request
stringlengths 11k
36.4k
| response
stringlengths 11k
36.3k
|
|---|---|
i would like to order 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_4937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_4937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0634851455688477" y="-76.88774871826172" z="0.03388214111328125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.261425256729126" y="30.510805130004883" z="0.0031454849522560835"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3725852966308594" y="-153.76124572753906" 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>
``` | 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_4937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_4937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.0634851455688477" y="-76.88774871826172" z="0.03388214111328125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.261425256729126" y="30.510805130004883" z="0.0031454849522560835"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3725852966308594" y="-153.76124572753906" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.969120025634766" y="-69.414306640625" z="0.03385479003190994"/>
</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>
</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_11777">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_11777">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.381776809692383" y="31.572555541992188" z="0.0030721663497388363"/>
</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 (22.53, -25.16, 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_18262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18265">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18266">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_18262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.278960227966309" y="31.057849884033203" z="0.0030505370814353228"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.607389450073242" y="-68.5831298828125" z="0.03379890322685242"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.528862953186035" y="-94.80802154541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18265">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.83306121826172" y="84.82450866699219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18266">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.93743896484375" y="86.7304916381836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.221097946166992" y="-240.0118408203125" 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_standing_18262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_18263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18265">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18266">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_18267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18268">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_18262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.278960227966309" y="31.057849884033203" z="0.0030505370814353228"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_18263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.607389450073242" y="-68.5831298828125" z="0.03379890322685242"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.528862953186035" y="-94.80802154541016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18265">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.83306121826172" y="84.82450866699219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18266">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-94.93743896484375" y="86.7304916381836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_18267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.221097946166992" y="-240.0118408203125" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18268">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.53138542175293" y="-25.164236068725586" 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 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_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>
</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_6034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.246969223022461" y="-153.24679565429688" 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 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>
</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_26517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_26517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.63917350769043" y="-159.8668212890625" 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 direct you to add pedestrian at location (-29.38, -78.21, 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_16695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.673621654510498" y="33.55976867675781" z="0.0029905319679528475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.139934539794922" y="21.74981117248535" z="0.0030730818398296833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.00260925292969" y="-13.106212615966797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.83938217163086" y="23.446285247802734" 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_16695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.673621654510498" y="33.55976867675781" z="0.0029905319679528475"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.139934539794922" y="21.74981117248535" z="0.0030730818398296833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.00260925292969" y="-13.106212615966797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.83938217163086" y="23.446285247802734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.379104614257812" y="-78.20940399169922" 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 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_26257">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26258">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26259">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26260">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26265">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26266">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26268">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_26257">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.734132766723633" y="-146.69898986816406" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26258">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.59716033935547" y="3.147048234939575" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26259">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.18155288696289" y="-77.1337661743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26260">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.092994689941406" y="13.916325569152832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.211950302124023" y="-151.80352783203125" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.230640411376953" y="-139.81642150878906" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.182374954223633" y="-143.4735870361328" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1579222679138184" y="-67.96154022216797" z="0.033782269805669785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26265">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1467862129211426" y="-76.9600830078125" z="0.033780861645936966"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26266">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.183666229248047" y="-21.44475746154785" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.696698188781738" y="-76.3321533203125" z="0.033767011016607285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26268">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.285778045654297" y="42.37089920043945" z="0.0030114364344626665"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.970720291137695" y="-36.162261962890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.2397613525390625" y="-74.45359802246094" z="0.033777885138988495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.41817855834961" y="-62.637939453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.99479293823242" y="-72.7412109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6883047819137573" y="-47.050315856933594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.985618591308594" y="33.52864074707031" z="0.0030231093987822533"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.449316024780273" y="-13.52774715423584" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.06200408935547" y="-116.33161926269531" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.24430847167969" y="-40.87809753417969" 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_26257">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26258">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26259">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26260">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26265">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26266">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26268">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_26270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_26274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_26276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_26257">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.734132766723633" y="-146.69898986816406" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26258">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.59716033935547" y="3.147048234939575" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26259">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.18155288696289" y="-77.1337661743164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26260">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.092994689941406" y="13.916325569152832" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.230640411376953" y="-139.81642150878906" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.182374954223633" y="-143.4735870361328" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.1579222679138184" y="-67.96154022216797" z="0.033782269805669785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26265">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1467862129211426" y="-76.9600830078125" z="0.033780861645936966"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26266">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.183666229248047" y="-21.44475746154785" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.696698188781738" y="-76.3321533203125" z="0.033767011016607285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26268">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.285778045654297" y="42.37089920043945" z="0.0030114364344626665"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.970720291137695" y="-36.162261962890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_26270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.2397613525390625" y="-74.45359802246094" z="0.033777885138988495"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.41817855834961" y="-62.637939453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-60.99479293823242" y="-72.7412109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.6883047819137573" y="-47.050315856933594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_26274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.985618591308594" y="33.52864074707031" z="0.0030231093987822533"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.449316024780273" y="-13.52774715423584" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_26276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.06200408935547" y="-116.33161926269531" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.24430847167969" y="-40.87809753417969" 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 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_1998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.591770172119141" y="-69.21955871582031" z="0.033763617277145386"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.068996906280518" y="-55.157562255859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.753562927246094" y="-82.51759338378906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.457207202911377" y="58.77155303955078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.53765869140625" y="-37.80272674560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.4472427368164" y="-48.22901916503906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.252671241760254" y="26.379854202270508" z="0.003017692593857646"/>
</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_1998">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2000">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2001">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2002">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2003">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1998">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.591770172119141" y="-69.21955871582031" z="0.033763617277145386"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2000">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.068996906280518" y="-55.157562255859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2001">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.753562927246094" y="-82.51759338378906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2002">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.457207202911377" y="58.77155303955078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2003">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.53765869140625" y="-37.80272674560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.4472427368164" y="-48.22901916503906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.252671241760254" y="26.379854202270508" z="0.003017692593857646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.145343780517578" y="-155.3311004638672" 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_w_transform_10320?
```
<?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_10306">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10308">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10310">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10311">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10313">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10315">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10316">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10317">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10318">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10320">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10322">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10323">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10324">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_10306">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.220500946044922" y="-72.45054626464844" z="0.03377353772521019"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.983776092529297" y="-75.17572784423828" z="0.03378364443778992"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10308">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.000764846801758" y="-160.4520721435547" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.068530559539795" y="26.12432289123535" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10310">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.149876594543457" y="38.574092864990234" z="0.0030329131986945868"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10311">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.2160587310791" y="21.574602127075195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10313">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.61646556854248" y="41.9049072265625" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10315">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.26271057128906" y="-59.22471618652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10316">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.150550842285156" y="22.695301055908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10317">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.4385929107666" y="28.218778610229492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10318">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.943782806396484" y="26.345901489257812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.98143005371094" y="47.479759216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10320">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.7323226928711" y="-8.836173057556152" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10322">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.7638931274414" y="32.063262939453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10323">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.085412502288818" y="28.507553100585938" z="0.003106613177806139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10324">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.7430648803711" y="20.386943817138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.892284870147705" y="-26.989294052124023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.741107940673828" y="99.39016723632812" 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_10306">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10307">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10308">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10309">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10310">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10311">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10313">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10315">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10316">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10317">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10318">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10319">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10322">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10323">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10324">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10327">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_10306">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.220500946044922" y="-72.45054626464844" z="0.03377353772521019"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10307">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.983776092529297" y="-75.17572784423828" z="0.03378364443778992"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10308">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.000764846801758" y="-160.4520721435547" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10309">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.068530559539795" y="26.12432289123535" z="0.003018875140696764"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10310">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.149876594543457" y="38.574092864990234" z="0.0030329131986945868"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10311">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-30.2160587310791" y="21.574602127075195" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10313">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.61646556854248" y="41.9049072265625" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10315">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.26271057128906" y="-59.22471618652344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10316">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.150550842285156" y="22.695301055908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10317">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.4385929107666" y="28.218778610229492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10318">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.943782806396484" y="26.345901489257812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10319">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="82.98143005371094" y="47.479759216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10322">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.7638931274414" y="32.063262939453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10323">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.085412502288818" y="28.507553100585938" z="0.003106613177806139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10324">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.7430648803711" y="20.386943817138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10327">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.892284870147705" y="-26.989294052124023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.741107940673828" y="99.39016723632812" 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 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_3931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.465461730957031" y="31.81660270690918" z="0.00313957198522985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.577449798583984" y="-28.16476821899414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.591825485229492" y="20.465511322021484" z="0.003116721985861659"/>
</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_3931">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3931">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.465461730957031" y="31.81660270690918" z="0.00313957198522985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.577449798583984" y="-28.16476821899414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.591825485229492" y="20.465511322021484" z="0.003116721985861659"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.547593593597412" y="12.94642162322998" z="0.0031261825934052467"/>
</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_hero_22096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_22096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.422341346740723" y="-145.0179901123047" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.478199005126953" y="-68.48502349853516" z="0.03376743197441101"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.36370325088501" y="42.16482925415039" z="0.003026580670848489"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.981102466583252" y="-145.8533477783203" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.021214485168457" y="-72.07793426513672" z="0.033829573541879654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.646900177001953" y="37.644771575927734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.30681610107422" y="-154.3311767578125" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.58023738861084" y="-75.5165786743164" z="0.033780861645936966"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.36486053466797" y="-65.29991912841797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.597138404846191" y="-67.62415313720703" z="0.03378826007246971"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.759600639343262" y="26.16135025024414" z="0.0030426024459302425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6725895404815674" y="-66.8847427368164" z="0.03378681093454361"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.61604309082031" y="73.23110961914062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.25095748901367" y="-61.76116943359375" 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_22096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22103">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22105">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_22107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_22096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.422341346740723" y="-145.0179901123047" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.478199005126953" y="-68.48502349853516" z="0.03376743197441101"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.36370325088501" y="42.16482925415039" z="0.003026580670848489"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.981102466583252" y="-145.8533477783203" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.021214485168457" y="-72.07793426513672" z="0.033829573541879654"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.646900177001953" y="37.644771575927734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.30681610107422" y="-154.3311767578125" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22103">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.58023738861084" y="-75.5165786743164" z="0.033780861645936966"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.36486053466797" y="-65.29991912841797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22105">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.597138404846191" y="-67.62415313720703" z="0.03378826007246971"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.759600639343262" y="26.16135025024414" z="0.0030426024459302425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6725895404815674" y="-66.8847427368164" z="0.03378681093454361"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.61604309082031" y="73.23110961914062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.25095748901367" y="-61.76116943359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.992730140686035" y="-151.52598571777344" 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 order 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_13473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1470322608947754" y="-72.21571350097656" z="0.03379348665475845"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.36056518554688" y="92.69203186035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.934284210205078" y="-79.1534652709961" z="0.03382358327507973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.41851806640625" y="-39.69387435913086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.281505584716797" y="-146.39476013183594" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.85491943359375" y="58.49973678588867" 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_13473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1470322608947754" y="-72.21571350097656" z="0.03379348665475845"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-73.36056518554688" y="92.69203186035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.934284210205078" y="-79.1534652709961" z="0.03382358327507973"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.41851806640625" y="-39.69387435913086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.281505584716797" y="-146.39476013183594" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.85491943359375" y="58.49973678588867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.063384056091309" y="-64.08201599121094" z="0.03373325243592262"/>
</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 (-82.89, 36.81, 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_21202">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21203">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21204">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21205">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21206">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21207">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21211">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21212">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_21202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.765901565551758" y="-63.90597915649414" z="0.03371162340044975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.986370086669922" y="26.139896392822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.280086517333984" y="-146.23118591308594" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3030847907066345" y="34.368587493896484" z="0.0030416869558393955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8801376819610596" y="-71.2128677368164" z="0.03379981964826584"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.88471984863281" y="97.1389389038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.858700752258301" y="-70.5838623046875" z="0.03373367339372635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.350903511047363" y="-146.42803955078125" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21211">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.275466918945312" y="-74.66949462890625" z="0.033789824694395065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.461516380310059" y="-74.8162612915039" z="0.03375789523124695"/>
