231349945068" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="68.86812591552734" y="35.9068717956543" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.147674560546875" y="-32.9291877746582" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.79778289794922" y="-21.42448616027832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.71355438232422" y="-61.9777946472168" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.685294151306152" y="36.589942932128906" z="0.003030967665836215"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22556"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22558"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22559"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22562"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_22563"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22567"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22568"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22570"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22571"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22572"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_22573"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_22574"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22556"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.815124034881592" y="55.2501106262207" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22558"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.386917114257812" y="-238.48797607421875" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22559"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.91098022460938" y="-74.52275085449219" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22562"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="68.60230255126953" y="97.85777282714844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_22563"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.558195114135742" y="-235.06211853027344" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22567"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.089900016784668" y="-74.15596008300781" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22568"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.878177642822266" y="-4.387231349945068" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22570"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="68.86812591552734" y="35.9068717956543" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22571"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.147674560546875" y="-32.9291877746582" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22572"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="45.79778289794922" y="-21.42448616027832" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_22573"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.71355438232422" y="-61.9777946472168" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_22574"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.685294151306152" y="36.589942932128906" z="0.003030967665836215"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.568520545959473" y="-66.51697540283203" z="0.033765219151973724"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_12050"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12051"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_12050"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.568520545959473" y="-66.51697540283203" z="0.033765219151973724"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12051"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.381052255630493" y="-148.57546997070312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.019942283630371" y="-70.02403259277344" z="0.03381240740418434"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.83550262451172" y="19.302722930908203" z="0.003074989188462496"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.670150756835938" y="-160.2587127685547" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.606233596801758" y="-61.49899673461914" z="0.033834267407655716"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.363080978393555" y="28.527721405029297" z="0.003035926725715399"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.40488052368164" y="2.7107889652252197" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4299041032791138" y="33.417327880859375" z="0.0030709074344486"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.4623908996582" y="33.297115325927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6513"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6514"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_6516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_6522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6513"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.019942283630371" y="-70.02403259277344" z="0.03381240740418434"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6514"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.83550262451172" y="19.302722930908203" z="0.003074989188462496"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.670150756835938" y="-160.2587127685547" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_6516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.606233596801758" y="-61.49899673461914" z="0.033834267407655716"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.363080978393555" y="28.527721405029297" z="0.003035926725715399"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.40488052368164" y="2.7107889652252197" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.4299041032791138" y="33.417327880859375" z="0.0030709074344486"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.4623908996582" y="33.297115325927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_6522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.770565509796143" y="-153.1597442626953" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.426055431365967" y="35.83587646484375" z="0.003094367915764451"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8150"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.426055431365967" y="35.83587646484375" z="0.003094367915764451"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8150"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.098200798034668" y="-151.6425323486328" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian at location (16.08, 44.89, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14267"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14267"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.6408549547195435" y="19.625844955444336" z="0.0030226516537368298"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14267"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14268"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14267"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.6408549547195435" y="19.625844955444336" z="0.0030226516537368298"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14268"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="16.079256057739258" y="44.89303970336914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to remove pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13122"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13123"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13124"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13126"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13127"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13129"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13130"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13131"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_13133"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13135"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13122"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.180622100830078" y="-79.09571075439453" z="0.03377780690789223"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13123"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5568011403083801" y="37.322933197021484" z="0.0030433654319494963"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13124"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.913296699523926" y="30.408727645874023" z="0.0030384063720703125"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13126"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.058201313018799" y="85.08831787109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13127"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.7800521850586" y="-50.63113784790039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13129"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.296145439147949" y="-64.55811309814453" z="0.0337684229016304"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13130"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.463138580322266" y="89.68177032470703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13131"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.933387756347656" y="48.28401184082031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.392867088317871" y="-91.27067565917969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_13133"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.792977333068848" y="-148.81295776367188" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.834895133972168" y="-61.63473892211914" z="0.03374939039349556"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13135"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.331944704055786" y="23.493045806884766" z="0.0030279920902103186"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13122"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13123"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13124"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13126"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13127"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13129"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13130"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13131"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13132"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13134"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13135"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13122"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.180622100830078" y="-79.09571075439453" z="0.03377780690789223"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13123"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5568011403083801" y="37.322933197021484" z="0.0030433654319494963"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13124"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.913296699523926" y="30.408727645874023" z="0.0030384063720703125"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13126"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.058201313018799" y="85.08831787109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13127"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.7800521850586" y="-50.63113784790039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13129"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.296145439147949" y="-64.55811309814453" z="0.0337684229016304"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13130"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.463138580322266" y="89.68177032470703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13131"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-40.933387756347656" y="48.28401184082031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13132"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.392867088317871" y="-91.27067565917969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13134"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.834895133972168" y="-61.63473892211914" z="0.03374939039349556"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13135"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.331944704055786" y="23.493045806884766" z="0.0030279920902103186"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to add pedestrian at location (50.91, 98.06, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13252"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13255"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13256"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13257"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13258"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13259"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13260"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13261"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13262"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.009988784790039" y="-73.53213500976562" z="0.033804167062044144"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.817662715911865" y="71.61506652832031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.19674682617188" y="-56.4140739440918" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13252"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.572127819061279" y="-73.74878692626953" z="0.03380313888192177"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.538104057312012" y="-79.31582641601562" z="0.03377731144428253"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13255"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.250519037246704" y="26.743003845214844" z="0.0030340193770825863"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13256"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.221017837524414" y="-52.882808685302734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13257"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.82547950744629" y="-59.642642974853516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13258"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.326756477355957" y="-78.79146575927734" z="0.033788297325372696"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13259"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.43843841552734" y="40.900978088378906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13260"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.488923072814941" y="26.256328582763672" z="0.0030552672687917948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13261"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.96004486083984" y="93.45728302001953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13262"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.07309627532959" y="9.865212440490723" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13252"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13255"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13256"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13257"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_13258"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13259"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_13260"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13261"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13262"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_13264"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.009988784790039" y="-73.53213500976562" z="0.033804167062044144"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.817662715911865" y="71.61506652832031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-73.19674682617188" y="-56.4140739440918" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13252"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.572127819061279" y="-73.74878692626953" z="0.03380313888192177"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.538104057312012" y="-79.31582641601562" z="0.03377731144428253"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13255"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.250519037246704" y="26.743003845214844" z="0.0030340193770825863"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13256"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.221017837524414" y="-52.882808685302734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13257"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.82547950744629" y="-59.642642974853516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_13258"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.326756477355957" y="-78.79146575927734" z="0.033788297325372696"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13259"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.43843841552734" y="40.900978088378906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_13260"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.488923072814941" y="26.256328582763672" z="0.0030552672687917948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13261"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-91.96004486083984" y="93.45728302001953" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13262"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.07309627532959" y="9.865212440490723" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_13264"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="50.90669250488281" y="98.05850219726562" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6974"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6975"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6976"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6977"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6978"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6974"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.775545120239258" y="38.648311614990234" z="0.0030085754115134478"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6975"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.35871696472168" y="27.92633628845215" z="0.0030520628206431866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6976"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.516135215759277" y="38.79908752441406" z="0.0030667113605886698"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6977"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.53144073486328" y="-0.8920366168022156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6978"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.758123397827148" y="-90.96512603759766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6974"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6975"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6976"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6977"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_6978"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_6979"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6974"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.775545120239258" y="38.648311614990234" z="0.0030085754115134478"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6975"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.35871696472168" y="27.92633628845215" z="0.0030520628206431866"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6976"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.516135215759277" y="38.79908752441406" z="0.0030667113605886698"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6977"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.53144073486328" y="-0.8920366168022156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_6978"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.758123397827148" y="-90.96512603759766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_6979"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.734886646270752" y="29.691532135009766" z="0.0030254744924604893"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian at location (-76.4, -37.15, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5500"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5504"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5505"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5506"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5507"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5500"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.943963050842285" y="-143.10035705566406" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.543194770812988" y="-145.74049377441406" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.317233085632324" y="-68.68598937988281" z="0.03386298939585686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5504"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.73214721679688" y="-35.253684997558594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5505"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.860417604446411" y="74.29243469238281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5506"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.799248695373535" y="-148.84591674804688" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5507"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.566648483276367" y="30.67461395263672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5500"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5501"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5502"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5504"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5505"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5506"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5507"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5508"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5500"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.943963050842285" y="-143.10035705566406" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5501"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.543194770812988" y="-145.74049377441406" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5502"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.317233085632324" y="-68.68598937988281" z="0.03386298939585686"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5504"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.73214721679688" y="-35.253684997558594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5505"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.860417604446411" y="74.29243469238281" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5506"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.799248695373535" y="-148.84591674804688" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5507"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.566648483276367" y="30.67461395263672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5508"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-76.40101623535156" y="-37.154544830322266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to command you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.82654857635498" y="23.767881393432617" z="0.003106193384155631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.08024215698242" y="79.26061248779297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.054222106933594" y="-35.74406433105469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.96676254272461" y="20.932130813598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4553731679916382" y="34.73041915893555" z="0.003010978689417243"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.84583282470703" y="-15.234598159790039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.3551225662231445" y="-143.47967529296875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14747"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14748"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14747"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.82654857635498" y="23.767881393432617" z="0.003106193384155631"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14748"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.08024215698242" y="79.26061248779297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.054222106933594" y="-35.74406433105469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.96676254272461" y="20.932130813598633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4553731679916382" y="34.73041915893555" z="0.003010978689417243"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.84583282470703" y="-15.234598159790039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.3551225662231445" y="-143.47967529296875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2603193521499634" y="29.223543167114258" z="0.002995719900354743"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to order you to remove pedestrian actor named pedestrian_close_to_standing_24528? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.1444060802459717" y="-78.0233383178711" z="0.03386092931032181"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.69127082824707" y="-19.387243270874023" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.980264663696289" y="74.96580505371094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="30.937421798706055" y="45.51205062866211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.07068634033203" y="35.73565673828125" z="0.0031141662038862705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.8822056651115417" y="31.4324951171875" z="0.0031132888980209827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.05809211730957" y="-80.23693084716797" z="0.03385867923498154"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.646783828735352" y="-66.69148254394531" z="0.03386878967285156"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.4808220863342285" y="-73.7906265258789" z="0.03386760503053665"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.63683319091797" y="49.01073455810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.688753128051758" y="-61.57634353637695" z="0.03387004882097244"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.460104942321777" y="28.425127029418945" z="0.0031248091254383326"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24515"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24520"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24524"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24525"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24526"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24515"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.1444060802459717" y="-78.0233383178711" z="0.03386092931032181"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.69127082824707" y="-19.387243270874023" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.980264663696289" y="74.96580505371094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="30.937421798706055" y="45.51205062866211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24520"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.07068634033203" y="35.73565673828125" z="0.0031141662038862705"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.8822056651115417" y="31.4324951171875" z="0.0031132888980209827"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.05809211730957" y="-80.23693084716797" z="0.03385867923498154"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24524"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.646783828735352" y="-66.69148254394531" z="0.03386878967285156"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24525"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.4808220863342285" y="-73.7906265258789" z="0.03386760503053665"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24526"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.63683319091797" y="49.01073455810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.688753128051758" y="-61.57634353637695" z="0.03387004882097244"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i need you to add pedestrian at location (18.81, -73.55, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26393"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26394"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26395"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26396"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26398"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26399"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26401"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26393"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.990821838378906" y="37.66237258911133" z="0.0031259534880518913"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26394"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.461772918701172" y="-71.39659881591797" z="0.03388252109289169"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26395"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.1025993824005127" y="27.175228118896484" z="0.0031288908794522285"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26396"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.278324127197266" y="15.910711288452148" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.08386993408203" y="45.711997985839844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26398"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.758337020874023" y="34.10599136352539" z="0.0031316375825554132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26399"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.4873275756836" y="-44.8105583190918" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.65635681152344" y="0.8688071370124817" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26401"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3915899991989136" y="-62.98645782470703" z="0.03386875241994858"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.321708679199219" y="-74.23650360107422" z="0.033873021602630615"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.684909701347351" y="-144.329833984375" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.04357624053955" y="-71.55403137207031" z="0.03385799378156662"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26393"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26394"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26395"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26396"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26398"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26399"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26401"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26405"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26393"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.990821838378906" y="37.66237258911133" z="0.0031259534880518913"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26394"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.461772918701172" y="-71.39659881591797" z="0.03388252109289169"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26395"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.1025993824005127" y="27.175228118896484" z="0.0031288908794522285"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26396"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.278324127197266" y="15.910711288452148" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.08386993408203" y="45.711997985839844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26398"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.758337020874023" y="34.10599136352539" z="0.0031316375825554132"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26399"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.4873275756836" y="-44.8105583190918" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="76.65635681152344" y="0.8688071370124817" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26401"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3915899991989136" y="-62.98645782470703" z="0.03386875241994858"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.321708679199219" y="-74.23650360107422" z="0.033873021602630615"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.684909701347351" y="-144.329833984375" z="0.0019445419311523438"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.04357624053955" y="-71.55403137207031" z="0.03385799378156662"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26405"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.81359100341797" y="-73.54966735839844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please remove pedestrian actor named pedestrian_close_to_hero_16308? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16305"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16308"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16309"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16310"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16311"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16313"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16314"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16315"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16317"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.437128067016602" y="-155.816162109375" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16305"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.420246124267578" y="-80.06352233886719" z="0.03380958363413811"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="23.4337215423584" y="33.88352966308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16308"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.0185129642486572" y="-152.1973114013672" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16309"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.697500228881836" y="62.255496978759766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16310"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3152674436569214" y="-153.9784698486328" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16311"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.8928523063659668" y="-151.62881469726562" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16313"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.73350524902344" y="-52.99501419067383" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16314"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.266088485717773" y="-73.09195709228516" z="0.033866651356220245"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16315"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.7181625366211" y="21.936229705810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16317"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.33757209777832" y="38.58022689819336" z="0.0030756378546357155"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.062626838684082" y="38.09886169433594" z="0.0030801391694694757"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16303"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16305"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16307"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16309"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16310"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16311"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16313"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16314"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16315"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16317"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16303"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.437128067016602" y="-155.816162109375" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16305"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.420246124267578" y="-80.06352233886719" z="0.03380958363413811"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16307"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="23.4337215423584" y="33.88352966308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16309"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.697500228881836" y="62.255496978759766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16310"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.3152674436569214" y="-153.9784698486328" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16311"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.8928523063659668" y="-151.62881469726562" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16313"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-95.73350524902344" y="-52.99501419067383" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16314"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.266088485717773" y="-73.09195709228516" z="0.033866651356220245"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16315"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.7181625366211" y="21.936229705810547" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16317"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.33757209777832" y="38.58022689819336" z="0.0030756378546357155"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.062626838684082" y="38.09886169433594" z="0.0030801391694694757"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1829"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1830"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1832"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1833"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1834"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1835"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1836"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1837"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1838"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1841"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1847"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1848"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1850"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1851"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1852"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1853"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1854"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1855"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1829"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.466958045959473" y="-65.81660461425781" z="0.033840637654066086"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1830"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.27771759033203" y="24.944049835205078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1832"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.208919525146484" y="-69.01417541503906" z="0.03383754566311836"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1833"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.58683013916016" y="-58.62770080566406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1834"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.087997436523438" y="-146.089111328125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1835"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.809836387634277" y="-75.5722885131836" z="0.033852118998765945"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1836"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.76904296875" y="4.8074469566345215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1837"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.964414596557617" y="-158.45925903320312" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1838"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.28002643585205" y="-148.06094360351562" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.551979064941406" y="-63.22332763671875" z="0.033861082047224045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1841"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.56536865234375" y="-67.14691162109375" z="0.0338626466691494"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.7399263381958" y="21.47880744934082" z="0.003121681045740843"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.005434989929199" y="-36.7425537109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.46296215057373047" y="-146.27392578125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1847"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.510289192199707" y="-63.0046501159668" z="0.033875465393066406"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1848"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.633162975311279" y="-76.6721420288086" z="0.03387538716197014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1850"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.051292419433594" y="-6.010943412780762" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1851"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="96.15483093261719" y="-64.61190795898438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1852"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.912347793579102" y="-71.01863861083984" z="0.03386867418885231"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1853"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.64705753326416" y="26.046123504638672" z="0.003126678289845586"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1854"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.868127822875977" y="38.16116714477539" z="0.0031240463722497225"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1855"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.066882133483887" y="-69.82512664794922" z="0.033865317702293396"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1829"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1830"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1832"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1833"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1834"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1835"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1836"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1837"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1838"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1840"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1841"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1847"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1848"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1850"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1851"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1852"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1853"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_1854"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1855"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1829"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.466958045959473" y="-65.81660461425781" z="0.033840637654066086"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1830"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-72.27771759033203" y="24.944049835205078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1832"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.208919525146484" y="-69.01417541503906" z="0.03383754566311836"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1833"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.58683013916016" y="-58.62770080566406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1834"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.087997436523438" y="-146.089111328125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1835"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.809836387634277" y="-75.5722885131836" z="0.033852118998765945"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1836"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.76904296875" y="4.8074469566345215" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1837"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.964414596557617" y="-158.45925903320312" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1838"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.28002643585205" y="-148.06094360351562" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1840"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.551979064941406" y="-63.22332763671875" z="0.033861082047224045"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1841"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.56536865234375" y="-67.14691162109375" z="0.0338626466691494"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.005434989929199" y="-36.7425537109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.46296215057373047" y="-146.27392578125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1847"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.510289192199707" y="-63.0046501159668" z="0.033875465393066406"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1848"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.633162975311279" y="-76.6721420288086" z="0.03387538716197014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1850"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="56.051292419433594" y="-6.010943412780762" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1851"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="96.15483093261719" y="-64.61190795898438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1852"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.912347793579102" y="-71.01863861083984" z="0.03386867418885231"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1853"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.64705753326416" y="26.046123504638672" z="0.003126678289845586"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_1854"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.868127822875977" y="38.16116714477539" z="0.0031240463722497225"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1855"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.066882133483887" y="-69.82512664794922" z="0.033865317702293396"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16476"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16477"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16478"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16479"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16480"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16481"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16482"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16483"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16484"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16485"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16486"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16487"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16488"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16489"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16490"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16491"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16492"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16493"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16495"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16476"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9419169425964355" y="-252.73562622070312" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16477"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.1377763748168945" y="-75.30046844482422" z="0.033774375915527344"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16478"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.55110168457031" y="-87.33519744873047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16479"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.51879119873047" y="10.24271297454834" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16480"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.809219837188721" y="18.557096481323242" z="0.0030563354957848787"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16481"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.998709678649902" y="9.249670028686523" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16482"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.066673278808594" y="-61.93900680541992" z="0.033790625631809235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16483"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="96.05703735351562" y="43.11061096191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16484"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.431888580322266" y="-22.901460647583008" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16485"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.6333558559417725" y="23.486122131347656" z="0.0030487822368741035"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16486"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.62125396728516" y="28.190345764160156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16487"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.431475877761841" y="30.04642677307129" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16488"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.85797119140625" y="75.03327941894531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16489"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.017115592956543" y="69.16768646240234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16490"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.11948299407959" y="64.92285919189453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16491"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.00750160217285" y="24.744815826416016" z="0.0030155181884765625"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16492"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.518632888793945" y="-245.75167846679688" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16493"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.341285228729248" y="21.121538162231445" z="0.0030754851177334785"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16495"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.24354553222656" y="-48.67399597167969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16476"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16477"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16478"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16479"