</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_21202">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21203">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21204">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21205">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21206">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21207">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21211">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21212">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21213">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_21202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.765901565551758" y="-63.90597915649414" z="0.03371162340044975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.986370086669922" y="26.139896392822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.280086517333984" y="-146.23118591308594" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3030847907066345" y="34.368587493896484" z="0.0030416869558393955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8801376819610596" y="-71.2128677368164" z="0.03379981964826584"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.88471984863281" y="97.1389389038086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.858700752258301" y="-70.5838623046875" z="0.03373367339372635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.350903511047363" y="-146.42803955078125" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21211">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.275466918945312" y="-74.66949462890625" z="0.033789824694395065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.461516380310059" y="-74.8162612915039" z="0.03375789523124695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21213">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.88655090332031" y="36.81427001953125" 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_adversary_13626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.542572021484375" y="-68.17955017089844" z="0.033833540976047516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.68600082397461" y="49.57884216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.85777282714844" y="74.06037139892578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.649593353271484" y="-15.397041320800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.2986602783203125" y="38.921180725097656" z="0.003015441820025444"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.30145263671875" y="10.047577857971191" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.189983367919922" y="-74.53435516357422" z="0.03381606936454773"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.441192626953125" y="59.081356048583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2143056392669678" y="24.238811492919922" z="0.003056755056604743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.464289665222168" y="33.58905029296875" z="0.0030498504638671875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.815869331359863" y="-63.034507751464844" z="0.033815231174230576"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.83057403564453" y="-54.072147369384766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6039624214172363" y="-155.69834899902344" 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_adversary_13626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13632">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.542572021484375" y="-68.17955017089844" z="0.033833540976047516"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.68600082397461" y="49.57884216308594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.85777282714844" y="74.06037139892578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.649593353271484" y="-15.397041320800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.2986602783203125" y="38.921180725097656" z="0.003015441820025444"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.30145263671875" y="10.047577857971191" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13632">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.189983367919922" y="-74.53435516357422" z="0.03381606936454773"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.441192626953125" y="59.081356048583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2143056392669678" y="24.238811492919922" z="0.003056755056604743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.464289665222168" y="33.58905029296875" z="0.0030498504638671875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.815869331359863" y="-63.034507751464844" z="0.033815231174230576"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.83057403564453" y="-54.072147369384766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.6039624214172363" y="-155.69834899902344" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9853658080101013" y="-72.55005645751953" z="0.03378967195749283"/>
</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_hero_25365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_25366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_25365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3659319877624512" y="-147.7084503173828" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_25366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.39991310238838196" y="-61.636104583740234" z="0.03382892534136772"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.408323287963867" y="72.71424865722656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.240114212036133" y="-159.4551239013672" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.53478240966797" y="30.770845413208008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.7112603187561035" y="81.089599609375" 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_25366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_25370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_25372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_25366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.39991310238838196" y="-61.636104583740234" z="0.03382892534136772"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.408323287963867" y="72.71424865722656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_25370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.240114212036133" y="-159.4551239013672" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.53478240966797" y="30.770845413208008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_25372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.7112603187561035" y="81.089599609375" 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 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_hero_232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_237">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_238">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_241">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_243">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_245">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_246">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_247">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_252">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_253">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_254">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_255">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_256">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.161535263061523" y="-149.57762145996094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.709809303283691" y="-164.45652770996094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.07451629638672" y="-3.0195090770721436" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.886815071105957" y="-78.96343994140625" z="0.033802833408117294"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_237">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.55366516113281" y="32.478294372558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_238">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.021907806396484" y="-70.12187194824219" z="0.033784981817007065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.667354583740234" y="91.9153823852539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_241">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.762144088745117" y="37.097232818603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.141252517700195" y="-68.58917236328125" z="0.03381454572081566"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_243">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6068837642669678" y="-68.50611877441406" z="0.03377727419137955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_245">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.58926391601562" y="73.35379791259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_246">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.004849433898926" y="21.290246963500977" z="0.0030572509858757257"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_247">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.246347427368164" y="26.444746017456055" z="0.0030252838041633368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.014311790466309" y="-62.56692886352539" z="0.033806875348091125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.018188953399658" y="23.601417541503906" z="0.003026885911822319"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.16325378417969" y="49.49296951293945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.422382354736328" y="35.714595794677734" z="0.0030440902337431908"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_252">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.58013153076172" y="-14.113273620605469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_253">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.9955062866211" y="4.922690391540527" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_254">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.597437858581543" y="27.074954986572266" z="0.003073806641623378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_255">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.85689353942871" y="-73.34178924560547" z="0.03375629335641861"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_256">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.943978309631348" y="-161.66650390625" 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_hero_232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_235">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_237">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_238">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_241">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_243">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_245">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_246">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_247">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_252">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_253">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_255">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_256">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.161535263061523" y="-149.57762145996094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.709809303283691" y="-164.45652770996094" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_235">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.07451629638672" y="-3.0195090770721436" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.886815071105957" y="-78.96343994140625" z="0.033802833408117294"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_237">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.55366516113281" y="32.478294372558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_238">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.021907806396484" y="-70.12187194824219" z="0.033784981817007065"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.667354583740234" y="91.9153823852539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_241">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.762144088745117" y="37.097232818603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.141252517700195" y="-68.58917236328125" z="0.03381454572081566"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_243">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.6068837642669678" y="-68.50611877441406" z="0.03377727419137955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_245">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.58926391601562" y="73.35379791259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_246">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.004849433898926" y="21.290246963500977" z="0.0030572509858757257"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_247">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.246347427368164" y="26.444746017456055" z="0.0030252838041633368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.014311790466309" y="-62.56692886352539" z="0.033806875348091125"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.018188953399658" y="23.601417541503906" z="0.003026885911822319"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.16325378417969" y="49.49296951293945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.422382354736328" y="35.714595794677734" z="0.0030440902337431908"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_252">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.58013153076172" y="-14.113273620605469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_253">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.9955062866211" y="4.922690391540527" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_255">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.85689353942871" y="-73.34178924560547" z="0.03375629335641861"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_256">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.943978309631348" y="-161.66650390625" 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 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_19004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5540885925292969" y="34.094112396240234" z="0.0030924223829060793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.920636177062988" y="-62.8134765625" z="0.03383682295680046"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.946380615234375" y="-146.04092407226562" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.811019897460938" y="-75.2420654296875" z="0.03383457288146019"/>
</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_19004">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19005">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19006">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19007">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19008">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19004">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5540885925292969" y="34.094112396240234" z="0.0030924223829060793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19005">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.920636177062988" y="-62.8134765625" z="0.03383682295680046"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19006">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.946380615234375" y="-146.04092407226562" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19007">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.811019897460938" y="-75.2420654296875" z="0.03383457288146019"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19008">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2811434268951416" y="33.822181701660156" z="0.0030739973299205303"/>
</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 (-86.04, 36.16, 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_22328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_22328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.386171340942383" y="-74.12744903564453" z="0.03377784788608551"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.64901876449585" y="-144.88677978515625" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.05008697509766" y="-59.618919372558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.4180908203125" y="-48.79081726074219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.8602728843688965" y="38.040748596191406" z="0.0030158613808453083"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.483436584472656" y="-156.5387725830078" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.94575500488281" y="42.00719451904297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.06278228759766" y="-6.450263500213623" 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_22328">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22329">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22330">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22331">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_22333">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_22334">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22335">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_22337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_22328">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.386171340942383" y="-74.12744903564453" z="0.03377784788608551"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22329">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.64901876449585" y="-144.88677978515625" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22330">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.05008697509766" y="-59.618919372558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22331">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-79.4180908203125" y="-48.79081726074219" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22333">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.8602728843688965" y="38.040748596191406" z="0.0030158613808453083"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22334">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.483436584472656" y="-156.5387725830078" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22335">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.94575500488281" y="42.00719451904297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.06278228759766" y="-6.450263500213623" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.03973388671875" y="36.15892028808594" 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 (-29.97, -7.97, 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_17762">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17762">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.479096412658691" y="-58.8703498840332" z="0.03380271792411804"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.351563453674316" y="20.228181838989258" z="0.0029396438039839268"/>
</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_17762">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17763">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17764">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17762">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.479096412658691" y="-58.8703498840332" z="0.03380271792411804"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17763">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.351563453674316" y="20.228181838989258" z="0.0029396438039839268"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17764">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.969526290893555" y="-7.9672369956970215" 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 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_9224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_9224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.541839122772217" y="-53.98279571533203" z="0.03378608450293541"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.217058181762695" y="-89.64183044433594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.9959259033203125" y="-68.27384185791016" z="0.03375110402703285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.92670440673828" y="-35.988033294677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.521348237991333" y="-164.37181091308594" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.769882202148438" y="27.677135467529297" z="0.0030026626773178577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.63623046875" y="-62.996490478515625" z="0.03375782072544098"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.41496276855469" y="31.614973068237305" 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_9224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_9226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9228">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_9229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_9232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_9224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.541839122772217" y="-53.98279571533203" z="0.03378608450293541"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.217058181762695" y="-89.64183044433594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_9226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.9959259033203125" y="-68.27384185791016" z="0.03375110402703285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9228">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.92670440673828" y="-35.988033294677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_9229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.521348237991333" y="-164.37181091308594" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.769882202148438" y="27.677135467529297" z="0.0030026626773178577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_9232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.41496276855469" y="31.614973068237305" 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 at location (-90.71, 6.95, 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_19879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8385210037231445" y="27.61837387084961" z="0.0030819319654256105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.15005350112915" y="-145.73658752441406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.099664330482483" y="20.75000762939453" z="0.003085288917645812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.220914840698242" y="-0.2530241906642914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.150053024291992" y="-64.49250793457031" z="0.03377380222082138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.798670768737793" y="-73.02104187011719" z="0.033772047609090805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.7963981628418" y="85.37700653076172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.675540924072266" y="-64.18758392333984" z="0.03378795459866524"/>
</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_19879">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19880">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19884">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19886">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19887">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8385210037231445" y="27.61837387084961" z="0.0030819319654256105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.15005350112915" y="-145.73658752441406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.099664330482483" y="20.75000762939453" z="0.003085288917645812"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.220914840698242" y="-0.2530241906642914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.150053024291992" y="-64.49250793457031" z="0.03377380222082138"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.798670768737793" y="-73.02104187011719" z="0.033772047609090805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.7963981628418" y="85.37700653076172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.675540924072266" y="-64.18758392333984" z="0.03378795459866524"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.70945739746094" y="6.9511518478393555" 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 at location (5.46, -52.29, 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_27351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_27351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.876118659973145" y="23.706819534301758" z="0.0030384445562958717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.794581413269043" y="32.81676483154297" z="0.0030406187288463116"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.824325561523438" y="-154.57321166992188" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.114236831665039" y="-72.49346160888672" z="0.033882904797792435"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.400545120239258" y="-64.69564819335938" z="0.033870160579681396"/>
</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_27351">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27352">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27353">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27354">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27355">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27356">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_27351">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.876118659973145" y="23.706819534301758" z="0.0030384445562958717"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27352">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.794581413269043" y="32.81676483154297" z="0.0030406187288463116"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27353">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.824325561523438" y="-154.57321166992188" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27354">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.114236831665039" y="-72.49346160888672" z="0.033882904797792435"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27355">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.400545120239258" y="-64.69564819335938" z="0.033870160579681396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27356">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.463389873504639" y="-52.291263580322266" 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 at location (68.79, 9.83, 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_16033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.684928894042969" y="35.7817268371582" z="0.0030725859105587006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.65150833129883" y="28.277774810791016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.666740417480469" y="-73.28451538085938" z="0.033822134137153625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.9327392578125" y="-77.11678314208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.654022216796875" y="76.89257049560547" 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_16033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.684928894042969" y="35.7817268371582" z="0.0030725859105587006"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.65150833129883" y="28.277774810791016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.666740417480469" y="-73.28451538085938" z="0.033822134137153625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.9327392578125" y="-77.11678314208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.654022216796875" y="76.89257049560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.78671264648438" y="9.832829475402832" 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 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_29239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29240">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29243">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29244">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29245">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29246">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.350947856903076" y="-145.81605529785156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29240">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.844392776489258" y="68.90335083007812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.232134819030762" y="-146.56008911132812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29243">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.8599967956543" y="79.74225616455078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29244">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.469505786895752" y="27.19240951538086" z="0.002949028043076396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29245">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.213550567626953" y="-71.74342346191406" z="0.03375564515590668"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29246">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.09770202636719" y="52.79057312011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.322731971740723" y="-69.05184173583984" z="0.033775024116039276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.07352716475725174" y="-153.3636016845703" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.365084648132324" y="22.5184383392334" z="0.003019142197445035"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.8776626586914" y="46.215755462646484" 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_29239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29240">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29243">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29244">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29245">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29246">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.350947856903076" y="-145.81605529785156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29240">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.844392776489258" y="68.90335083007812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.232134819030762" y="-146.56008911132812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29243">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="35.8599967956543" y="79.74225616455078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29244">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.469505786895752" y="27.19240951538086" z="0.002949028043076396"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29245">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.213550567626953" y="-71.74342346191406" z="0.03375564515590668"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29246">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.09770202636719" y="52.79057312011719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.322731971740723" y="-69.05184173583984" z="0.033775024116039276"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.07352716475725174" y="-153.3636016845703" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.8776626586914" y="46.215755462646484" 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 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_19897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19901">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19902">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19903">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19904">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.762975811958313" y="-150.19070434570312" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.80535125732422" y="55.79706573486328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.04298400878906" y="62.74798583984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19901">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3289719820022583" y="22.348176956176758" z="0.0030728147830814123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.228341579437256" y="36.20270919799805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.57229232788086" y="25.626455307006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19904">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.493412017822266" y="-137.9267120361328" 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_hero_19897">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19898">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19900">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19902">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19903">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19904">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19897">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.762975811958313" y="-150.19070434570312" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19898">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.80535125732422" y="55.79706573486328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19900">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="76.04298400878906" y="62.74798583984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19902">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.228341579437256" y="36.20270919799805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19903">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.57229232788086" y="25.626455307006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19904">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.493412017822266" y="-137.9267120361328" 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 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_24428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24434">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24435">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24436">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3995320796966553" y="-66.35528564453125" z="0.033836860209703445"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.76216888427734" y="-3.8612236976623535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.748958587646484" y="-160.97434997558594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.726623773574829" y="-77.10105895996094" z="0.033810652792453766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.36365509033203" y="77.84467315673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.16131591796875" y="-143.6553497314453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24434">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.930540084838867" y="-145.68307495117188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24435">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.591809272766113" y="-79.4973373413086" z="0.033814962953329086"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24436">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.959550857543945" y="-160.21401977539062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.98439025878906" y="28.768949508666992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.4130744934082" y="-34.04800033569336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0842742919921875" y="31.727880477905273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.882885932922363" y="27.972915649414062" z="0.0030821608379483223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.5648512840271" y="-148.90794372558594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.52281188964844" y="25.256635665893555" 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_24428">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24429">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24432">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24433">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24434">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24435">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24436">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24437">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24438">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24439">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24440">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24441">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24442">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24443">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24428">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3995320796966553" y="-66.35528564453125" z="0.033836860209703445"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24429">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.76216888427734" y="-3.8612236976623535" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.748958587646484" y="-160.97434997558594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.726623773574829" y="-77.10105895996094" z="0.033810652792453766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24432">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.36365509033203" y="77.84467315673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24433">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.16131591796875" y="-143.6553497314453" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24434">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.930540084838867" y="-145.68307495117188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24435">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.591809272766113" y="-79.4973373413086" z="0.033814962953329086"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24436">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.959550857543945" y="-160.21401977539062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24437">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.98439025878906" y="28.768949508666992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24438">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.4130744934082" y="-34.04800033569336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24439">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0842742919921875" y="31.727880477905273" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24440">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.882885932922363" y="27.972915649414062" z="0.0030821608379483223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24441">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.5648512840271" y="-148.90794372558594" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24442">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.52281188964844" y="25.256635665893555" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24443">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.656529426574707" y="-148.42430114746094" 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 (2.58, -60.4, 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_19831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19832">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19834">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19835">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.956311225891113" y="26.709909439086914" z="0.0030854414217174053"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.852685928344727" y="-68.32534790039062" z="0.03378364443778992"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.733394622802734" y="-36.949668884277344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.223854064941406" y="-18.603357315063477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.40432357788086" y="-98.55847930908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.29134368896484" y="82.41830444335938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.032460689544678" y="44.97231674194336" 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_19831">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_19832">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19833">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19834">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19835">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19836">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19837">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19838">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19831">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.956311225891113" y="26.709909439086914" z="0.0030854414217174053"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_19832">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.852685928344727" y="-68.32534790039062" z="0.03378364443778992"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19833">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.733394622802734" y="-36.949668884277344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19834">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.223854064941406" y="-18.603357315063477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19835">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.40432357788086" y="-98.55847930908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19836">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.29134368896484" y="82.41830444335938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19837">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.032460689544678" y="44.97231674194336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19838">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.5823135375976562" y="-60.40125274658203" 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 (-51.14, 92.87, 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_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_close_to_standing_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_close_to_hero_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_w_transform_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_hero_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_close_to_hero_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_close_to_adversary_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_w_transform_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_22879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.345441818237305" y="34.19584274291992" z="0.0030033874791115522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7256649732589722" y="29.363815307617188" z="0.0030486679170280695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.652869701385498" y="-147.43064880371094" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.906855583190918" y="-10.661489486694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.348663330078125" y="-161.54261779785156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.018890380859375" y="-70.65206909179688" z="0.033797986805438995"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.955820560455322" y="-145.65113830566406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.20156478881836" y="47.34658432006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.744060754776001" y="-63.75015640258789" z="0.03374706208705902"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.198792457580566" y="-155.5546417236328" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.14183807373047" y="-88.16458892822266" 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_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_close_to_standing_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_close_to_hero_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_w_transform_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_hero_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_close_to_hero_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_close_to_adversary_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_w_transform_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_w_transform_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_22879">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.345441818237305" y="34.19584274291992" z="0.0030033874791115522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_22880">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7256649732589722" y="29.363815307617188" z="0.0030486679170280695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.652869701385498" y="-147.43064880371094" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.906855583190918" y="-10.661489486694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.348663330078125" y="-161.54261779785156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22884">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.018890380859375" y="-70.65206909179688" z="0.033797986805438995"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.955820560455322" y="-145.65113830566406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22886">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-37.20156478881836" y="47.34658432006836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_22887">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.744060754776001" y="-63.75015640258789" z="0.03374706208705902"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_22888">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.198792457580566" y="-155.5546417236328" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22889">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.14183807373047" y="-88.16458892822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_22890">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-51.14170837402344" y="92.87071990966797" 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 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_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>
</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_8147">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.007037162780762" y="-150.92982482910156" 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 instruct you to remove pedestrian actor named pedestrian_close_to_hero_16537?
```
<?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_16523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16537">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5273739099502563" y="-152.45204162597656" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.36103057861328" y="-158.3950653076172" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.818256378173828" y="-153.5240020751953" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.93277740478516" y="-80.73104858398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.97501373291016" y="28.083351135253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.54549407958984" y="-67.66231536865234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.149867057800293" y="25.1899471282959" z="0.0030248260591179132"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.48799133300781" y="31.932514190673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2053921222686768" y="23.702608108520508" z="0.003053550608456135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.74875831604004" y="-92.66361236572266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16537">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.203531265258789" y="-143.07310485839844" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.29913330078125" y="-153.73255920410156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.6049919128418" y="12.692462921142578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.483692169189453" y="-27.641918182373047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.14349365234375" y="91.73883056640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.421756744384766" y="90.2586669921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.416051864624023" y="30.38136100769043" z="0.003007011255249381"/>
</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_16523">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16524">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16525">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16526">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16527">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16528">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16531">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16532">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16533">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16534">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_16546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16523">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5273739099502563" y="-152.45204162597656" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16524">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.36103057861328" y="-158.3950653076172" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16525">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.818256378173828" y="-153.5240020751953" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16526">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.93277740478516" y="-80.73104858398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16527">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.97501373291016" y="28.083351135253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16528">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.54549407958984" y="-67.66231536865234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16531">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.149867057800293" y="25.1899471282959" z="0.0030248260591179132"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16532">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.48799133300781" y="31.932514190673828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16533">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.2053921222686768" y="23.702608108520508" z="0.003053550608456135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16534">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-28.74875831604004" y="-92.66361236572266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.29913330078125" y="-153.73255920410156" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.6049919128418" y="12.692462921142578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.483692169189453" y="-27.641918182373047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.14349365234375" y="91.73883056640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.421756744384766" y="90.2586669921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_16546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.416051864624023" y="30.38136100769043" z="0.003007011255249381"/>
</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 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_20772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20773">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_20772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.44524574279785" y="-65.15745544433594" z="0.03379253298044205"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20773">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.847795486450195" y="32.643943786621094" z="0.0030768965370953083"/>
</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_20772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_20773">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_20774">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_20772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.44524574279785" y="-65.15745544433594" z="0.03379253298044205"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20773">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.847795486450195" y="32.643943786621094" z="0.0030768965370953083"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20774">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.507556915283203" y="-159.0752410888672" 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>
``` |
could you add pedestrian at location (18.46, -73.99, 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_28809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.482398986816406" y="-145.0965118408203" z="0.0017029952723532915"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.99696350097656" y="77.468017578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.519390106201172" y="38.62742233276367" z="0.0030519866850227118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.474746704101562" y="-14.892536163330078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.17865753173828" y="-88.11551666259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.12698364257812" y="76.69496154785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.1009750366211" y="6.228102207183838" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.071088790893555" y="-78.95271301269531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.40450286865234" y="-33.20756149291992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.51331329345703" y="52.082359313964844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.677473068237305" y="33.86503601074219" z="0.0030502318404614925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.6751480102539" y="71.33251190185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.587464332580566" y="-150.27670288085938" z="0.0017435073386877775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.423394203186035" y="90.21842193603516" 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_28809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28818">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28821">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28822">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28823">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.482398986816406" y="-145.0965118408203" z="0.0017029952723532915"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.99696350097656" y="77.468017578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.519390106201172" y="38.62742233276367" z="0.0030519866850227118"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.474746704101562" y="-14.892536163330078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.17865753173828" y="-88.11551666259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.12698364257812" y="76.69496154785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.1009750366211" y="6.228102207183838" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.071088790893555" y="-78.95271301269531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.40450286865234" y="-33.20756149291992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28818">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.51331329345703" y="52.082359313964844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.677473068237305" y="33.86503601074219" z="0.0030502318404614925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.6751480102539" y="71.33251190185547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28821">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.587464332580566" y="-150.27670288085938" z="0.0017435073386877775"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28822">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.423394203186035" y="90.21842193603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28823">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.462438583374023" y="-73.98870086669922" 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 add pedestrian at location (-44.78, 86.02, 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_24368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24377">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24379">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.882913589477539" y="-67.22683715820312" z="0.033809203654527664"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.979902267456055" y="-23.641149520874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.389853477478027" y="-251.17794799804688" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5187277793884277" y="-242.6417999267578" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.9484634399414" y="45.00458908081055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.04551696777344" y="-4.986233711242676" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.42209243774414" y="-10.04673957824707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.975536346435547" y="24.247488021850586" z="0.0030390548054128885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.09956359863281" y="-56.709903717041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24377">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.6348991394043" y="30.080223083496094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.111538887023926" y="-75.1456298828125" z="0.033763159066438675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24379">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.003968238830566" y="26.882274627685547" z="0.0030157470609992743"/>
</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_24368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24375">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24376">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24377">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24378">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24379">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24380">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.882913589477539" y="-67.22683715820312" z="0.033809203654527664"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.979902267456055" y="-23.641149520874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.389853477478027" y="-251.17794799804688" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.5187277793884277" y="-242.6417999267578" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.9484634399414" y="45.00458908081055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.04551696777344" y="-4.986233711242676" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-62.42209243774414" y="-10.04673957824707" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24375">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.975536346435547" y="24.247488021850586" z="0.0030390548054128885"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24376">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.09956359863281" y="-56.709903717041016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24377">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-57.6348991394043" y="30.080223083496094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24378">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.111538887023926" y="-75.1456298828125" z="0.033763159066438675"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24379">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.003968238830566" y="26.882274627685547" z="0.0030157470609992743"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24380">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.77754211425781" y="86.02214050292969" 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_11729?