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16480"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16481"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_16482"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16483"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16484"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16485"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16486"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16487"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16488"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16489"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16490"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16491"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16492"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_16493"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_16495"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_16496"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16476"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.9419169425964355" y="-252.73562622070312" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16477"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.1377763748168945" y="-75.30046844482422" z="0.033774375915527344"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16478"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.55110168457031" y="-87.33519744873047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16479"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="93.51879119873047" y="10.24271297454834" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16480"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.809219837188721" y="18.557096481323242" z="0.0030563354957848787"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16481"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.998709678649902" y="9.249670028686523" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_16482"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.066673278808594" y="-61.93900680541992" z="0.033790625631809235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16483"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="96.05703735351562" y="43.11061096191406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16484"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.431888580322266" y="-22.901460647583008" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16485"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.6333558559417725" y="23.486122131347656" z="0.0030487822368741035"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16486"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-83.62125396728516" y="28.190345764160156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16487"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.431475877761841" y="30.04642677307129" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16488"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.85797119140625" y="75.03327941894531" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16489"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.017115592956543" y="69.16768646240234" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16490"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.11948299407959" y="64.92285919189453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16491"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.00750160217285" y="24.744815826416016" z="0.0030155181884765625"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16492"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-24.518632888793945" y="-245.75167846679688" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_16493"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.341285228729248" y="21.121538162231445" z="0.0030754851177334785"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_16495"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="92.24354553222656" y="-48.67399597167969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_16496"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8061575889587402" y="-252.1714324951172" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_29110"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_29111"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_29112"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_29113"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_29114"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_29110"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.85075569152832" y="-61.788944244384766" z="0.03379077836871147"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_29111"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.35001754760742" y="-14.87585735321045" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_29112"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.14338493347168" y="20.758020401000977" z="0.0030832672491669655"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_29113"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.87655639648438" y="97.79010772705078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_29114"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7547146081924438" y="14.496467590332031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_29110"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_29111"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_29112"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_29113"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_29114"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_29115"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_29110"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.85075569152832" y="-61.788944244384766" z="0.03379077836871147"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_29111"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-42.35001754760742" y="-14.87585735321045" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_29112"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.14338493347168" y="20.758020401000977" z="0.0030832672491669655"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_29113"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.87655639648438" y="97.79010772705078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_29114"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7547146081924438" y="14.496467590332031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_29115"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.677358627319336" y="-146.78770446777344" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27741"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27742"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27744"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27741"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.548909187316895" y="-78.64434051513672" z="0.03377918154001236"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27742"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6372692584991455" y="37.84077453613281" z="0.0030289078131318092"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27744"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.862205505371094" y="-46.254600524902344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27741"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_27742"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_27744"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_27745"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27741"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.548909187316895" y="-78.64434051513672" z="0.03377918154001236"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_27742"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6372692584991455" y="37.84077453613281" z="0.0030289078131318092"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_27744"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.862205505371094" y="-46.254600524902344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_27745"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.81541633605957" y="-62.7952880859375" z="0.03379302844405174"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian at location (-14.14, 94.18, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12793"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12794"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12795"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12796"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12797"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12798"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12799"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12793"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.869526386260986" y="-156.75833129882812" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12794"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.06702423095703" y="29.23957061767578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12795"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.7731819152832" y="-54.57266616821289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12796"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.546891212463379" y="72.11295318603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12797"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.56338500976562" y="66.49602508544922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12798"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.876060485839844" y="15.077065467834473" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12799"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.036475658416748" y="-157.2010498046875" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12793"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12794"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12795"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12796"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12797"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12798"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_12799"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_12800"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12793"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.869526386260986" y="-156.75833129882812" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12794"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.06702423095703" y="29.23957061767578" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12795"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-38.7731819152832" y="-54.57266616821289" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12796"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.546891212463379" y="72.11295318603516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12797"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="64.56338500976562" y="66.49602508544922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12798"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="34.876060485839844" y="15.077065467834473" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_12799"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.036475658416748" y="-157.2010498046875" z="0.0020974730141460896"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_12800"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.142041206359863" y="94.17961120605469" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i need you to add pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17405"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17406"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17408"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.496233940124512" y="21.913944244384766" z="0.0031291579362004995"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.248269081115723" y="38.754459381103516" z="0.00313053117133677"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.269328594207764" y="32.62654495239258" z="0.0031373975798487663"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1238667964935303" y="-147.9442596435547" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17405"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.21432638168335" y="-155.8057861328125" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17406"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.400416374206543" y="18.924945831298828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17408"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.09953498840332" y="-67.7590560913086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.6308588981628418" y="-46.97510528564453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.105331420898438" y="1.2763460874557495" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.257341384887695" y="37.995059967041016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17405"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17406"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17408"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.496233940124512" y="21.913944244384766" z="0.0031291579362004995"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.248269081115723" y="38.754459381103516" z="0.00313053117133677"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.269328594207764" y="32.62654495239258" z="0.0031373975798487663"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.1238667964935303" y="-147.9442596435547" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17405"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.21432638168335" y="-155.8057861328125" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17406"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.400416374206543" y="18.924945831298828" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17408"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.09953498840332" y="-67.7590560913086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.6308588981628418" y="-46.97510528564453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.105331420898438" y="1.2763460874557495" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="27.257341384887695" y="37.995059967041016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.8820242881774902" y="-159.05267333984375" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.109762668609619" y="-247.35574340820312" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_15432"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_15433"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_15432"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.109762668609619" y="-247.35574340820312" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_15433"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.5749050378799438" y="12.987286567687988" z="0.0030381011310964823"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32754"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32757"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32758"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_32764"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32765"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_32767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.520244598388672" y="-80.2194595336914" z="0.033810731023550034"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.069114685058594" y="22.35595703125" z="0.0030551147647202015"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.108406066894531" y="-65.43341064453125" z="0.03384452685713768"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.532791137695312" y="85.06153106689453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.759345531463623" y="-78.63939666748047" z="0.03382152318954468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32754"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.641015887260437" y="-41.85190200805664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.01175308227539" y="26.3990478515625" z="0.003047103760764003"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.054984092712402" y="-68.7668228149414" z="0.03380145877599716"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32757"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.793531894683838" y="28.38362693786621" z="0.0030590055976063013"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32758"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.114856719970703" y="27.174442291259766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.713584899902344" y="62.17840576171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.97782897949219" y="26.141521453857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.49122428894043" y="26.755319595336914" z="0.003032150212675333"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_32764"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.319911003112793" y="-145.875732421875" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32765"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-46.482200622558594" y="-19.091310501098633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_32767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.514723777770996" y="-160.34423828125" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.662005424499512" y="-71.40441131591797" z="0.03374340012669563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.0708577632904053" y="30.219648361206055" z="0.003055305453017354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.69529724121094" y="39.689674377441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.16578674316406" y="-70.18572998046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32749"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32750"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32751"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32752"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32753"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32754"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32755"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32756"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32757"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32758"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32759"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32760"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32761"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_32764"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32765"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_32767"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_32768"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32769"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32770"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_32771"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_32772"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32749"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.520244598388672" y="-80.2194595336914" z="0.033810731023550034"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32750"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.069114685058594" y="22.35595703125" z="0.0030551147647202015"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32751"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.108406066894531" y="-65.43341064453125" z="0.03384452685713768"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32752"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="14.532791137695312" y="85.06153106689453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32753"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.759345531463623" y="-78.63939666748047" z="0.03382152318954468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32754"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.641015887260437" y="-41.85190200805664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32755"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.01175308227539" y="26.3990478515625" z="0.003047103760764003"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32756"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.054984092712402" y="-68.7668228149414" z="0.03380145877599716"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32757"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.793531894683838" y="28.38362693786621" z="0.0030590055976063013"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32758"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="28.114856719970703" y="27.174442291259766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32759"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.713584899902344" y="62.17840576171875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32760"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="88.97782897949219" y="26.141521453857422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32761"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.49122428894043" y="26.755319595336914" z="0.003032150212675333"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_32764"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.319911003112793" y="-145.875732421875" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32765"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-46.482200622558594" y="-19.091310501098633" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_32767"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.514723777770996" y="-160.34423828125" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_32768"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.662005424499512" y="-71.40441131591797" z="0.03374340012669563"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32769"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.0708577632904053" y="30.219648361206055" z="0.003055305453017354"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32770"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="58.69529724121094" y="39.689674377441406" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_32771"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="53.16578674316406" y="-70.18572998046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_32772"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.744338512420654" y="19.976533889770508" z="0.0030286407563835382"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