```
<?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_11723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11727">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11728">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11729">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11746">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11747">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11748">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_11723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4335378408432007" y="-153.13755798339844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8358912467956543" y="9.33978271484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.31966400146484" y="57.90814971923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.48171997070312" y="-28.137556076049805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11727">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.41610717773438" y="-7.4073567390441895" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11728">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.682652473449707" y="24.292695999145508" z="0.0030161284375935793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11729">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.366348266601562" y="25.756959915161133" z="0.0030044172890484333"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.944926738739014" y="25.089527130126953" z="0.0030217741150408983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.0311508178711" y="-76.05765533447266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.36234474182129" y="-79.42875671386719" z="0.03378970921039581"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.31704711914062" y="54.73072052001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.257835388183594" y="65.74821472167969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.098226547241211" y="-69.70130157470703" z="0.03380874544382095"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.97554016113281" y="7.148719310760498" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.008429527282715" y="-71.79104614257812" z="0.03383350372314453"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.625429153442383" y="32.98101043701172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.34111976623535" y="-141.82411193847656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.66497802734375" y="-147.1121063232422" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.6621322631836" y="69.5072250366211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.7476725578308105" y="-145.02532958984375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.1914176940918" y="77.73040008544922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11746">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.669371604919434" y="-150.031005859375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11747">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.86534118652344" y="64.87105560302734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11748">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.535264015197754" y="-147.777099609375" 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_hero_11723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11725">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11726">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11727">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11728">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11730">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11731">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11732">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11733">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11740">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11742">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11746">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11747">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11748">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_11723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4335378408432007" y="-153.13755798339844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8358912467956543" y="9.33978271484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11725">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.31966400146484" y="57.90814971923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11726">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.48171997070312" y="-28.137556076049805" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11727">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.41610717773438" y="-7.4073567390441895" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11728">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.682652473449707" y="24.292695999145508" z="0.0030161284375935793"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11730">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.944926738739014" y="25.089527130126953" z="0.0030217741150408983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11731">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="85.0311508178711" y="-76.05765533447266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11732">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.36234474182129" y="-79.42875671386719" z="0.03378970921039581"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11733">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.31704711914062" y="54.73072052001953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.257835388183594" y="65.74821472167969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.098226547241211" y="-69.70130157470703" z="0.03380874544382095"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.97554016113281" y="7.148719310760498" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.008429527282715" y="-71.79104614257812" z="0.03383350372314453"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11740">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.625429153442383" y="32.98101043701172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.34111976623535" y="-141.82411193847656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11742">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.66497802734375" y="-147.1121063232422" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.6621322631836" y="69.5072250366211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.7476725578308105" y="-145.02532958984375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.1914176940918" y="77.73040008544922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11746">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.669371604919434" y="-150.031005859375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11747">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-70.86534118652344" y="64.87105560302734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11748">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.535264015197754" y="-147.777099609375" 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 ask 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_7539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7547">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7548">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7549">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7550">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7551">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7552">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_7539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.037733793258667" y="-157.78366088867188" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.332215309143066" y="-162.75035095214844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.5334792137146" y="-170.5834197998047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.22129440307617" y="-12.113880157470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9093767404556274" y="37.845706939697266" z="0.003038711380213499"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3605600595474243" y="36.42870330810547" z="0.002999877789989114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.610352516174316" y="38.36330032348633" z="0.0029865645337849855"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.135120391845703" y="-67.43003845214844" z="0.03373783081769943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7547">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.783456802368164" y="-76.5972671508789" z="0.03374389559030533"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7548">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.137908935546875" y="-30.15839385986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7549">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.55000686645508" y="33.1768913269043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7550">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.94985961914062" y="96.8422622680664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7551">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3759450912475586" y="18.696304321289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7552">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.336715698242188" y="-91.04485321044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.167697906494141" y="-70.06130981445312" z="0.03373599797487259"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.76935863494873" y="21.516298294067383" z="0.0030493163503706455"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.910536289215088" y="43.710262298583984" 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_7539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7545">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7547">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7548">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7549">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7550">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7551">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7552">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_7539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.037733793258667" y="-157.78366088867188" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.332215309143066" y="-162.75035095214844" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.5334792137146" y="-170.5834197998047" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.22129440307617" y="-12.113880157470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9093767404556274" y="37.845706939697266" z="0.003038711380213499"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3605600595474243" y="36.42870330810547" z="0.002999877789989114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7545">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.610352516174316" y="38.36330032348633" z="0.0029865645337849855"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.135120391845703" y="-67.43003845214844" z="0.03373783081769943"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7547">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.783456802368164" y="-76.5972671508789" z="0.03374389559030533"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7548">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.137908935546875" y="-30.15839385986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7549">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.55000686645508" y="33.1768913269043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7550">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.94985961914062" y="96.8422622680664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7551">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3759450912475586" y="18.696304321289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7552">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="28.336715698242188" y="-91.04485321044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.167697906494141" y="-70.06130981445312" z="0.03373599797487259"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.76935863494873" y="21.516298294067383" z="0.0030493163503706455"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.910536289215088" y="43.710262298583984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.336034774780273" y="-73.37815856933594" z="0.03376811742782593"/>
</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_standing_5932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5942">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_5932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.678642749786377" y="28.61114501953125" z="0.0030179214663803577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.424171447753906" y="69.81951904296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.081122875213623" y="21.65631103515625" z="0.0030290221329778433"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.004166603088379" y="96.20834350585938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.15604400634766" y="-93.4236068725586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.30773162841797" y="25.91849708557129" z="0.003016319125890732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.852937698364258" y="27.8311710357666" z="0.0030177305452525616"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.90618133544922" y="-177.2932891845703" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.876729965209961" y="-62.59486389160156" z="0.033759575337171555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.71795654296875" y="79.5018310546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5942">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.8167610168457" y="-66.17764282226562" 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_5932">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5933">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5934">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5935">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5936">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5937">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5938">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5939">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5940">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5941">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5942">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5943">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_5932">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.678642749786377" y="28.61114501953125" z="0.0030179214663803577"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5933">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.424171447753906" y="69.81951904296875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5934">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.081122875213623" y="21.65631103515625" z="0.0030290221329778433"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5935">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.004166603088379" y="96.20834350585938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5936">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.15604400634766" y="-93.4236068725586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5937">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.30773162841797" y="25.91849708557129" z="0.003016319125890732"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5938">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.852937698364258" y="27.8311710357666" z="0.0030177305452525616"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5939">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.90618133544922" y="-177.2932891845703" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5940">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.876729965209961" y="-62.59486389160156" z="0.033759575337171555"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5941">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.71795654296875" y="79.5018310546875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5942">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.8167610168457" y="-66.17764282226562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5943">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.434568405151367" y="-156.30325317382812" 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_w_transform_8599?
```
<?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_8586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8589">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8599">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8602">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8604">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8609">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_8586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.874056816101074" y="-146.8197479248047" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.4954948425293" y="40.61281204223633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8589">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.21894645690918" y="-144.09716796875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.4126091003418" y="-60.454227447509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.931586742401123" y="-80.90579986572266" z="0.03382198140025139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.120681762695312" y="85.37147521972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.18787384033203" y="-11.592021942138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.18350982666016" y="-52.22101593017578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8599">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.06791687011719" y="-9.55747127532959" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.01445007324219" y="66.03558349609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.621904373168945" y="-60.847293853759766" z="0.03388076648116112"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8602">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.029752731323242" y="-41.61671447753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8604">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.61127471923828" y="93.86360931396484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.680002212524414" y="-67.20758056640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8609">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.48491287231445" y="-87.57365417480469" 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_8586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8588">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8589">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8592">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8593">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8595">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8596">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8598">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8600">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8601">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8602">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8604">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8607">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8609">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_8586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.874056816101074" y="-146.8197479248047" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8588">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.4954948425293" y="40.61281204223633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8589">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.21894645690918" y="-144.09716796875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8592">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.4126091003418" y="-60.454227447509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8593">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.931586742401123" y="-80.90579986572266" z="0.03382198140025139"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8595">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.120681762695312" y="85.37147521972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8596">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.18787384033203" y="-11.592021942138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8598">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.18350982666016" y="-52.22101593017578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8600">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.01445007324219" y="66.03558349609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8601">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.621904373168945" y="-60.847293853759766" z="0.03388076648116112"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8602">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.029752731323242" y="-41.61671447753906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8604">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.61127471923828" y="93.86360931396484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8607">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.680002212524414" y="-67.20758056640625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8609">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.48491287231445" y="-87.57365417480469" 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 (-48.13, -60.9, 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_1961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.450546264648438" y="-147.84799194335938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.9304155111312866" y="29.399452209472656" z="0.0030754089821130037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.945140838623047" y="-140.99061584472656" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.227767944335938" y="26.376914978027344" z="0.0030564498156309128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.816028594970703" y="64.38800811767578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.31222534179688" y="22.416664123535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.83047485351562" y="-31.56168556213379" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.15920639038086" y="49.18574905395508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.422393798828125" y="-32.41447448730469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.638118743896484" y="22.85685920715332" z="0.0030775070190429688"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.885333061218262" y="24.033876419067383" z="0.0030520628206431866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.68557739257812" y="-24.579463958740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.75157928466797" y="-99.61338806152344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.70128059387207" y="28.419660568237305" z="0.0030250167474150658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.340408802032471" y="-67.26296997070312" z="0.0337788388133049"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3434343338012695" y="31.694244384765625" z="0.0030588912777602673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.38358306884766" y="-39.15867233276367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.75326919555664" y="-96.52448272705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.51360321044922" y="30.049041748046875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.92735481262207" y="-153.45748901367188" 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_hero_1961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1979">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1980">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.450546264648438" y="-147.84799194335938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.9304155111312866" y="29.399452209472656" z="0.0030754089821130037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.945140838623047" y="-140.99061584472656" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.227767944335938" y="26.376914978027344" z="0.0030564498156309128"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.816028594970703" y="64.38800811767578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.31222534179688" y="22.416664123535156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.83047485351562" y="-31.56168556213379" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.15920639038086" y="49.18574905395508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.422393798828125" y="-32.41447448730469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.638118743896484" y="22.85685920715332" z="0.0030775070190429688"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.885333061218262" y="24.033876419067383" z="0.0030520628206431866"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.68557739257812" y="-24.579463958740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.75157928466797" y="-99.61338806152344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.70128059387207" y="28.419660568237305" z="0.0030250167474150658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.340408802032471" y="-67.26296997070312" z="0.0337788388133049"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.3434343338012695" y="31.694244384765625" z="0.0030588912777602673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.38358306884766" y="-39.15867233276367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.75326919555664" y="-96.52448272705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1979">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.51360321044922" y="30.049041748046875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1980">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.92735481262207" y="-153.45748901367188" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.12648391723633" y="-60.898521423339844" 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 (-66.3, -5.47, 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_13270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.29169750213623" y="-62.28767776489258" z="0.03378906100988388"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.742843151092529" y="-77.93576049804688" z="0.033778075128793716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.726036310195923" y="29.5074520111084" z="0.0030393218621611595"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.59201431274414" y="15.691326141357422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.881094932556152" y="64.98029327392578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.882848739624023" y="2.027066230773926" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.04607391357422" y="44.75700759887695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.56858825683594" y="-9.09611988067627" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.884597778320312" y="-70.01631927490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.73089027404785" y="-64.04698944091797" z="0.03377803787589073"/>
</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_13270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_13272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_13279">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.29169750213623" y="-62.28767776489258" z="0.03378906100988388"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.742843151092529" y="-77.93576049804688" z="0.033778075128793716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_13272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.726036310195923" y="29.5074520111084" z="0.0030393218621611595"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="53.59201431274414" y="15.691326141357422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.881094932556152" y="64.98029327392578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.882848739624023" y="2.027066230773926" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.04607391357422" y="44.75700759887695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.56858825683594" y="-9.09611988067627" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.884597778320312" y="-70.01631927490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_13279">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.73089027404785" y="-64.04698944091797" z="0.03377803787589073"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-66.2991714477539" y="-5.469944953918457" 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_hero_3847">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3848">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3849">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3851">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3847">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.419851303100586" y="-151.92047119140625" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3848">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.97989845275879" y="36.97332763671875" z="0.003055000212043524"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3849">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.02511978149414" y="33.54069900512695" z="0.003054504282772541"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3851">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.06348419189453" y="55.98002624511719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.343608856201172" y="-87.81475830078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.19486999511719" y="34.166770935058594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.954520225524902" y="20.340946197509766" z="0.0030355071648955345"/>
</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_3847">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3848">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3849">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3851">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3853">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3847">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.419851303100586" y="-151.92047119140625" z="0.0014525604201480746"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3848">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.97989845275879" y="36.97332763671875" z="0.003055000212043524"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3849">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.02511978149414" y="33.54069900512695" z="0.003054504282772541"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3851">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.06348419189453" y="55.98002624511719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3853">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.343608856201172" y="-87.81475830078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.19486999511719" y="34.166770935058594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.954520225524902" y="20.340946197509766" z="0.0030355071648955345"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.388260841369629" y="20.820886611938477" z="0.0030463789589703083"/>
</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_19248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19253">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19254">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19255">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19256">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19257">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19258">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19259">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19260">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.944013595581055" y="28.382789611816406" z="0.003019866766408086"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.65081787109375" y="-66.41444396972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.496113777160645" y="32.60235595703125" z="0.003021087497472763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.90274810791016" y="52.41102600097656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19253">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.135283470153809" y="28.80051040649414" z="0.0030084990430623293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19254">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.022639274597168" y="-161.6392822265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19255">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4144330024719238" y="14.350122451782227" z="0.0030162048060446978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19256">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.2284049987793" y="-20.119924545288086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19257">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.215908050537109" y="23.32985496520996" z="0.00301750167272985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19258">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.10096549987793" y="35.13587951660156" z="0.00301750167272985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19259">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.99397277832031" y="85.49774169921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19260">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.26121520996094" y="-22.187862396240234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.90149688720703" y="-38.5911865234375" 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_19248">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19249">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19250">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19251">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19253">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_19254">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19255">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19256">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19257">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19258">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19259">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19260">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_19261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_19262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_19248">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.944013595581055" y="28.382789611816406" z="0.003019866766408086"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19249">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.65081787109375" y="-66.41444396972656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19250">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.496113777160645" y="32.60235595703125" z="0.003021087497472763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19251">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-96.90274810791016" y="52.41102600097656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19253">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.135283470153809" y="28.80051040649414" z="0.0030084990430623293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_19254">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.022639274597168" y="-161.6392822265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19255">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4144330024719238" y="14.350122451782227" z="0.0030162048060446978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19256">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="43.2284049987793" y="-20.119924545288086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19257">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.215908050537109" y="23.32985496520996" z="0.00301750167272985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19258">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.10096549987793" y="35.13587951660156" z="0.00301750167272985"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19259">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-97.99397277832031" y="85.49774169921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19260">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-36.26121520996094" y="-22.187862396240234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_19261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.90149688720703" y="-38.5911865234375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_19262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.257824897766113" y="26.62323570251465" z="0.00301750167272985"/>
</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_standing_28679">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28681">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28682">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28684">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28685">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28679">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.533631324768066" y="33.774723052978516" z="0.003039245493710041"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8363534212112427" y="24.85104751586914" z="0.0030540465377271175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28681">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.76952362060547" y="36.97555160522461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28682">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.760553359985352" y="36.33590316772461" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28684">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.313034057617188" y="6.381613731384277" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28685">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.775440216064453" y="69.20220184326172" 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_28680">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28681">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28682">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28684">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28685">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28680">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.8363534212112427" y="24.85104751586914" z="0.0030540465377271175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28681">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.76952362060547" y="36.97555160522461" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28682">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.760553359985352" y="36.33590316772461" z="0.003018684219568968"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28684">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.313034057617188" y="6.381613731384277" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28685">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.775440216064453" y="69.20220184326172" 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_standing_21336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21339">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21340">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21341">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21342">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_21336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.1961841583251953" y="25.755571365356445" z="0.0031288908794522285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.094203472137451" y="-15.789408683776855" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.327292442321777" y="23.480466842651367" z="0.003134345868602395"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21339">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.265397071838379" y="-143.3179931640625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21340">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.207956314086914" y="-69.57504272460938" z="0.03386116027832031"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21341">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.005884170532227" y="-37.593162536621094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21342">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.978033065795898" y="-147.71615600585938" 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>
``` | 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_21336">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21337">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21338">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21339">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21340">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21341">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21342">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21343">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_21336">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.1961841583251953" y="25.755571365356445" z="0.0031288908794522285"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21337">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.094203472137451" y="-15.789408683776855" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21338">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.327292442321777" y="23.480466842651367" z="0.003134345868602395"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21339">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.265397071838379" y="-143.3179931640625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21340">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.207956314086914" y="-69.57504272460938" z="0.03386116027832031"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21341">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="15.005884170532227" y="-37.593162536621094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21342">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.978033065795898" y="-147.71615600585938" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21343">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-25.699222564697266" y="-144.64988708496094" 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>
``` |
i would like to tell 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_23038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23041">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_23038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.574337005615234" y="-155.9865264892578" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.62586212158203" y="-51.63192367553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.61704635620117" y="-70.93779754638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23041">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.22130298614502" y="-71.4430160522461" z="0.03376339003443718"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.955517053604126" y="28.32933235168457" z="0.0030065153259783983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.788833618164062" y="-158.68109130859375" 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_hero_23038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23039">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_23040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23041">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_23042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_23043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_23044">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_23038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.574337005615234" y="-155.9865264892578" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23039">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="75.62586212158203" y="-51.63192367553711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_23040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="48.61704635620117" y="-70.93779754638672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23041">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.22130298614502" y="-71.4430160522461" z="0.03376339003443718"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_23042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.955517053604126" y="28.32933235168457" z="0.0030065153259783983"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_23043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.788833618164062" y="-158.68109130859375" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_23044">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.453932285308838" y="-65.37319946289062" z="0.03382613882422447"/>
</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 actor named pedestrian_w_transform_13043?
```
<?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_13032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.969608306884766" y="-62.82018280029297" z="0.03377605229616165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.565928936004639" y="-15.684003829956055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.11831665039062" y="-52.625064849853516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.774166107177734" y="-143.78041076660156" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.16259002685547" y="72.94563293457031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.24783325195312" y="79.88729858398438" 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_13032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_13042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_13032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.969608306884766" y="-62.82018280029297" z="0.03377605229616165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.565928936004639" y="-15.684003829956055" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.11831665039062" y="-52.625064849853516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_13042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.774166107177734" y="-143.78041076660156" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.24783325195312" y="79.88729858398438" 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 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_14446">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14447">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14448">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14449">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14450">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14451">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14452">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14453">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14454">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14455">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14456">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14457">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14458">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_14446">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.530900716781616" y="34.09538650512695" z="0.0030538940336555243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14447">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.725482940673828" y="-64.69398498535156" z="0.03379505127668381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14448">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.811077117919922" y="-78.33343505859375" z="0.03377338498830795"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14449">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.616390228271484" y="-81.82144165039062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14450">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.100518226623535" y="-69.11132049560547" z="0.03376499190926552"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14451">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.692514419555664" y="28.71392250061035" z="0.0030741882510483265"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14452">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.251752853393555" y="26.36856460571289" z="0.0030572128016501665"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14453">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.10004806518555" y="11.021930694580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14454">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.75756072998047" y="64.43544006347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14455">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.20743942260742" y="59.572113037109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14456">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.26485824584961" y="-27.474353790283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14457">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.41834259033203" y="-86.83289337158203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14458">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.574287414550781" y="27.813453674316406" z="0.0030842588748782873"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.394784927368164" y="-67.40491485595703" z="0.03380897268652916"/>
</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_14446">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14447">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14448">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14449">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14450">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14451">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14452">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14453">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14454">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14455">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14456">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14457">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14458">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_14459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14460">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_14446">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.530900716781616" y="34.09538650512695" z="0.0030538940336555243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14447">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.725482940673828" y="-64.69398498535156" z="0.03379505127668381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14448">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.811077117919922" y="-78.33343505859375" z="0.03377338498830795"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14449">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.616390228271484" y="-81.82144165039062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14450">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.100518226623535" y="-69.11132049560547" z="0.03376499190926552"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14451">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.692514419555664" y="28.71392250061035" z="0.0030741882510483265"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14452">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.251752853393555" y="26.36856460571289" z="0.0030572128016501665"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14453">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.10004806518555" y="11.021930694580078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14454">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.75756072998047" y="64.43544006347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14455">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.20743942260742" y="59.572113037109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14456">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.26485824584961" y="-27.474353790283203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14457">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.41834259033203" y="-86.83289337158203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14458">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.574287414550781" y="27.813453674316406" z="0.0030842588748782873"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.394784927368164" y="-67.40491485595703" z="0.03380897268652916"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14460">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.855244636535645" y="24.80611801147461" z="0.0030678557232022285"/>
</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 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_467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_469">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_471">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_475">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5160651206970215" y="30.407440185546875" z="0.0030181503389030695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.371626853942871" y="-160.89085388183594" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_469">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.48206329345703" y="-8.486285209655762" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_471">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.919891357421875" y="-39.372230529785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.966798782348633" y="-70.48635864257812" z="0.03375522419810295"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.413320541381836" y="-159.94387817382812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.697370529174805" y="23.165889739990234" z="0.0030174637213349342"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_475">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.75530242919922" y="91.85450744628906" 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_467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_469">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_471">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_475">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5160651206970215" y="30.407440185546875" z="0.0030181503389030695"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.371626853942871" y="-160.89085388183594" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_469">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.48206329345703" y="-8.486285209655762" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_471">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.919891357421875" y="-39.372230529785156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.966798782348633" y="-70.48635864257812" z="0.03375522419810295"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.413320541381836" y="-159.94387817382812" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.697370529174805" y="23.165889739990234" z="0.0030174637213349342"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_475">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.75530242919922" y="91.85450744628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.490981101989746" y="-67.90487670898438" z="0.033763885498046875"/>
</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 (49.98, -62.02, 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_1">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.37833023071289" y="-61.57786178588867" z="0.03381797671318054"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.47847747802734" y="87.39242553710938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.851337432861328" y="-143.52130126953125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.13367462158203" y="-86.5710220336914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.641035079956055" y="-158.62515258789062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.38552501797676086" y="-146.40237426757812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.007268190383911" y="34.15132141113281" z="0.003037528833374381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.3675308227539" y="49.44070053100586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.301370620727539" y="23.353713989257812" z="0.0030390929896384478"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.622966766357422" y="26.923463821411133" z="0.003035583533346653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.066006660461426" y="-155.98782348632812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.72549438476562" y="-76.32261657714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.5702133178711" y="50.006195068359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.443778038024902" y="-153.75904846191406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.496198654174805" y="-71.48897552490234" z="0.03378959745168686"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.169246673583984" y="75.08798217773438" 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_1">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_9">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_10">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_12">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_13">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_18">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.37833023071289" y="-61.57786178588867" z="0.03381797671318054"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.47847747802734" y="87.39242553710938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.851337432861328" y="-143.52130126953125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="72.13367462158203" y="-86.5710220336914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.641035079956055" y="-158.62515258789062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.38552501797676086" y="-146.40237426757812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.007268190383911" y="34.15132141113281" z="0.003037528833374381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.3675308227539" y="49.44070053100586" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_9">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="12.301370620727539" y="23.353713989257812" z="0.0030390929896384478"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.622966766357422" y="26.923463821411133" z="0.003035583533346653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_12">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.066006660461426" y="-155.98782348632812" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_13">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.72549438476562" y="-76.32261657714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.5702133178711" y="50.006195068359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.443778038024902" y="-153.75904846191406" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.496198654174805" y="-71.48897552490234" z="0.03378959745168686"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.169246673583984" y="75.08798217773438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_18">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.98488235473633" y="-62.01703643798828" 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_adversary_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_w_transform_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_w_transform_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_close_to_adversary_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_hero_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>
</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_20076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.778395175933838" y="-80.28353118896484" z="0.03383930027484894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.13634490966797" y="19.66514015197754" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.844728469848633" y="-76.55928039550781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.901461601257324" y="-158.21250915527344" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.240786075592041" y="-64.67733001708984" z="0.03382942080497742"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.35621452331543" y="-148.3239288330078" 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_adversary_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_w_transform_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_w_transform_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_close_to_adversary_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_hero_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_standing_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>
</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_20076">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.778395175933838" y="-80.28353118896484" z="0.03383930027484894"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20077">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.13634490966797" y="19.66514015197754" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_20078">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.844728469848633" y="-76.55928039550781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20079">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.901461601257324" y="-158.21250915527344" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_20080">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.240786075592041" y="-64.67733001708984" z="0.03382942080497742"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_20081">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.35621452331543" y="-148.3239288330078" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_20082">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.611645698547363" y="25.728538513183594" z="0.00307853682897985"/>
</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 (-87.55, 2.11, 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_1572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1576">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1578">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1583">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.778902053833008" y="-145.49403381347656" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.224663734436035" y="39.465675354003906" z="0.003092613071203232"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.2340807914733887" y="23.80660629272461" z="0.0030583953484892845"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.0066182613372803" y="-61.25426483154297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.476202964782715" y="87.26448059082031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1578">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.866060256958008" y="-147.51486206054688" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.06871509552002" y="35.953895568847656" z="0.003105506766587496"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.38954162597656" y="-23.453447341918945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.934276103973389" y="3.9344429969787598" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.487176895141602" y="29.11812973022461" z="0.003111190628260374"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1583">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.83456420898438" y="-91.2203369140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.3389310836792" y="-66.90164184570312" z="0.033862341195344925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.643226623535156" y="35.87834548950195" z="0.003119583008810878"/>
</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_1572">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1573">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1574">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1576">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1577">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1578">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1579">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1580">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1581">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1582">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1583">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_1585">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1586">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1587">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1572">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.778902053833008" y="-145.49403381347656" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1573">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.224663734436035" y="39.465675354003906" z="0.003092613071203232"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1574">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.2340807914733887" y="23.80660629272461" z="0.0030583953484892845"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1576">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.0066182613372803" y="-61.25426483154297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1577">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.476202964782715" y="87.26448059082031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1578">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.866060256958008" y="-147.51486206054688" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1579">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.06871509552002" y="35.953895568847656" z="0.003105506766587496"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1580">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.38954162597656" y="-23.453447341918945" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1581">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.934276103973389" y="3.9344429969787598" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1582">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.487176895141602" y="29.11812973022461" z="0.003111190628260374"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1583">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.83456420898438" y="-91.2203369140625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_1585">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.3389310836792" y="-66.90164184570312" z="0.033862341195344925"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1586">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.643226623535156" y="35.87834548950195" z="0.003119583008810878"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1587">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.55293273925781" y="2.1050283908843994" 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 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_17092">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17093">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17094">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17095">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17092">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.82541561126709" y="19.301267623901367" z="0.0030735016334801912"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17093">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7675325870513916" y="-159.0938720703125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17094">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7963740825653076" y="-153.35006713867188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17095">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.19588565826416" y="-153.2991943359375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1810173988342285" y="-158.6593017578125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.18217945098877" y="-66.67857360839844" z="0.033814430236816406"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8954097032546997" y="-78.4229736328125" z="0.033835411071777344"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.654737710952759" y="-75.1175765991211" z="0.033766478300094604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.426560401916504" y="-151.28067016601562" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.8162260055542" y="22.303638458251953" z="0.003020057687535882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.0245590209961" y="89.69210815429688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.666563987731934" y="24.270475387573242" z="0.0030181121546775103"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.422483444213867" y="26.845640182495117" z="0.003030052175745368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.113456726074219" y="31.039371490478516" z="0.0030308151617646217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.80405807495117" y="24.97410774230957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.607719421386719" y="36.17631912231445" z="0.0030525587499141693"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.5111188888549805" y="-20.063722610473633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.41431999206543" y="16.87885284423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.283087730407715" y="-161.66015625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.516788005828857" y="-83.02101135253906" z="0.03381984680891037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.74275016784668" y="26.14267921447754" z="0.0030579757876694202"/>
</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_17092">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17093">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17094">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17095">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17096">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17097">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17098">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17099">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17100">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17101">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17104">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17106">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17107">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17108">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17109">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17110">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17092">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.82541561126709" y="19.301267623901367" z="0.0030735016334801912"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17093">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7675325870513916" y="-159.0938720703125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17094">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.7963740825653076" y="-153.35006713867188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17095">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.19588565826416" y="-153.2991943359375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17096">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.1810173988342285" y="-158.6593017578125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17097">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.18217945098877" y="-66.67857360839844" z="0.033814430236816406"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17098">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8954097032546997" y="-78.4229736328125" z="0.033835411071777344"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17099">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.654737710952759" y="-75.1175765991211" z="0.033766478300094604"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17100">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.426560401916504" y="-151.28067016601562" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17101">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.8162260055542" y="22.303638458251953" z="0.003020057687535882"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.0245590209961" y="89.69210815429688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17104">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.666563987731934" y="24.270475387573242" z="0.0030181121546775103"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17106">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.422483444213867" y="26.845640182495117" z="0.003030052175745368"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17107">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.113456726074219" y="31.039371490478516" z="0.0030308151617646217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17108">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.80405807495117" y="24.97410774230957" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17109">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.607719421386719" y="36.17631912231445" z="0.0030525587499141693"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17110">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.5111188888549805" y="-20.063722610473633" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.41431999206543" y="16.87885284423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.283087730407715" y="-161.66015625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.516788005828857" y="-83.02101135253906" z="0.03381984680891037"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.74275016784668" y="26.14267921447754" z="0.0030579757876694202"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.813565254211426" y="-65.87767791748047" z="0.03378841280937195"/>
</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 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_16058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.120464324951172" y="-67.65056610107422" z="0.0337502658367157"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.644901275634766" y="-239.94363403320312" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.189323663711548" y="-244.14010620117188" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.97646713256836" y="-255.42762756347656" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4409955739974976" y="-71.2713851928711" z="0.03380405530333519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.56692886352539" y="-27.227642059326172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.71012878417969" y="25.865951538085938" 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_16058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_16061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16064">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_16065">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_16066">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.120464324951172" y="-67.65056610107422" z="0.0337502658367157"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.644901275634766" y="-239.94363403320312" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.189323663711548" y="-244.14010620117188" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_16061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.97646713256836" y="-255.42762756347656" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4409955739974976" y="-71.2713851928711" z="0.03380405530333519"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16064">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.56692886352539" y="-27.227642059326172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_16065">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="79.71012878417969" y="25.865951538085938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_16066">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5755767822265625" y="-76.64934539794922" z="0.03375541791319847"/>