add pedestrian at location (32.85, -4.54, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.708651542663574" y="-80.19139099121094" z="0.03383522108197212"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.020275115966797" y="-139.9695587158203" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_23517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_23518"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_23519"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_23517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.708651542663574" y="-80.19139099121094" z="0.03383522108197212"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_23518"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.020275115966797" y="-139.9695587158203" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_23519"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="32.85068130493164" y="-4.535192012786865" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate remove pedestrian actor named pedestrian_close_to_standing_9169? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9159"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9160"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9167"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9169"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9170"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.647850036621094" y="-155.39622497558594" z="0.0019029616378247738"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9159"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.43997573852539" y="-4.837247371673584" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9160"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.17891693115234" y="62.210880279541016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9167"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.1619186401367188" y="31.576229095458984" z="0.0030478285625576973"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9169"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6939260959625244" y="24.93872833251953" z="0.0030546949710696936"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9170"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.48019409179688" y="74.55799102783203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9159"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9160"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9167"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9170"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.647850036621094" y="-155.39622497558594" z="0.0019029616378247738"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9159"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.43997573852539" y="-4.837247371673584" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9160"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.17891693115234" y="62.210880279541016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9167"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="2.1619186401367188" y="31.576229095458984" z="0.0030478285625576973"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9170"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-93.48019409179688" y="74.55799102783203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to demonstrate remove pedestrian actor named pedestrian_w_transform_19212? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19210"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19211"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19212"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.590456962585449" y="-153.10841369628906" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19210"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.55326080322266" y="-37.00986099243164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19211"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.116077423095703" y="-149.05914306640625" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19212"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="86.13239288330078" y="-63.243431091308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5224167108535767" y="22.99170684814453" z="0.0031137466430664062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.24709701538086" y="34.017433166503906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.825725555419922" y="-64.75054168701172" z="0.03387020155787468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.726283073425293" y="-84.67433166503906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.919971466064453" y="-59.48842239379883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.32809066772461" y="-76.62877655029297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19208"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19210"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19211"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19214"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19208"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.590456962585449" y="-153.10841369628906" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19210"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.55326080322266" y="-37.00986099243164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19211"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.116077423095703" y="-149.05914306640625" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19214"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.5224167108535767" y="22.99170684814453" z="0.0031137466430664062"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-39.24709701538086" y="34.017433166503906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.825725555419922" y="-64.75054168701172" z="0.03387020155787468"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.726283073425293" y="-84.67433166503906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.919971466064453" y="-59.48842239379883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.32809066772461" y="-76.62877655029297" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.575551986694336" y="-77.28274536132812" z="0.033777616918087006"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9711174964904785" y="-75.5932846069336" z="0.03380225971341133"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.296234130859375" y="-245.13600158691406" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.486015319824219" y="-61.60552215576172" z="0.03375133499503136"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.639169692993164" y="-57.487403869628906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.254044055938721" y="31.6373291015625" z="0.003055686829611659"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.160671234130859" y="-76.5840835571289" z="0.033788297325372696"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24527"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24528"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_24529"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24530"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_24531"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24532"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_24533"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24534"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24527"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.575551986694336" y="-77.28274536132812" z="0.033777616918087006"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24528"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9711174964904785" y="-75.5932846069336" z="0.03380225971341133"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_24529"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.296234130859375" y="-245.13600158691406" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24530"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.486015319824219" y="-61.60552215576172" z="0.03375133499503136"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_24531"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-29.639169692993164" y="-57.487403869628906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24532"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.254044055938721" y="31.6373291015625" z="0.003055686829611659"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_24533"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.160671234130859" y="-76.5840835571289" z="0.033788297325372696"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24534"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.783945083618164" y="22.606592178344727" z="0.0030385206919163465"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to add pedestrian at location (-56.78, 25.17, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26028"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26029"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26030"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26032"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26036"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26028"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.646276950836182" y="37.819271087646484" z="0.0031209562439471483"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26029"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.874736785888672" y="-0.2072470337152481" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26030"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.779401779174805" y="32.15399932861328" z="0.003128394950181246"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.70017623901367" y="81.37752532958984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26032"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.995867729187012" y="30.194120407104492" z="0.00312602985650301"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.49484252929688" y="84.58287048339844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.3132095336914" y="14.906404495239258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.35214614868164" y="76.13827514648438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26036"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.83421325683594" y="-44.40608596801758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26028"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26029"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26030"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26031"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26032"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26033"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26034"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26035"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26036"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26037"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26028"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.646276950836182" y="37.819271087646484" z="0.0031209562439471483"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26029"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="22.874736785888672" y="-0.2072470337152481" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26030"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.779401779174805" y="32.15399932861328" z="0.003128394950181246"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26031"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.70017623901367" y="81.37752532958984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26032"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.995867729187012" y="30.194120407104492" z="0.00312602985650301"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26033"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.49484252929688" y="84.58287048339844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26034"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.3132095336914" y="14.906404495239258" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26035"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.35214614868164" y="76.13827514648438" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26036"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.83421325683594" y="-44.40608596801758" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26037"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-56.78041458129883" y="25.16554069519043" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

remove pedestrian actor named pedestrian_close_to_adversary_20331? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20316"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20319"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20321"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20324"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20325"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20326"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20327"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20329"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20330"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20331"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20333"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20335"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20316"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.495695114135742" y="-150.6112823486328" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20319"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.53697395324707" y="-65.06021118164062" z="0.03373409062623978"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.57576370239258" y="-80.14200592041016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20321"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.174734115600586" y="23.380041122436523" z="0.003035430796444416"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20324"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.31344223022461" y="37.34063720703125" z="0.003053321735933423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20325"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.628493309020996" y="-78.658447265625" z="0.033806685358285904"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20326"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.901161193847656" y="83.55438232421875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20327"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.95085144042969" y="51.848915100097656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20329"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.729061126708984" y="-159.13333129882812" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20330"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.036964416503906" y="-156.94337463378906" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20331"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.159971237182617" y="-78.32210540771484" z="0.033832892775535583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20333"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.18759155273438" y="4.888052463531494" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20335"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.078448295593262" y="-74.9911117553711" z="0.03378108888864517"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20316"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20319"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20320"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20321"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20324"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20325"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20326"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20327"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20329"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20330"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20333"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20335"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20316"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.495695114135742" y="-150.6112823486328" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20319"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.53697395324707" y="-65.06021118164062" z="0.03373409062623978"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20320"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-59.57576370239258" y="-80.14200592041016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20321"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.174734115600586" y="23.380041122436523" z="0.003035430796444416"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20324"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.31344223022461" y="37.34063720703125" z="0.003053321735933423"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20325"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.628493309020996" y="-78.658447265625" z="0.033806685358285904"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20326"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-53.901161193847656" y="83.55438232421875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20327"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="59.95085144042969" y="51.848915100097656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20329"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-18.729061126708984" y="-159.13333129882812" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20330"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.036964416503906" y="-156.94337463378906" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20333"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-71.18759155273438" y="4.888052463531494" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20335"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.078448295593262" y="-74.9911117553711" z="0.03378108888864517"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to ask you to add pedestrian at location (-67.99, 1.24, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26962"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26963"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26962"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.208691358566284" y="-254.3633270263672" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26963"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.410490036010742" y="-242.4598388671875" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26962"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26963"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26964"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26962"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.208691358566284" y="-254.3633270263672" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26963"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.410490036010742" y="-242.4598388671875" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26964"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.9874496459961" y="1.2352294921875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10203"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10203"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.685503959655762" y="23.78293228149414" z="0.003043594304472208"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="82.94155883789062" y="34.654632568359375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.308298110961914" y="-69.36539459228516" z="0.03379272297024727"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10203"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10204"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10205"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10206"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10203"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.685503959655762" y="23.78293228149414" z="0.003043594304472208"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10204"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="82.94155883789062" y="34.654632568359375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10205"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.308298110961914" y="-69.36539459228516" z="0.03379272297024727"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10206"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.52629566192627" y="-65.4337158203125" z="0.033770978450775146"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you remove pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17915"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17916"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17917"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17919"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17920"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17922"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17923"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_17924"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17925"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17927"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17928"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17929"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17915"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.401912689208984" y="28.98377227783203" z="0.0030806350987404585"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17916"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.9139175415039" y="70.14389038085938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17917"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.84139633178711" y="-155.8712158203125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17919"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.987833499908447" y="-147.73524475097656" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17920"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.160221099853516" y="-53.75401306152344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17922"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.85782241821289" y="-49.816646575927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17923"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.663105487823486" y="-161.5729217529297" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_17924"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.0826404094696045" y="-77.91506958007812" z="0.033787116408348083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17925"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.76948356628418" y="23.007102966308594" z="0.00304973591119051"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17927"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.83917999267578" y="20.275487899780273" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17928"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.004758834838867" y="37.336769104003906" z="0.003048553364351392"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17929"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.74078941345215" y="43.245304107666016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17915"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17916"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17917"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_17919"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17920"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17922"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_17924"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17925"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17927"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17928"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17929"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17915"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.401912689208984" y="28.98377227783203" z="0.0030806350987404585"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17916"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-99.9139175415039" y="70.14389038085938" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17917"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.84139633178711" y="-155.8712158203125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_17919"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.987833499908447" y="-147.73524475097656" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17920"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-25.160221099853516" y="-53.75401306152344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17922"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="37.85782241821289" y="-49.816646575927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_17924"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.0826404094696045" y="-77.91506958007812" z="0.033787116408348083"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17925"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.76948356628418" y="23.007102966308594" z="0.00304973591119051"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17927"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.83917999267578" y="20.275487899780273" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17928"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.004758834838867" y="37.336769104003906" z="0.003048553364351392"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17929"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="25.74078941345215" y="43.245304107666016" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to instruct you to add pedestrian at location (73.09, -58.68, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8254"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8255"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8256"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8257"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.991548538208008" y="-77.43620300292969" z="0.03381168469786644"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.685884475708008" y="-83.90145111083984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.32157897949219" y="-85.1016845703125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8254"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.50713348388672" y="-2.7283413410186768" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8255"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.657840728759766" y="24.962974548339844" z="0.0030780790839344263"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8256"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.00286865234375" y="12.718526840209961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8257"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.96733856201172" y="97.60807800292969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8253"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8254"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8255"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8256"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8257"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8258"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.991548538208008" y="-77.43620300292969" z="0.03381168469786644"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-28.685884475708008" y="-83.90145111083984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8253"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.32157897949219" y="-85.1016845703125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8254"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="90.50713348388672" y="-2.7283413410186768" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8255"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.657840728759766" y="24.962974548339844" z="0.0030780790839344263"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8256"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="75.00286865234375" y="12.718526840209961" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8257"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-35.96733856201172" y="97.60807800292969" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8258"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="73.08720397949219" y="-58.67911911010742" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