</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 at location (14.56, -30.33, 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_standing_26430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_26430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.804648399353027" y="35.286895751953125" z="0.0030364990234375"/>
</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_26430">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_26431">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_26430">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.804648399353027" y="35.286895751953125" z="0.0030364990234375"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_26431">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.562530517578125" y="-30.326082229614258" 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 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_970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.884149074554443" y="-62.47675704956055" z="0.03376132994890213"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.23798370361328" y="4.987673759460449" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.135683059692383" y="-81.71845245361328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.18587303161621" y="-143.5436248779297" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.193021774291992" y="-64.5449447631836" z="0.0338163748383522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.42259216308594" y="9.441930770874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.35434582829475403" y="-145.7916259765625" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.837587356567383" y="-76.16780853271484" z="0.033816564828157425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.264079093933105" y="21.7764835357666" z="0.0030996704008430243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.73241424560547" y="-73.79444122314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.393883466720581" y="28.576711654663086" z="0.0030884169973433018"/>
</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_970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_978">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_981">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_982">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_983">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.884149074554443" y="-62.47675704956055" z="0.03376132994890213"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="49.23798370361328" y="4.987673759460449" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="26.135683059692383" y="-81.71845245361328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.18587303161621" y="-143.5436248779297" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.193021774291992" y="-64.5449447631836" z="0.0338163748383522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.42259216308594" y="9.441930770874023" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.35434582829475403" y="-145.7916259765625" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.837587356567383" y="-76.16780853271484" z="0.033816564828157425"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_978">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.264079093933105" y="21.7764835357666" z="0.0030996704008430243"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_981">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="67.73241424560547" y="-73.79444122314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_982">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.393883466720581" y="28.576711654663086" z="0.0030884169973433018"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_983">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.88277530670166" y="-150.40048217773438" 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>
``` |
i would like to order 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_28031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.336407661437988" y="-150.34034729003906" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.94208526611328" y="19.46209716796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.80558967590332" y="-160.8563995361328" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.383410692214966" y="0.4530000388622284" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.581838607788086" y="-24.376300811767578" 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_28031">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28034">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28035">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28036">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28031">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.336407661437988" y="-150.34034729003906" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="68.94208526611328" y="19.46209716796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.80558967590332" y="-160.8563995361328" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28034">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.383410692214966" y="0.4530000388622284" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28035">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.581838607788086" y="-24.376300811767578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28036">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.944581985473633" y="-64.14800262451172" z="0.033826712518930435"/>
</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_hero_14785?
```
<?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_14772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14775">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14776">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14778">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14779">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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_close_to_adversary_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_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_w_transform_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_hero_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>
</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_14772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.35061347484588623" y="37.44258117675781" z="0.0030195999424904585"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14775">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.70011901855469" y="-76.22045135498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14776">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.349435806274414" y="-162.46343994140625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14778">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.964462280273438" y="24.33627700805664" z="0.0030177305452525616"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14779">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.1364974975586" y="-61.30483627319336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14781">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.67110538482666" y="-146.0767822265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14782">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1003775596618652" y="-62.378047943115234" z="0.033757973462343216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14785">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.567849159240723" y="-146.77255249023438" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14786">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.65007019042969" y="6.161401271820068" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14787">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.105833530426025" y="-161.53208923339844" 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_standing_14772">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14775">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14776">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14778">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14779">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_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_close_to_adversary_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_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_hero_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>
</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_14772">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.35061347484588623" y="37.44258117675781" z="0.0030195999424904585"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14775">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.70011901855469" y="-76.22045135498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14776">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.349435806274414" y="-162.46343994140625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14778">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.964462280273438" y="24.33627700805664" z="0.0030177305452525616"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14779">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-71.1364974975586" y="-61.30483627319336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14781">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.67110538482666" y="-146.0767822265625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_14782">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1003775596618652" y="-62.378047943115234" z="0.033757973462343216"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14786">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.65007019042969" y="6.161401271820068" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14787">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.105833530426025" y="-161.53208923339844" 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 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_3535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3549">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3550">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3552">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.244263172149658" y="-75.42959594726562" z="0.033864136785268784"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.46484375" y="62.330928802490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.18766784667969" y="64.75299072265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.185792922973633" y="-148.33514404296875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.124019622802734" y="70.46029663085938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.144287109375" y="-155.62713623046875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.605125427246094" y="-40.99284744262695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.71236038208008" y="82.22599792480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.816997528076172" y="-144.49371337890625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3549">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.50365447998047" y="33.42170715332031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3550">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.72846221923828" y="-152.35108947753906" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3552">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.951940536499023" y="-162.3895263671875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.566478729248047" y="-77.43270874023438" z="0.03384841978549957"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.25212574005127" y="-159.3070526123047" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.50918197631836" y="-58.70841598510742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.473982810974121" y="20.163543701171875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.822102069854736" y="-63.28154754638672" z="0.03384101763367653"/>
</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_3535">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3538">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3539">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3540">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3541">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3542">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3543">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3544">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3546">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3549">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3550">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3552">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3535">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.244263172149658" y="-75.42959594726562" z="0.033864136785268784"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3538">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.46484375" y="62.330928802490234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3539">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.18766784667969" y="64.75299072265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3540">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.185792922973633" y="-148.33514404296875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3541">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.124019622802734" y="70.46029663085938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3542">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.144287109375" y="-155.62713623046875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3543">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.605125427246094" y="-40.99284744262695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3544">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.71236038208008" y="82.22599792480469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3546">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.816997528076172" y="-144.49371337890625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3549">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="66.50365447998047" y="33.42170715332031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3550">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.72846221923828" y="-152.35108947753906" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3552">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.951940536499023" y="-162.3895263671875" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.25212574005127" y="-159.3070526123047" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="42.50918197631836" y="-58.70841598510742" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.473982810974121" y="20.163543701171875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="7.822102069854736" y="-63.28154754638672" z="0.03384101763367653"/>
</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 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_24948">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24949">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24950">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24952">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24953">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24954">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24955">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24956">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24957">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24958">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24959">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24948">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.079136848449707" y="-148.66261291503906" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24949">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.715936660766602" y="31.3400821685791" z="0.003051185514777899"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24950">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.109182357788086" y="10.669756889343262" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9488892555236816" y="-142.25979614257812" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24952">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.38127517700195" y="73.5289077758789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24953">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5305118560791016" y="-52.271324157714844" z="0.03373756259679794"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24954">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.366943359375" y="-98.3653335571289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24955">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.37486457824707" y="-96.1613540649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24956">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.27525329589844" y="-48.53483581542969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24957">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.89048385620117" y="-62.99371337890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24958">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.448894500732422" y="-145.8681640625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24959">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.723501205444336" y="93.01573944091797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.388945579528809" y="-143.05332946777344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.136716842651367" y="-156.85482788085938" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.406368732452393" y="21.383970260620117" z="0.003011512802913785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.315478801727295" y="-146.40280151367188" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.888836145401001" y="-73.04769134521484" z="0.033798445016145706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.448715209960938" y="-68.69783782958984" z="0.033741071820259094"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.16407012939453" y="-70.66728973388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.925958633422852" y="82.75725555419922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8655767440795898" y="-61.86708450317383" z="0.03374042361974716"/>
</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_24948">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24949">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24950">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24951">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24952">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24953">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24954">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24955">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24956">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24957">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24958">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24959">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24960">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24961">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_24962">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24963">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24964">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24965">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24966">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24948">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.079136848449707" y="-148.66261291503906" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24949">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.715936660766602" y="31.3400821685791" z="0.003051185514777899"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24950">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="31.109182357788086" y="10.669756889343262" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24951">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9488892555236816" y="-142.25979614257812" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24952">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.38127517700195" y="73.5289077758789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24953">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5305118560791016" y="-52.271324157714844" z="0.03373756259679794"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24954">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.366943359375" y="-98.3653335571289" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24955">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.37486457824707" y="-96.1613540649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24956">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-64.27525329589844" y="-48.53483581542969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24957">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.89048385620117" y="-62.99371337890625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24958">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.448894500732422" y="-145.8681640625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24959">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.723501205444336" y="93.01573944091797" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24960">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.388945579528809" y="-143.05332946777344" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24961">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.136716842651367" y="-156.85482788085938" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_24962">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.406368732452393" y="21.383970260620117" z="0.003011512802913785"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24963">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.315478801727295" y="-146.40280151367188" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24964">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.888836145401001" y="-73.04769134521484" z="0.033798445016145706"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24965">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.448715209960938" y="-68.69783782958984" z="0.033741071820259094"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24966">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.16407012939453" y="-70.66728973388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.925958633422852" y="82.75725555419922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.8655767440795898" y="-61.86708450317383" z="0.03374042361974716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.486179828643799" y="-153.12696838378906" 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 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_24967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.111379623413086" y="-69.67215728759766" z="0.033812444657087326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.4412617683410645" y="-69.43841552734375" z="0.033803749829530716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.43671417236328" y="-25.315349578857422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.38822937011719" y="65.77750396728516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.900146484375" y="-247.9787139892578" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.446101188659668" y="-77.86474609375" z="0.03380691632628441"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.668792724609375" y="63.97513198852539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.51439094543457" y="-244.67770385742188" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.833412170410156" y="-83.62723541259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.270662307739258" y="-243.73548889160156" 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_adversary_24967">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24968">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24969">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24970">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24971">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_24972">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24973">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24974">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_24975">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24976">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_24977">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_24967">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.111379623413086" y="-69.67215728759766" z="0.033812444657087326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24968">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.4412617683410645" y="-69.43841552734375" z="0.033803749829530716"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24969">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.43671417236328" y="-25.315349578857422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24970">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="88.38822937011719" y="65.77750396728516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24971">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.900146484375" y="-247.9787139892578" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_24972">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.446101188659668" y="-77.86474609375" z="0.03380691632628441"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24973">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="33.668792724609375" y="63.97513198852539" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24974">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.51439094543457" y="-244.67770385742188" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_24975">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-33.833412170410156" y="-83.62723541259766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24976">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.270662307739258" y="-243.73548889160156" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_24977">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.508810043334961" y="-243.81668090820312" 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 guide 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_10190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_w_transform_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_w_transform_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_hero_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_w_transform_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_close_to_standing_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_w_transform_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_w_transform_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_adversary_10208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10210">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_10213">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_10190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.318211078643799" y="21.654951095581055" z="0.0030435179360210896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.83746337890625" y="-65.4964370727539" z="0.033735428005456924"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.62550926208496" y="-63.73239517211914" z="0.0337643027305603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.95115661621094" y="88.60514068603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.697423934936523" y="21.691524505615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.9205093383789" y="-5.734957695007324" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.72083282470703" y="36.744056701660156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.07508087158203" y="48.272640228271484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.88945007324219" y="-33.18083572387695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10201">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.239338874816895" y="-143.03968811035156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.424657821655273" y="-79.71483612060547" z="0.03380798175930977"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.21143341064453" y="-45.83948516845703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.458502769470215" y="26.452272415161133" z="0.003047409001737833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.83001708984375" y="-83.59154510498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.2718276977539" y="-93.99217987060547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.86731719970703" y="27.180984497070312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.084163665771484" y="-70.6595687866211" z="0.033810652792453766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.016160011291504" y="-156.4965057373047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10210">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.939536094665527" y="-154.29000854492188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.045913696289062" y="-63.30692672729492" z="0.03377780690789223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10213">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.35114288330078" y="6.581424713134766" 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_10190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_10192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_10196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_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_w_transform_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_w_transform_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_hero_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_w_transform_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_close_to_standing_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_w_transform_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_w_transform_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_adversary_10208">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10209">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_10210">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_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_w_transform_10213">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<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>
</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_10190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.318211078643799" y="21.654951095581055" z="0.0030435179360210896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.83746337890625" y="-65.4964370727539" z="0.033735428005456924"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.62550926208496" y="-63.73239517211914" z="0.0337643027305603"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.95115661621094" y="88.60514068603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="16.697423934936523" y="21.691524505615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.9205093383789" y="-5.734957695007324" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10197">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.72083282470703" y="36.744056701660156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10198">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.07508087158203" y="48.272640228271484" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10199">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.88945007324219" y="-33.18083572387695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10201">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.239338874816895" y="-143.03968811035156" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10202">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.424657821655273" y="-79.71483612060547" z="0.03380798175930977"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10203">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.21143341064453" y="-45.83948516845703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10204">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.458502769470215" y="26.452272415161133" z="0.003047409001737833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10205">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.83001708984375" y="-83.59154510498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10206">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-83.2718276977539" y="-93.99217987060547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10207">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.86731719970703" y="27.180984497070312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10208">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.084163665771484" y="-70.6595687866211" z="0.033810652792453766"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10209">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.016160011291504" y="-156.4965057373047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_10210">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.939536094665527" y="-154.29000854492188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_10212">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.045913696289062" y="-63.30692672729492" z="0.03377780690789223"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_10213">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.35114288330078" y="6.581424713134766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_10214">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.9813620448112488" y="35.70762252807617" z="0.0030472183134406805"/>
</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 (87.55, 55.0, 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_1688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.734728813171387" y="-63.10933303833008" z="0.03389453887939453"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5018080472946167" y="34.9327278137207" z="0.003158912528306246"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.979393720626831" y="-165.45875549316406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.138248920440674" y="-0.8215282559394836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.391571044921875" y="20.537569046020508" z="0.003098563989624381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.52756118774414" y="-144.93580627441406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.893073081970215" y="20.203115463256836" z="0.003117866348475218"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.503692626953125" y="-58.167327880859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9853163957595825" y="-159.73243713378906" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.101472854614258" y="-153.02536010742188" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.36521530151367" y="44.38998794555664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.54840850830078" y="16.80095672607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.124252319335938" y="27.326526641845703" z="0.0031023025512695312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.33740234375" y="67.11255645751953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.29753112792969" y="35.536231994628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.390064716339111" y="-143.97088623046875" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.901302337646484" y="-45.062255859375" 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_1688">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1689">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1690">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_1701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1688">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.734728813171387" y="-63.10933303833008" z="0.03389453887939453"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1689">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5018080472946167" y="34.9327278137207" z="0.003158912528306246"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1690">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.979393720626831" y="-165.45875549316406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.138248920440674" y="-0.8215282559394836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.391571044921875" y="20.537569046020508" z="0.003098563989624381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.52756118774414" y="-144.93580627441406" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.893073081970215" y="20.203115463256836" z="0.003117866348475218"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="47.503692626953125" y="-58.167327880859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9853163957595825" y="-159.73243713378906" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.101472854614258" y="-153.02536010742188" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-56.36521530151367" y="44.38998794555664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.54840850830078" y="16.80095672607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_1701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.124252319335938" y="27.326526641845703" z="0.0031023025512695312"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.33740234375" y="67.11255645751953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.29753112792969" y="35.536231994628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.390064716339111" y="-143.97088623046875" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.901302337646484" y="-45.062255859375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="87.54672241210938" y="55.001434326171875" 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 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_25665">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_25665">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.8514180183410645" y="27.74432945251465" z="0.0030666731763631105"/>
</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_25665">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_25666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_25665">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.8514180183410645" y="27.74432945251465" z="0.0030666731763631105"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_25666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.744593620300293" y="31.901723861694336" z="0.0030813978519290686"/>
</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 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_3649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3657">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3658">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8506967425346375" y="-151.8218231201172" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.309791564941406" y="28.988689422607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9636056423187256" y="-159.13211059570312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.05426788330078" y="20.566434860229492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7091506719589233" y="-151.8080291748047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.267830848693848" y="36.74684524536133" z="0.0030038070399314165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6371562480926514" y="-143.08541870117188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.84500122070312" y="-69.23495483398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3657">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.86933898925781" y="-9.66298770904541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3658">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.988344192504883" y="-156.95013427734375" 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_3649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3650">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3651">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3652">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3653">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3654">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3655">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3656">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3657">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3658">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.8506967425346375" y="-151.8218231201172" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3650">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-27.309791564941406" y="28.988689422607422" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3651">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9636056423187256" y="-159.13211059570312" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3652">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.05426788330078" y="20.566434860229492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3653">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7091506719589233" y="-151.8080291748047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3654">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.267830848693848" y="36.74684524536133" z="0.0030038070399314165"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3655">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6371562480926514" y="-143.08541870117188" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3656">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.84500122070312" y="-69.23495483398438" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3657">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.86933898925781" y="-9.66298770904541" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3658">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.988344192504883" y="-156.95013427734375" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.565793991088867" y="-71.0097427368164" z="0.033841054886579514"/>
</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 (-4.8, 10.13, 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_2712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.446913719177246" y="-147.05450439453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.554073333740234" y="-79.87689208984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.019916534423828" y="-84.00726318359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.082305908203125" y="-19.170013427734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.959869384765625" y="-8.70250415802002" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.845130920410156" y="56.56454849243164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.284063339233398" y="-66.98572540283203" z="0.03383369371294975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.76557922363281" y="-64.40997314453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.769752502441406" y="-145.4254150390625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.872368812561035" y="-67.97198486328125" z="0.03375587239861488"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.05665111541748" y="29.707895278930664" z="0.0029768371023237705"/>
</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_2712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2721">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2722">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2723">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2724">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.446913719177246" y="-147.05450439453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.554073333740234" y="-79.87689208984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.019916534423828" y="-84.00726318359375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.082305908203125" y="-19.170013427734375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.959869384765625" y="-8.70250415802002" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.845130920410156" y="56.56454849243164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.284063339233398" y="-66.98572540283203" z="0.03383369371294975"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.76557922363281" y="-64.40997314453125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2721">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.769752502441406" y="-145.4254150390625" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2722">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.872368812561035" y="-67.97198486328125" z="0.03375587239861488"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2723">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.05665111541748" y="29.707895278930664" z="0.0029768371023237705"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2724">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.802717208862305" y="10.134051322937012" 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 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_27102">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_27102">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.26449203491211" y="-148.03147888183594" 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 need 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_21175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21179">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21180">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21181">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21182">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21184">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21185">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_21175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.276206970214844" y="-65.07769012451172" z="0.033757284283638"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.551214218139648" y="-160.1814727783203" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.40174865722656" y="74.4194107055664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7016102075576782" y="20.375282287597656" z="0.003016891423612833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21179">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.825984954833984" y="76.99018096923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21180">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.823505401611328" y="-143.02529907226562" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21181">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9029494524002075" y="-67.92491912841797" z="0.033757057040929794"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21182">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.9693832397461" y="-13.143211364746094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21184">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.370826721191406" y="-152.19427490234375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21185">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.8544921875" y="34.14228057861328" 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>
``` | 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_21175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21179">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21180">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_21181">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_21182">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_21184">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21185">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_21186">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_21175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.276206970214844" y="-65.07769012451172" z="0.033757284283638"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.551214218139648" y="-160.1814727783203" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.40174865722656" y="74.4194107055664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.7016102075576782" y="20.375282287597656" z="0.003016891423612833"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21179">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.825984954833984" y="76.99018096923828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21180">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.823505401611328" y="-143.02529907226562" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_21181">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.9029494524002075" y="-67.92491912841797" z="0.033757057040929794"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_21182">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="77.9693832397461" y="-13.143211364746094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_21184">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.370826721191406" y="-152.19427490234375" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21185">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.8544921875" y="34.14228057861328" z="0.0030179594177752733"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_21186">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1921441555023193" y="23.562589645385742" 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>
``` |
i would like to command you to add pedestrian at location (-93.16, 93.13, 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_15267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_15267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.820791721343994" y="-155.0308380126953" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8572018146514893" y="22.751455307006836" z="0.003027114784345031"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.155341863632202" y="-160.62890625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.95850372314453" y="32.773773193359375" z="0.0030246733222156763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.78866958618164" y="-70.36223602294922" z="0.03375747427344322"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.454118728637695" y="5.230635166168213" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.313936710357666" y="-65.03924560546875" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.627201080322266" y="-66.85955047607422" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.167513847351074" y="-69.93389129638672" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.833980560302734" y="-64.61494445800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.789632797241211" y="23.75885581970215" z="0.0030173491686582565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.39119720458984" y="-84.25849151611328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.125164031982422" y="-158.8423309326172" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.498305320739746" y="22.226215362548828" z="0.0030202101916074753"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.29080200195312" y="-83.79358673095703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.4876708984375" y="-70.28447723388672" z="0.03375694155693054"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.505746841430664" y="-0.3391290009021759" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6628637313842773" y="-154.5750274658203" 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_15267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15274">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15275">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15276">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15277">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15278">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15280">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15281">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_15282">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15283">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_15284">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15285">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_15286">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_15287">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_15267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.820791721343994" y="-155.0308380126953" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.8572018146514893" y="22.751455307006836" z="0.003027114784345031"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.155341863632202" y="-160.62890625" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.95850372314453" y="32.773773193359375" z="0.0030246733222156763"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.78866958618164" y="-70.36223602294922" z="0.03375747427344322"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="18.454118728637695" y="5.230635166168213" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15274">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.313936710357666" y="-65.03924560546875" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15275">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.627201080322266" y="-66.85955047607422" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15276">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.167513847351074" y="-69.93389129638672" z="0.033757247030735016"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15277">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.833980560302734" y="-64.61494445800781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15278">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.789632797241211" y="23.75885581970215" z="0.0030173491686582565"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15280">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-77.39119720458984" y="-84.25849151611328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15281">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.125164031982422" y="-158.8423309326172" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_15282">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.498305320739746" y="22.226215362548828" z="0.0030202101916074753"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15283">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.29080200195312" y="-83.79358673095703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_15284">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.4876708984375" y="-70.28447723388672" z="0.03375694155693054"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15285">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.505746841430664" y="-0.3391290009021759" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_15286">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.6628637313842773" y="-154.5750274658203" z="0.0013734435196965933"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_15287">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.15779876708984" y="93.13224792480469" 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 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_3224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3237">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3238">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3240">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3241">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.152503490447998" y="-151.38999938964844" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.397307395935059" y="25.836694717407227" z="0.0031252289190888405"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.6491641998291" y="70.3758544921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.2532377243042" y="28.263809204101562" z="0.003099326975643635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.21833801269531" y="-17.63458824157715" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.151058197021484" y="78.20369720458984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.030704975128174" y="33.336204528808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.381620407104492" y="69.03396606445312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.611135482788086" y="47.31788635253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.64781951904297" y="68.42672729492188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.2018415927886963" y="61.98442459106445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3237">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.38361167907715" y="17.22161293029785" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3238">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.66380310058594" y="3.812833547592163" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.72422790527344" y="76.75169372558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3240">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.190086364746094" y="14.614553451538086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3241">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.06797790527344" y="72.68746948242188" 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_3224">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3225">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3226">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3227">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3229">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3230">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3231">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3232">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3233">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3234">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3236">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3237">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3238">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3239">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3240">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3241">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3242">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3224">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.152503490447998" y="-151.38999938964844" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3225">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.397307395935059" y="25.836694717407227" z="0.0031252289190888405"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3226">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.6491641998291" y="70.3758544921875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3227">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.2532377243042" y="28.263809204101562" z="0.003099326975643635"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3229">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.21833801269531" y="-17.63458824157715" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3230">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="37.151058197021484" y="78.20369720458984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3231">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.030704975128174" y="33.336204528808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3232">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.381620407104492" y="69.03396606445312" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3233">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.611135482788086" y="47.31788635253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3234">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.64781951904297" y="68.42672729492188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3236">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.2018415927886963" y="61.98442459106445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3237">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="27.38361167907715" y="17.22161293029785" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3238">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.66380310058594" y="3.812833547592163" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3239">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.72422790527344" y="76.75169372558594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3240">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-39.190086364746094" y="14.614553451538086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3241">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.06797790527344" y="72.68746948242188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3242">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.78361701965332" y="-148.7062530517578" 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>