please add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26180"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26186"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26187"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26188"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26189"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26190"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26191"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26192"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26193"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26194"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26195"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26196"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26180"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.621740341186523" y="25.128835678100586" z="0.0030792616307735443"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.06671142578125" y="-68.17029571533203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.156359672546387" y="-153.40139770507812" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.494150161743164" y="-152.3187713623047" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5319743156433105" y="33.15403366088867" z="0.0030135726556181908"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.182498931884766" y="-159.87274169921875" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26186"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.236011505126953" y="-67.88854217529297" z="0.033735617995262146"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26187"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.156383514404297" y="34.55358123779297" z="0.0030216979794204235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26188"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.228858947753906" y="36.82870864868164" z="0.003000411903485656"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26189"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.46451568603516" y="58.803794860839844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26190"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.559040069580078" y="59.34446716308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26191"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.581633567810059" y="-153.2872314453125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26192"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.26644229888916" y="-63.88875961303711" z="0.033753205090761185"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26193"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.690921783447266" y="61.89629364013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26194"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.28157424926758" y="-35.2286376953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26195"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.173795223236084" y="22.90790367126465" z="0.0030478667467832565"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26196"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.5542311668396" y="36.622623443603516" z="0.0030281830113381147"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.57630157470703" y="28.085689544677734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.432454586029053" y="72.44631958007812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26180"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26181"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26182"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26183"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26184"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26185"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26186"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26187"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26188"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26189"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26190"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_26191"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_26192"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26193"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26194"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26195"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26196"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26198"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_26199"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_26200"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26180"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.621740341186523" y="25.128835678100586" z="0.0030792616307735443"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26181"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="81.06671142578125" y="-68.17029571533203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26182"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.156359672546387" y="-153.40139770507812" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26183"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.494150161743164" y="-152.3187713623047" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26184"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.5319743156433105" y="33.15403366088867" z="0.0030135726556181908"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26185"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.182498931884766" y="-159.87274169921875" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26186"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.236011505126953" y="-67.88854217529297" z="0.033735617995262146"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26187"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.156383514404297" y="34.55358123779297" z="0.0030216979794204235"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26188"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.228858947753906" y="36.82870864868164" z="0.003000411903485656"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26189"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-86.46451568603516" y="58.803794860839844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26190"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-27.559040069580078" y="59.34446716308594" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_26191"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.581633567810059" y="-153.2872314453125" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_26192"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.26644229888916" y="-63.88875961303711" z="0.033753205090761185"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26193"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="46.690921783447266" y="61.89629364013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26194"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="48.28157424926758" y="-35.2286376953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26195"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.173795223236084" y="22.90790367126465" z="0.0030478667467832565"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26196"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.5542311668396" y="36.622623443603516" z="0.0030281830113381147"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26198"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.57630157470703" y="28.085689544677734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_26199"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.432454586029053" y="72.44631958007812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_26200"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.14704704284668" y="24.002073287963867" z="0.002983169397339225"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to instruct you to remove pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9997"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9998"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9999"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10000"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10001"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10002"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10003"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10004"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10005"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10006"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10007"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10008"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10009"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10010"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10013"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10014"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10015"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10016"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10017"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10018"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10019"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10020"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9997"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.153858184814453" y="36.87846374511719" z="0.0031007383950054646"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9998"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.09320831298828" y="22.939157485961914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9999"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.623854637145996" y="26.94745635986328" z="0.0030786513816565275"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10000"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.98655700683594" y="46.430625915527344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10001"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.367102146148682" y="30.73908233642578" z="0.0030257797334343195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10002"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.143844604492188" y="-68.67249298095703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10003"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.111037731170654" y="-62.533206939697266" z="0.03383319824934006"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10004"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2647817134857178" y="-146.81060791015625" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10005"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.715265274047852" y="22.02937889099121" z="0.0030121994204819202"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10006"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.26125717163086" y="-84.77056121826172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10007"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.127692222595215" y="-161.9119110107422" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10008"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.33839797973633" y="56.613136291503906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10009"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.89714050292969" y="-46.91522216796875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10010"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.0743179321289" y="14.42681884765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10013"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.678611755371094" y="-35.62059020996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10014"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.331594467163086" y="-67.09764862060547" z="0.033808402717113495"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10015"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.146327018737793" y="-69.20629119873047" z="0.03382865712046623"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10016"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.314241409301758" y="-68.66569519042969" z="0.03381969407200813"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10017"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9003615379333496" y="37.308990478515625" z="0.003040046663954854"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10018"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.96509552001953" y="30.721174240112305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10019"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.14488697052002" y="-67.54283142089844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10020"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.768393516540527" y="-66.5904769897461" z="0.03380538895726204"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9997"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9998"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9999"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10000"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10001"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10002"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10003"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10004"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10006"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_10007"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10008"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10009"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10010"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10013"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10014"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10015"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10016"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_10017"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10018"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_10019"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_10020"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9997"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.153858184814453" y="36.87846374511719" z="0.0031007383950054646"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9998"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.09320831298828" y="22.939157485961914" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9999"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.623854637145996" y="26.94745635986328" z="0.0030786513816565275"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10000"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-92.98655700683594" y="46.430625915527344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10001"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.367102146148682" y="30.73908233642578" z="0.0030257797334343195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10002"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.143844604492188" y="-68.67249298095703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10003"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.111037731170654" y="-62.533206939697266" z="0.03383319824934006"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10004"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.2647817134857178" y="-146.81060791015625" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10006"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="21.26125717163086" y="-84.77056121826172" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_10007"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.127692222595215" y="-161.9119110107422" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10008"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-51.33839797973633" y="56.613136291503906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10009"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.89714050292969" y="-46.91522216796875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10010"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.0743179321289" y="14.42681884765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10013"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.678611755371094" y="-35.62059020996094" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10014"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.331594467163086" y="-67.09764862060547" z="0.033808402717113495"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10015"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.146327018737793" y="-69.20629119873047" z="0.03382865712046623"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10016"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.314241409301758" y="-68.66569519042969" z="0.03381969407200813"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_10017"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.9003615379333496" y="37.308990478515625" z="0.003040046663954854"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10018"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="66.96509552001953" y="30.721174240112305" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_10019"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.14488697052002" y="-67.54283142089844" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_10020"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.768393516540527" y="-66.5904769897461" z="0.03380538895726204"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

add pedestrian at location (18.03, -93.67, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9841"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9844"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9845"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9847"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9848"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9849"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9850"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9851"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9852"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9841"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.064480781555176" y="-149.35397338867188" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.029891014099121" y="-146.5308380126953" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6609859466552734" y="-69.70481872558594" z="0.03377010300755501"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9844"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.93071460723877" y="-73.82946014404297" z="0.03380889818072319"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9845"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.074355125427246" y="96.29095458984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.108659744262695" y="-63.749794006347656" z="0.03377624601125717"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9847"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.540964126586914" y="36.00166702270508" z="0.00306529994122684"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9848"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.818347930908203" y="-142.9595184326172" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9849"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.06957244873047" y="-56.98916244506836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9850"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.127299308776855" y="30.811159133911133" z="0.0030227277893573046"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9851"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.92476749420166" y="-80.9276123046875" z="0.03375675156712532"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9852"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.084774017333984" y="-66.66157531738281" z="0.03376045078039169"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9841"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9842"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9843"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9844"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9845"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9846"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9847"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_9848"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9849"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_9850"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9851"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9852"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_9853"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9841"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.064480781555176" y="-149.35397338867188" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9842"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.029891014099121" y="-146.5308380126953" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9843"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6609859466552734" y="-69.70481872558594" z="0.03377010300755501"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9844"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.93071460723877" y="-73.82946014404297" z="0.03380889818072319"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9845"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="12.074355125427246" y="96.29095458984375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9846"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.108659744262695" y="-63.749794006347656" z="0.03377624601125717"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9847"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.540964126586914" y="36.00166702270508" z="0.00306529994122684"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_9848"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="8.818347930908203" y="-142.9595184326172" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9849"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="97.06957244873047" y="-56.98916244506836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_9850"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.127299308776855" y="30.811159133911133" z="0.0030227277893573046"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9851"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.92476749420166" y="-80.9276123046875" z="0.03375675156712532"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9852"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.084774017333984" y="-66.66157531738281" z="0.03376045078039169"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_9853"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.025747299194336" y="-93.66654968261719" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_28156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_28157"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_28156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.820310592651367" y="-75.6324234008789" z="0.03386855870485306"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_28157"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4716174602508545" y="-76.1025390625" z="0.033874738961458206"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_28156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_28157"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_28158"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_28156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.820310592651367" y="-75.6324234008789" z="0.03386855870485306"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_28157"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4716174602508545" y="-76.1025390625" z="0.033874738961458206"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_28158"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.277585983276367" y="-64.26490020751953" z="0.03386379033327103"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to display add pedestrian at location (18.89, -83.06, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20866"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20867"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20868"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20869"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20870"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20872"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20866"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.075775146484375" y="-240.19801330566406" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20867"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.6524658203125" y="-72.41893768310547" z="0.03380744904279709"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20868"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.70826721191406" y="-20.07275390625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20869"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-81.18660736083984" y="16.470903396606445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20870"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.903480529785156" y="-69.69024658203125" z="0.03379428759217262"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20872"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.601113319396973" y="32.95127487182617" z="0.0030596922151744366"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_20866"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20867"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20868"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20869"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_20870"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_20872"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_20873"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_20866"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.075775146484375" y="-240.19801330566406" z="0.001678848173469305"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20867"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.6524658203125" y="-72.41893768310547" z="0.03380744904279709"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20868"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="94.70826721191406" y="-20.07275390625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20869"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-81.18660736083984" y="16.470903396606445" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_20870"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.903480529785156" y="-69.69024658203125" z="0.03379428759217262"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_20872"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.601113319396973" y="32.95127487182617" z="0.0030596922151744366"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_20873"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="18.893295288085938" y="-83.05644989013672" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to tell you to add pedestrian at location (-75.58, 73.59, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19406"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19407"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19408"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19409"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19414"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19415"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19416"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19417"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19418"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19419"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19420"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19421"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19422"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19423"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19424"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19406"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.095964431762695" y="-80.35894775390625" z="0.03386707231402397"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19407"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.0062360763549805" y="-77.2296371459961" z="0.03387084975838661"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19408"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.75688934326172" y="98.02082824707031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19409"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.513244152069092" y="-149.22103881835938" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.589224815368652" y="-158.77914428710938" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.967782974243164" y="36.027652740478516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.95350456237793" y="25.843114852905273" z="0.0031452560797333717"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.73206329345703" y="46.09727478027344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19414"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.01896858215332" y="-55.54698944091797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19415"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.732260227203369" y="-151.01951599121094" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19416"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.85938835144043" y="-78.13768005371094" z="0.03386814147233963"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19417"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.95964813232422" y="-33.830665588378906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19418"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.54486083984375" y="-153.66770935058594" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19419"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.216263771057129" y="-18.405824661254883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19420"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.616731643676758" y="-146.42840576171875" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19421"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.177630424499512" y="-157.06031799316406" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19422"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9738688468933105" y="-76.7885513305664" z="0.03386390581727028"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19423"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.587050914764404" y="36.73353958129883" z="0.0031103133223950863"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19424"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.962076187133789" y="47.57618713378906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19406"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19407"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19408"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19409"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19410"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19411"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19412"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19413"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19414"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19415"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19416"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19417"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19418"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19419"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19420"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_19421"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_19422"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_19423"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19424"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_19425"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19406"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.095964431762695" y="-80.35894775390625" z="0.03386707231402397"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19407"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.0062360763549805" y="-77.2296371459961" z="0.03387084975838661"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19408"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-74.75688934326172" y="98.02082824707031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19409"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.513244152069092" y="-149.22103881835938" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19410"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.589224815368652" y="-158.77914428710938" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19411"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="11.967782974243164" y="36.027652740478516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19412"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.95350456237793" y="25.843114852905273" z="0.0031452560797333717"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19413"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.73206329345703" y="46.09727478027344" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19414"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.01896858215332" y="-55.54698944091797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19415"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.732260227203369" y="-151.01951599121094" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19416"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.85938835144043" y="-78.13768005371094" z="0.03386814147233963"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19417"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="91.95964813232422" y="-33.830665588378906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19418"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.54486083984375" y="-153.66770935058594" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19419"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="13.216263771057129" y="-18.405824661254883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19420"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.616731643676758" y="-146.42840576171875" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_19421"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.177630424499512" y="-157.06031799316406" z="0.0018838500836864114"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_19422"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.9738688468933105" y="-76.7885513305664" z="0.03386390581727028"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_19423"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.587050914764404" y="36.73353958129883" z="0.0031103133223950863"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19424"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.962076187133789" y="47.57618713378906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_19425"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.58168029785156" y="73.59486389160156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

add pedestrian at location (52.83, 86.19, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1905"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1906"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1907"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1908"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1909"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1911"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1912"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1913"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1914"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1915"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1916"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1917"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1918"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1919"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1905"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.30738067626953" y="-74.21656799316406" z="0.033757515251636505"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1906"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.47903060913086" y="-39.194618225097656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1907"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.79776763916016" y="-5.664951801300049" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1908"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.08388492465019226" y="-68.20110321044922" z="0.03375297412276268"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1909"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.4480972290039" y="15.805941581726074" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1911"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="35.37557601928711" y="-91.96331787109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1912"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.38103485107422" y="96.14957427978516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1913"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.068777084350586" y="-98.99144744873047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1914"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.43318557739258" y="-34.89631652832031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1915"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="54.082122802734375" y="15.130084037780762" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1916"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.0644044876098633" y="-153.32623291015625" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1917"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.343268394470215" y="-80.41605377197266" z="0.03375755250453949"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1918"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.59400177001953" y="-19.11453628540039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1919"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.023277675732970238" y="-161.43484497070312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1905"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1906"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1907"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1908"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1909"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1911"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1912"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1913"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1914"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1915"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1916"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_1917"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1918"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_1919"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_1920"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1905"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-23.30738067626953" y="-74.21656799316406" z="0.033757515251636505"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1906"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.47903060913086" y="-39.194618225097656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1907"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-78.79776763916016" y="-5.664951801300049" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1908"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.08388492465019226" y="-68.20110321044922" z="0.03375297412276268"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1909"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-67.4480972290039" y="15.805941581726074" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1911"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="35.37557601928711" y="-91.96331787109375" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1912"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-94.38103485107422" y="96.14957427978516" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1913"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.068777084350586" y="-98.99144744873047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1914"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="49.43318557739258" y="-34.89631652832031" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1915"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="54.082122802734375" y="15.130084037780762" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1916"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.0644044876098633" y="-153.32623291015625" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_1917"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.343268394470215" y="-80.41605377197266" z="0.03375755250453949"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1918"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-87.59400177001953" y="-19.11453628540039" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_1919"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-0.023277675732970238" y="-161.43484497070312" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_1920"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="52.834022521972656" y="86.18508911132812" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to ask you to remove pedestrian close to hero? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8142"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8143"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8146"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8147"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8148"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8150"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8151"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8154"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8155"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8157"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8158"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2807517051696777" y="-73.31275939941406" z="0.03382434695959091"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="61.111289978027344" y="-8.961678504943848" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.98591136932373" y="-147.5798797607422" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.300040245056152" y="33.034950256347656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.0786871910095215" y="-65.58699035644531" z="0.033788908272981644"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8142"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.945796966552734" y="-75.00788879394531" z="0.03380576893687248"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8143"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.75878143310547" y="-48.967533111572266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.17900085449219" y="78.59765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.819350242614746" y="53.93669891357422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8146"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.7093276977539" y="16.341510772705078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8147"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="40.80036544799805" y="-5.978545188903809" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8148"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7067993879318237" y="-72.84915161132812" z="0.03379623219370842"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.203399181365967" y="21.445350646972656" z="0.003100242465734482"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8150"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.77518844604492" y="84.66973876953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8151"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.501314163208008" y="-156.63719177246094" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.762555122375488" y="-99.26870727539062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.524927139282227" y="35.77181625366211" z="0.0030594253912568092"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8154"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.551918983459473" y="-150.0963134765625" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8155"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.241336822509766" y="56.66537094116211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.7378621101379395" y="-162.30416870117188" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8157"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.560946464538574" y="-163.92202758789062" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8158"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.383831024169922" y="-75.77864837646484" z="0.033762816339731216"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8136"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8137"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8138"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8140"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8141"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8142"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8143"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8144"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8145"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8146"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8147"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8148"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8149"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8150"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8152"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_8153"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8154"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_8155"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8156"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_8157"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_8158"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8136"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.2807517051696777" y="-73.31275939941406" z="0.03382434695959091"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8137"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="61.111289978027344" y="-8.961678504943848" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8138"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.98591136932373" y="-147.5798797607422" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8140"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="7.300040245056152" y="33.034950256347656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8141"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.0786871910095215" y="-65.58699035644531" z="0.033788908272981644"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8142"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.945796966552734" y="-75.00788879394531" z="0.03380576893687248"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8143"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-75.75878143310547" y="-48.967533111572266" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8144"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-66.17900085449219" y="78.59765625" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8145"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.819350242614746" y="53.93669891357422" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8146"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.7093276977539" y="16.341510772705078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8147"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="40.80036544799805" y="-5.978545188903809" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8148"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.7067993879318237" y="-72.84915161132812" z="0.03379623219370842"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8149"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.203399181365967" y="21.445350646972656" z="0.003100242465734482"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8150"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-49.77518844604492" y="84.66973876953125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8152"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.762555122375488" y="-99.26870727539062" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_8153"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.524927139282227" y="35.77181625366211" z="0.0030594253912568092"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8154"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.551918983459473" y="-150.0963134765625" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_8155"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.241336822509766" y="56.66537094116211" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8156"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.7378621101379395" y="-162.30416870117188" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_8157"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.560946464538574" y="-163.92202758789062" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_8158"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.383831024169922" y="-75.77864837646484" z="0.033762816339731216"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian at location (-86.0, 40.33, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25220"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25221"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25222"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25226"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25227"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25228"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.806792736053467" y="-159.4874725341797" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.38409423828125" y="-79.96582794189453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.187662124633789" y="-152.60076904296875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.84379768371582" y="-160.27821350097656" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.601420402526855" y="-145.5836181640625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25220"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.127313613891602" y="34.643455505371094" z="0.003066215431317687"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25221"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.570880889892578" y="-73.55672454833984" z="0.03379348665475845"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25222"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.50076293945312" y="-47.56752395629883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.12250518798828" y="-25.78729248046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4073469638824463" y="35.2462043762207" z="0.0030753326136618853"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.749027252197266" y="21.61819076538086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25226"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.8810416460037231" y="24.023677825927734" z="0.0031050490215420723"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25227"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-33.04311752319336" y="31.609874725341797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25228"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.983451843261719" y="-155.8258514404297" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25215"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25216"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25217"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25218"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25219"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25220"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_25221"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25222"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25223"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25224"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25225"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_25226"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25227"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25228"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25229"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25215"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.806792736053467" y="-159.4874725341797" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25216"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.38409423828125" y="-79.96582794189453" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25217"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.187662124633789" y="-152.60076904296875" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25218"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.84379768371582" y="-160.27821350097656" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25219"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.601420402526855" y="-145.5836181640625" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25220"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.127313613891602" y="34.643455505371094" z="0.003066215431317687"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_25221"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.570880889892578" y="-73.55672454833984" z="0.03379348665475845"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25222"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="85.50076293945312" y="-47.56752395629883" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25223"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="47.12250518798828" y="-25.78729248046875" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25224"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.4073469638824463" y="35.2462043762207" z="0.0030753326136618853"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25225"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="51.749027252197266" y="21.61819076538086" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_25226"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.8810416460037231" y="24.023677825927734" z="0.0031050490215420723"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25227"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-33.04311752319336" y="31.609874725341797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25228"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-15.983451843261719" y="-155.8258514404297" z="0.0014652633108198643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25229"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-85.99700164794922" y="40.333675384521484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

can you add pedestrian at location (0.46, -12.42, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.692291259765625" y="-145.3094940185547" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.902225494384766" y="-43.89723587036133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_25248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_25250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_25248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-22.692291259765625" y="-145.3094940185547" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.902225494384766" y="-43.89723587036133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_25250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.4557678699493408" y="-12.419108390808105" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14244"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.200746059417725" y="-79.38587188720703" z="0.03375747427344322"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.01767349243164" y="-33.814693450927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.662212371826172" y="-59.70954132080078" z="0.03375747427344322"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14244"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.67557144165039" y="73.12996673583984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.497549533843994" y="-149.90284729003906" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.184078216552734" y="-18.578083038330078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.577823638916016" y="28.569372177124023" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.948225736618042" y="-77.06820678710938" z="0.03375663608312607"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4340488910675049" y="19.535696029663086" z="0.0030179594177752733"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.79054069519043" y="-86.16249084472656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14241"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14242"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14243"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14244"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_14245"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14246"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14247"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_14248"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14249"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_14250"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_14251"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14241"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.200746059417725" y="-79.38587188720703" z="0.03375747427344322"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14242"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.01767349243164" y="-33.814693450927734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14243"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-21.662212371826172" y="-59.70954132080078" z="0.03375747427344322"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14244"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="20.67557144165039" y="73.12996673583984" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_14245"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="6.497549533843994" y="-149.90284729003906" z="0.0013734435196965933"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14246"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="60.184078216552734" y="-18.578083038330078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14247"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="17.577823638916016" y="28.569372177124023" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_14248"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.948225736618042" y="-77.06820678710938" z="0.03375663608312607"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14249"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.4340488910675049" y="19.535696029663086" z="0.0030179594177752733"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_14250"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.79054069519043" y="-86.16249084472656" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_14251"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.273786544799805" y="29.556678771972656" z="0.0030179594177752733"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

would you add pedestrian at location (-26.37, 11.28, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_387"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_388"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_389"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_390"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_392"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_393"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_394"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_395"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_396"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_398"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_399"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_401"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_387"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.405264854431152" y="-153.80250549316406" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_388"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-98.9242172241211" y="-93.7138900756836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_389"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.529281616210938" y="29.054895401000977" z="0.0030689621344208717"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_390"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.3248176574707" y="6.117675304412842" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_392"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.426156997680664" y="-147.3775177001953" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_393"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.477709770202637" y="32.714759826660156" z="0.003059501526877284"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_394"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.91936492919922" y="-96.20064544677734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_395"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.389217376708984" y="-64.389892578125" z="0.03380397707223892"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_396"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.499088287353516" y="64.08868408203125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.58727741241455" y="-75.56348419189453" z="0.033825796097517014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_398"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.1175537109375" y="34.36326217651367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_399"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.8207728862762451" y="-58.6109504699707" z="0.03379760682582855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.49219512939453" y="-67.382080078125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_401"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.50976276397705" y="-157.66561889648438" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.425133228302002" y="-139.99609375" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.982619285583496" y="23.285770416259766" z="0.003044776851311326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.481066703796387" y="82.14997100830078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_387"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_388"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_389"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_390"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_392"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_393"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_394"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_395"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_396"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_397"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_398"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_399"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_400"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_401"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_403"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_404"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_405"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_387"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-4.405264854431152" y="-153.80250549316406" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_388"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-98.9242172241211" y="-93.7138900756836" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_389"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.529281616210938" y="29.054895401000977" z="0.0030689621344208717"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_390"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-41.3248176574707" y="6.117675304412842" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_392"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.426156997680664" y="-147.3775177001953" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_393"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.477709770202637" y="32.714759826660156" z="0.003059501526877284"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_394"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-88.91936492919922" y="-96.20064544677734" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_395"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-17.389217376708984" y="-64.389892578125" z="0.03380397707223892"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_396"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.499088287353516" y="64.08868408203125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_397"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.58727741241455" y="-75.56348419189453" z="0.033825796097517014"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_398"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-36.1175537109375" y="34.36326217651367" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_399"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.8207728862762451" y="-58.6109504699707" z="0.03379760682582855"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_400"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="55.49219512939453" y="-67.382080078125" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_401"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.50976276397705" y="-157.66561889648438" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.425133228302002" y="-139.99609375" z="0.001423797570168972"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_403"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.982619285583496" y="23.285770416259766" z="0.003044776851311326"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_404"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.481066703796387" y="82.14997100830078" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_405"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-26.371944427490234" y="11.275400161743164" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

could you add pedestrian close to adversary? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.82642364501953" y="-62.613075256347656" z="0.03386150300502777"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9516"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_9517"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9516"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-16.82642364501953" y="-62.613075256347656" z="0.03386150300502777"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_9517"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.246503829956055" y="-77.36540222167969" z="0.03386169299483299"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to lead you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_2905"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_2905"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.097031831741333" y="22.396448135375977" z="0.003057022113353014"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7020"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7021"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7022"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7023"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7024"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7020"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.737894892692566" y="34.01581573486328" z="0.0030045700259506702"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7021"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.932537078857422" y="17.843141555786133" z="0.003026313614100218"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7022"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.361865520477295" y="-53.6746940612793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7023"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="52.24658966064453" y="-96.53850555419922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7024"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.796546936035156" y="-159.8169708251953" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7020"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7021"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7022"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_7023"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_7024"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_7025"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7020"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.737894892692566" y="34.01581573486328" z="0.0030045700259506702"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7021"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="5.932537078857422" y="17.843141555786133" z="0.003026313614100218"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7022"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-1.361865520477295" y="-53.6746940612793" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_7023"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="52.24658966064453" y="-96.53850555419922" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_7024"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.796546936035156" y="-159.8169708251953" z="0.0013900374760851264"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_7025"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.966425895690918" y="24.68573760986328" z="0.0030511473305523396"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian close to standing? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_24402"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_24402"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.359176635742188" y="27.775283813476562" z="0.0030732345767319202"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to direct you to remove pedestrian actor named pedestrian_close_to_standing_4350? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4347"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4348"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4349"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4350"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4351"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4355"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4356"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4357"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4359"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4364"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4368"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4369"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4347"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7636021971702576" y="29.247114181518555" z="0.003040656913071871"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4348"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.713342666625977" y="-18.992746353149414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4349"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.690506935119629" y="-148.87844848632812" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4350"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="1.2553298473358154" y="28.372236251831055" z="0.0030648421961814165"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4351"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.831364154815674" y="24.245344161987305" z="0.002995185786858201"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4355"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.65654754638672" y="-55.04927444458008" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4356"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="62.36316680908203" y="40.481380462646484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4357"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.41651439666748" y="-21.142362594604492" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4359"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.814569473266602" y="29.127195358276367" z="0.0030393218621611595"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.78718376159668" y="21.493555068969727" z="0.0030631637200713158"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4364"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.902324676513672" y="4.429935932159424" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.09391212463379" y="-78.22156524658203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.1394267082214355" y="20.488210678100586" z="0.0030064010061323643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4368"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.733424186706543" y="-151.81561279296875" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4369"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.468437671661377" y="-80.17432403564453" z="0.033748969435691833"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4347"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4348"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4349"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4351"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4355"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4356"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4357"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4359"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4362"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4364"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_4366"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_4367"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_4368"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_4369"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4347"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.7636021971702576" y="29.247114181518555" z="0.003040656913071871"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4348"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.713342666625977" y="-18.992746353149414" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4349"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.690506935119629" y="-148.87844848632812" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4351"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.831364154815674" y="24.245344161987305" z="0.002995185786858201"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4355"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-96.65654754638672" y="-55.04927444458008" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4356"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="62.36316680908203" y="40.481380462646484" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4357"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="9.41651439666748" y="-21.142362594604492" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4359"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-10.814569473266602" y="29.127195358276367" z="0.0030393218621611595"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4362"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.78718376159668" y="21.493555068969727" z="0.0030631637200713158"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4364"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="24.902324676513672" y="4.429935932159424" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_4366"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-20.09391212463379" y="-78.22156524658203" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_4367"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.1394267082214355" y="20.488210678100586" z="0.0030064010061323643"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_4368"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.733424186706543" y="-151.81561279296875" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_4369"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.468437671661377" y="-80.17432403564453" z="0.033748969435691833"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to guide you to add pedestrian at location (-14.92, -25.1, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5059"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5060"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5062"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5064"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5065"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5068"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5069"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5070"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5071"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5072"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5073"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5075"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5076"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5077"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5078"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5059"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.732795715332031" y="-145.42803955078125" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5060"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.8592529296875" y="97.76439666748047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.235889911651611" y="-152.10887145996094" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5062"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-46.22713088989258" y="55.761844635009766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.047287940979004" y="24.907825469970703" z="0.003023452591150999"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5064"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.85781478881836" y="-15.802876472473145" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5065"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6408305168151855" y="21.08278465270996" z="0.003027267288416624"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.346402168273926" y="20.803953170776367" z="0.003031234722584486"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.622459411621094" y="38.46976852416992" z="0.0030385206919163465"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5068"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.3714785873889923" y="34.7813835144043" z="0.0030705260578542948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5069"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.747393608093262" y="-153.25546264648438" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5070"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.1269760131836" y="83.04944610595703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5071"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.45509338378906" y="-62.18539810180664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5072"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.390542030334473" y="26.43834114074707" z="0.0030149458907544613"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5073"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.154489994049072" y="21.732858657836914" z="0.003035964909940958"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.96190643310547" y="-98.47382354736328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5075"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-61.91954040527344" y="-62.687843322753906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5076"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.97578430175781" y="-10.9989595413208" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5077"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.609797477722168" y="-70.72818756103516" z="0.03377971425652504"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5078"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.238582611083984" y="56.99733352661133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5059"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5060"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5061"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5062"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5063"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5064"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5065"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5066"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5067"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5068"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_5069"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5070"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5071"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5072"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_5073"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5074"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5075"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5076"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_5077"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5078"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_5079"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5059"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.732795715332031" y="-145.42803955078125" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5060"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-55.8592529296875" y="97.76439666748047" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5061"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.235889911651611" y="-152.10887145996094" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5062"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-46.22713088989258" y="55.761844635009766" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5063"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.047287940979004" y="24.907825469970703" z="0.003023452591150999"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5064"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="44.85781478881836" y="-15.802876472473145" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5065"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.6408305168151855" y="21.08278465270996" z="0.003027267288416624"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5066"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.346402168273926" y="20.803953170776367" z="0.003031234722584486"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5067"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.622459411621094" y="38.46976852416992" z="0.0030385206919163465"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5068"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="0.3714785873889923" y="34.7813835144043" z="0.0030705260578542948"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_5069"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-12.747393608093262" y="-153.25546264648438" z="0.0016471862327307463"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5070"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="74.1269760131836" y="83.04944610595703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5071"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.45509338378906" y="-62.18539810180664" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5072"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.390542030334473" y="26.43834114074707" z="0.0030149458907544613"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_5073"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="4.154489994049072" y="21.732858657836914" z="0.003035964909940958"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5074"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-77.96190643310547" y="-98.47382354736328" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5075"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-61.91954040527344" y="-62.687843322753906" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5076"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="84.97578430175781" y="-10.9989595413208" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_5077"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.609797477722168" y="-70.72818756103516" z="0.03377971425652504"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5078"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="38.238582611083984" y="56.99733352661133" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_5079"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.923623085021973" y="-25.09501075744629" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to ask you to add pedestrian at location (36.17, -86.22, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_926"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_928"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_929"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_930"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_931"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_933"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_935"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_936"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_937"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_938"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_939"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_940"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_941"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_942"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_943"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_944"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_926"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.5147066116333" y="-62.778621673583984" z="0.03380138427019119"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_928"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.06727981567383" y="80.0760726928711" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_929"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.450008392333984" y="-26.363447189331055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_930"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.331315040588379" y="-64.46829223632812" z="0.033863410353660583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_931"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="33.60703659057617" y="-84.40834045410156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_933"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.8500747680664" y="-66.13211059570312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_935"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6382246017456055" y="21.061487197875977" z="0.003138122381642461"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_936"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.977960586547852" y="31.396326065063477" z="0.0031406402122229338"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_937"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.95293045043945" y="-37.52836227416992" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_938"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.982177257537842" y="24.317506790161133" z="0.0031376266852021217"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_939"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.22608947753906" y="-99.77452850341797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_940"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.6545639038086" y="31.92786407470703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_941"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.366227149963379" y="-159.079833984375" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_942"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.691875457763672" y="-79.15910339355469" z="0.033859748393297195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_943"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.5114336013793945" y="-81.39027404785156" z="0.03386157751083374"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_944"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.071054458618164" y="-69.74861907958984" z="0.03386402130126953"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_926"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_928"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_929"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_930"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_931"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_933"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_935"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_936"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_937"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_938"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_939"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_940"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_hero_941"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_942"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_943"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_adversary_944"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_945"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_926"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.5147066116333" y="-62.778621673583984" z="0.03380138427019119"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_928"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="63.06727981567383" y="80.0760726928711" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_929"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-31.450008392333984" y="-26.363447189331055" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_930"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-11.331315040588379" y="-64.46829223632812" z="0.033863410353660583"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_931"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="33.60703659057617" y="-84.40834045410156" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_933"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="79.8500747680664" y="-66.13211059570312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_935"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-3.6382246017456055" y="21.061487197875977" z="0.003138122381642461"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_936"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-14.977960586547852" y="31.396326065063477" z="0.0031406402122229338"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_937"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-50.95293045043945" y="-37.52836227416992" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_938"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.982177257537842" y="24.317506790161133" z="0.0031376266852021217"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_939"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-84.22608947753906" y="-99.77452850341797" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_940"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-70.6545639038086" y="31.92786407470703" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_hero_941"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-13.366227149963379" y="-159.079833984375" z="0.0015143966302275658"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_942"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.691875457763672" y="-79.15910339355469" z="0.033859748393297195"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_943"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-7.5114336013793945" y="-81.39027404785156" z="0.03386157751083374"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_adversary_944"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-5.071054458618164" y="-69.74861907958984" z="0.03386402130126953"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_945"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="36.17475509643555" y="-86.22341918945312" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

i would like to request you to add pedestrian at location (57.82, 21.92, 0.5)? ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7072880268096924" y="20.176115036010742" z="0.0030232237186282873"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.223660945892334" y="22.094036102294922" z="0.0030226516537368298"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```

Here is the result: ``` <?xml version="1.0" ?> <OpenSCENARIO> <FileHeader revMajor="1" revMinor="0" date="2020-03-24T12:00:00" description="CARLA:LaneChangeSimple" author=""/> <ParameterDeclarations/> <CatalogLocations/> <RoadNetwork> <LogicFile filepath="Town04"/> <SceneGraphFile filepath=""/> </RoadNetwork> <Entities> <ScenarioObject name="hero"> <Vehicle name="vehicle.tesla.model3" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="ego_vehicle"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="adversary"> <Vehicle name="vehicle.lincoln.mkz_2017" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="standing"> <Vehicle name="vehicle.volkswagen.t2" vehicleCategory="car"> <ParameterDeclarations/> <Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2.1" length="4.5" height="1.8"/> </BoundingBox> <Axles> <FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/> <RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/> </Axles> <Properties> <Property name="type" value="simulation"/> </Properties> </Vehicle> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17521"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_close_to_standing_17522"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> <ScenarioObject name="pedestrian_w_transform_17523"> <Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian"> <ParameterDeclarations/> <BoundingBox> <Center x="1.5" y="0.0" z="0.9"/> <Dimensions width="2" length="2" height="2"/> </BoundingBox> <Properties> <Property name="type" value="simulation"/> </Properties> </Pedestrian> </ScenarioObject> </Entities> <Storyboard> <Init> <Actions> <GlobalAction> <EnvironmentAction> <Environment name="Environment1"> <TimeOfDay animation="false" dateTime="2019-06-25T12:00:00"/> <Weather cloudState="free"> <Sun intensity="0.85" azimuth="0" elevation="1.31"/> <Fog visualRange="100000.0"/> <Precipitation precipitationType="dry" intensity="0.0"/> </Weather> <RoadCondition frictionScaleFactor="1.0"/> </Environment> </EnvironmentAction> </GlobalAction> <Private entityRef="hero"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-152.8" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> <PrivateAction> <ControllerAction> <AssignControllerAction> <Controller name="HeroAgent"> <Properties> <Property name="module" value="external_control"/> </Properties> </Controller> </AssignControllerAction> <OverrideControllerValueAction> <Throttle value="0" active="false"/> <Brake value="0" active="false"/> <Clutch value="0" active="false"/> <ParkingBrake value="0" active="false"/> <SteeringWheel value="0" active="false"/> <Gear number="0" active="false"/> </OverrideControllerValueAction> </ControllerAction> </PrivateAction> </Private> <Private entityRef="adversary"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-9.4" y="-71.0" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="standing"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-8.2" y="29.2" z="0.5" h="1.57079632679"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17521"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-2.7072880268096924" y="20.176115036010742" z="0.0030232237186282873"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_close_to_standing_17522"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="-6.223660945892334" y="22.094036102294922" z="0.0030226516537368298"/> </Position> </TeleportAction> </PrivateAction> </Private> <Private entityRef="pedestrian_w_transform_17523"> <PrivateAction> <TeleportAction> <Position> <WorldPosition x="57.81987762451172" y="21.917566299438477" z="0.5"/> </Position> </TeleportAction> </PrivateAction> </Private> </Actions> </Init> <Story name="MyStory"> <Act name="Behavior"> <ManeuverGroup maximumExecutionCount="1" name="ManeuverSequence"> <Actors selectTriggeringEntities="false"> <EntityRef entityRef="adversary"/> </Actors> <Maneuver name="LaneChangeSimpleManeuver"> <Event name="AdversaryAccelerates" priority="overwrite"> <Action name="AdversaryAccelerates"> <PrivateAction> <LongitudinalAction> <SpeedAction> <SpeedActionDynamics dynamicsShape="step" value="50" dynamicsDimension="distance"/> <SpeedActionTarget> <AbsoluteTargetSpeed value="5.0"/> </SpeedActionTarget> </SpeedAction> </LongitudinalAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="StartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <RelativeDistanceCondition entityRef="adversary" relativeDistanceType="cartesianDistance" value="40.0" freespace="false" rule="lessThan"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> <Event name="AdversaryChangesLane" priority="overwrite"> <Action name="AdversaryChangesLane"> <PrivateAction> <LateralAction> <LaneChangeAction> <LaneChangeActionDynamics dynamicsShape="linear" value="25" dynamicsDimension="distance"/> <LaneChangeTarget> <RelativeTargetLane entityRef="adversary" value="-1"/> </LaneChangeTarget> </LaneChangeAction> </LateralAction> </PrivateAction> </Action> <StartTrigger> <ConditionGroup> <Condition name="AfterAdversaryAccelerates" delay="0" conditionEdge="rising"> <ByValueCondition> <StoryboardElementStateCondition storyboardElementType="action" storyboardElementRef="AdversaryAccelerates" state="completeState"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> </Event> </Maneuver> </ManeuverGroup> <StartTrigger> <ConditionGroup> <Condition name="OverallStartCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="1.0"/> </EntityCondition> </ByEntityCondition> </Condition> <Condition name="StartTime" delay="0" conditionEdge="rising"> <ByValueCondition> <SimulationTimeCondition value="0" rule="equalTo"/> </ByValueCondition> </Condition> </ConditionGroup> </StartTrigger> <StopTrigger> <ConditionGroup> <Condition name="EndCondition" delay="0" conditionEdge="rising"> <ByEntityCondition> <TriggeringEntities triggeringEntitiesRule="any"> <EntityRef entityRef="hero"/> </TriggeringEntities> <EntityCondition> <TraveledDistanceCondition value="200.0"/> </EntityCondition> </ByEntityCondition> </Condition> </ConditionGroup> </StopTrigger> </Act> </Story> <StopTrigger> <ConditionGroup> <Condition name="criteria_RunningStopTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_RunningRedLightTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_WrongLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_OnSidewalkTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_KeepLaneTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_CollisionTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="" value="" rule="lessThan"/> </ByValueCondition> </Condition> <Condition name="criteria_DrivenDistanceTest" delay="0" conditionEdge="rising"> <ByValueCondition> <ParameterCondition parameterRef="distance_success" value="100" rule="lessThan"/> </ByValueCondition> </Condition> </ConditionGroup> </StopTrigger> </Storyboard> </OpenSCENARIO> ```