``` |
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_hero_2627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.21677589416504" y="-159.0623321533203" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.707235336303711" y="26.259220123291016" z="0.0029880523215979338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.91952133178711" y="39.10150909423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.9490156173706055" y="25.918804168701172" z="0.0029706573113799095"/>
</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_2627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_2630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.21677589416504" y="-159.0623321533203" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.707235336303711" y="26.259220123291016" z="0.0029880523215979338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-42.91952133178711" y="39.10150909423828" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_2630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.9490156173706055" y="25.918804168701172" z="0.0029706573113799095"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.201414108276367" y="-71.84000396728516" z="0.033757857978343964"/>
</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_31641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_31641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.597991943359375" y="26.330087661743164" z="0.003083839314058423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.299739837646484" y="-16.284517288208008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.57497024536133" y="82.39761352539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.686317443847656" y="-94.72069549560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.921113967895508" y="45.37070083618164" z="0.003035964909940958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.165444374084473" y="26.895647048950195" z="0.0030447004828602076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.63525390625" y="-32.585514068603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4943631887435913" y="-78.30216979980469" z="0.033736344426870346"/>
</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_31641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_31646">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_31647">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31648">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_31649">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_31641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.597991943359375" y="26.330087661743164" z="0.003083839314058423"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.299739837646484" y="-16.284517288208008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.57497024536133" y="82.39761352539062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.686317443847656" y="-94.72069549560547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.921113967895508" y="45.37070083618164" z="0.003035964909940958"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_31646">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.165444374084473" y="26.895647048950195" z="0.0030447004828602076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_31647">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-81.63525390625" y="-32.585514068603516" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31648">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.4943631887435913" y="-78.30216979980469" z="0.033736344426870346"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_31649">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.440711975097656" y="-71.51869201660156" z="0.033757131546735764"/>
</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 (1.52, -74.08, 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_28111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28128">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.481184959411621" y="-70.04947662353516" z="0.033801496028900146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.614104270935059" y="-154.20913696289062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.067211151123047" y="34.55220031738281" z="0.003062782110646367"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.829397201538086" y="-66.2227554321289" z="0.03378238528966904"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.354827880859375" y="37.69731521606445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.75733947753906" y="0.5602707266807556" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.0564079284668" y="43.74504852294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.261085510253906" y="-48.372310638427734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.19513702392578" y="-68.08753967285156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2594456672668457" y="-68.47008514404297" z="0.033808059990406036"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.40038299560547" y="61.69580078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.479110717773438" y="76.13418579101562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.32487154006958" y="47.60957717895508" z="0.0031006240751594305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.271216869354248" y="32.96272659301758" z="0.0030894088558852673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0755574703216553" y="25.82976531982422" z="0.0030661390628665686"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.44745445251465" y="-69.81532287597656" z="0.03381858766078949"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28128">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.35598373413086" y="-4.257347106933594" 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_28111">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28112">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28113">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28114">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28115">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28116">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28117">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28118">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28119">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28120">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28121">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28122">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28123">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28124">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28125">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_28126">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28128">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28129">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28111">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.481184959411621" y="-70.04947662353516" z="0.033801496028900146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28112">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.614104270935059" y="-154.20913696289062" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28113">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.067211151123047" y="34.55220031738281" z="0.003062782110646367"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28114">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.829397201538086" y="-66.2227554321289" z="0.03378238528966904"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28115">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.354827880859375" y="37.69731521606445" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28116">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.75733947753906" y="0.5602707266807556" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28117">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-34.0564079284668" y="43.74504852294922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28118">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.261085510253906" y="-48.372310638427734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28119">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.19513702392578" y="-68.08753967285156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28120">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.2594456672668457" y="-68.47008514404297" z="0.033808059990406036"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28121">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.40038299560547" y="61.69580078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28122">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.479110717773438" y="76.13418579101562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28123">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.32487154006958" y="47.60957717895508" z="0.0031006240751594305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28124">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.271216869354248" y="32.96272659301758" z="0.0030894088558852673"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28125">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.0755574703216553" y="25.82976531982422" z="0.0030661390628665686"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_28126">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.44745445251465" y="-69.81532287597656" z="0.03381858766078949"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28128">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.35598373413086" y="-4.257347106933594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28129">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.5181540250778198" y="-74.07720947265625" 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 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_6364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_6364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.838693618774414" y="-71.81905364990234" z="0.033802833408117294"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.522393226623535" y="42.32593536376953" z="0.0030396271031349897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.45979309082031" y="55.155517578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.11993408203125" y="72.56159973144531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5788254737854004" y="-156.06558227539062" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.214300155639648" y="-78.294189453125" z="0.03375762701034546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.004688262939453" y="-149.4687042236328" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9656336903572083" y="6.811578273773193" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.665672302246094" y="70.0792465209961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.38356399536133" y="25.46981430053711" 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_6364">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_6365">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6366">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6367">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6368">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6369">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_6370">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6371">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6372">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_6373">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_6374">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_6364">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.838693618774414" y="-71.81905364990234" z="0.033802833408117294"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_6365">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.522393226623535" y="42.32593536376953" z="0.0030396271031349897"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6366">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="44.45979309082031" y="55.155517578125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6367">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.11993408203125" y="72.56159973144531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6368">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5788254737854004" y="-156.06558227539062" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6369">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.214300155639648" y="-78.294189453125" z="0.03375762701034546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_6370">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.004688262939453" y="-149.4687042236328" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6371">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.9656336903572083" y="6.811578273773193" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6372">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="58.665672302246094" y="70.0792465209961" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_6373">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-63.38356399536133" y="25.46981430053711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_6374">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.583775997161865" y="-61.54804992675781" z="0.03381744399666786"/>
</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>
<ScenarioObject name="pedestrian_close_to_adversary_894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.440389633178711" y="-78.1509780883789" z="0.03374454379081726"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.379485130310059" y="-65.08901977539062" z="0.03384590148925781"/>
</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_894">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_895">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_896">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_894">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.440389633178711" y="-78.1509780883789" z="0.03374454379081726"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_895">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.379485130310059" y="-65.08901977539062" z="0.03384590148925781"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_896">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.364346981048584" y="-65.58011627197266" z="0.03381023183465004"/>
</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_1467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1469">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1475">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_1481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.8216047286987305" y="-71.70701599121094" z="0.03375762701034546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.79496765136719" y="16.372238159179688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1469">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.65478801727295" y="-7.96712064743042" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.300513744354248" y="2.653578996658325" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1475">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.11369323730469" y="31.00929069519043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.8758773803711" y="-12.303791999816895" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.15447235107422" y="-32.846927642822266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_1481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.322065353393555" y="-152.78579711914062" 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_1467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1469">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1475">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_1478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.8216047286987305" y="-71.70701599121094" z="0.03375762701034546"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.79496765136719" y="16.372238159179688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1469">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.65478801727295" y="-7.96712064743042" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.300513744354248" y="2.653578996658325" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1475">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="59.11369323730469" y="31.00929069519043" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.8758773803711" y="-12.303791999816895" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_1478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="57.15447235107422" y="-32.846927642822266" 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_808?
```
<?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_804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_808">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.108257293701172" y="-70.82403564453125" z="0.033864591270685196"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.276545524597168" y="-63.89547348022461" z="0.033855780959129333"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.48675537109375" y="-33.37317657470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_808">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="89.80589294433594" y="94.7939224243164" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.504648685455322" y="19.43915367126465" z="0.0031227492727339268"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.392311096191406" y="20.699159622192383" z="0.0031179809011518955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.472952842712402" y="26.018142700195312" z="0.0031212996691465378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.56284713745117" y="-98.67007446289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.524959564208984" y="-50.39328384399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.989041328430176" y="98.19664764404297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.517338752746582" y="66.71805572509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.58069610595703" y="20.720117568969727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.88900375366211" y="73.66119384765625" 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_804">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_806">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_811">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_816">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_819">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_820">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_828">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_830">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_804">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.108257293701172" y="-70.82403564453125" z="0.033864591270685196"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_806">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.276545524597168" y="-63.89547348022461" z="0.033855780959129333"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="64.48675537109375" y="-33.37317657470703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.504648685455322" y="19.43915367126465" z="0.0031227492727339268"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_811">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.392311096191406" y="20.699159622192383" z="0.0031179809011518955"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.472952842712402" y="26.018142700195312" z="0.0031212996691465378"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_816">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.56284713745117" y="-98.67007446289062" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.524959564208984" y="-50.39328384399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_819">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.989041328430176" y="98.19664764404297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_820">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.517338752746582" y="66.71805572509766" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_828">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.58069610595703" y="20.720117568969727" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_830">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.88900375366211" y="73.66119384765625" 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 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_16800">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_16800">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.904144287109375" y="-67.83458709716797" z="0.03378330171108246"/>
</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_5558?
```
<?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_5553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_5553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.774805068969727" y="41.785587310791016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.31082534790039" y="-45.18967056274414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.95393371582031" y="55.457027435302734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.36331939697266" y="-51.928871154785156" 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_5553">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5554">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_5553">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="21.774805068969727" y="41.785587310791016" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5554">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="13.31082534790039" y="-45.18967056274414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-88.36331939697266" y="-51.928871154785156" 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 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_1142">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_1142">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.967753410339355" y="-159.86053466796875" z="0.0014525604201480746"/>
</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 remove pedestrian actor named pedestrian_w_transform_2479?
```
<?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_2459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2463">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2464">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2465">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2466">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.484659671783447" y="21.259929656982422" z="0.0030665588565170765"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2463">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.52997350692749" y="-69.20941162109375" z="0.03378059342503548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2464">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.08044147491455" y="-66.54725646972656" z="0.033791959285736084"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2465">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.169705390930176" y="-162.36756896972656" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2466">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.688250780105591" y="-145.22789001464844" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.673526763916016" y="-97.20462036132812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.13841247558594" y="55.59682083129883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.77193832397461" y="-62.68641662597656" z="0.033820074051618576"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-48.79827880859375" y="-38.76575469970703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.20827102661133" y="22.763465881347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.31575012207031" y="54.245765686035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.989881753921509" y="71.45929718017578" 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_2459">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2463">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2464">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2465">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2466">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2468">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2459">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.484659671783447" y="21.259929656982422" z="0.0030665588565170765"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2463">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.52997350692749" y="-69.20941162109375" z="0.03378059342503548"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2464">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.08044147491455" y="-66.54725646972656" z="0.033791959285736084"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2465">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.169705390930176" y="-162.36756896972656" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2466">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.688250780105591" y="-145.22789001464844" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2468">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.673526763916016" y="-97.20462036132812" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-84.13841247558594" y="55.59682083129883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.77193832397461" y="-62.68641662597656" z="0.033820074051618576"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="63.20827102661133" y="22.763465881347656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.31575012207031" y="54.245765686035156" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.989881753921509" y="71.45929718017578" 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 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_29807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.309935569763184" y="-172.64495849609375" z="0.0016770934453234076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.096795082092285" y="31.492647171020508" z="0.0030510330107063055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.511950969696045" y="-65.76488494873047" z="0.0338578037917614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.10554313659668" y="-58.636104583740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.83197021484375" y="61.14990997314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.40247344970703" y="38.23128128051758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.528358459472656" y="98.94049072265625" 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_29807">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29809">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29810">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29812">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29813">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29814">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29815">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29817">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29807">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.309935569763184" y="-172.64495849609375" z="0.0016770934453234076"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29809">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.096795082092285" y="31.492647171020508" z="0.0030510330107063055"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29810">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.511950969696045" y="-65.76488494873047" z="0.0338578037917614"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29812">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-22.10554313659668" y="-58.636104583740234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29813">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.83197021484375" y="61.14990997314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29814">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.40247344970703" y="38.23128128051758" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29815">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="50.528358459472656" y="98.94049072265625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29817">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.967676162719727" y="-79.32198333740234" z="0.03383628651499748"/>
</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_standing_81">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_82">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_83">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_84">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_81">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4094414710998535" y="24.37870979309082" z="0.0030169677920639515"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_82">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.7628469467163086" y="38.148475646972656" z="0.0030182264745235443"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_83">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.68270111083984" y="82.34131622314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_84">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.77175903320312" y="-9.210651397705078" 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_81">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_82">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_83">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_84">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_85">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_81">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.4094414710998535" y="24.37870979309082" z="0.0030169677920639515"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_82">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.7628469467163086" y="38.148475646972656" z="0.0030182264745235443"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_83">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.68270111083984" y="82.34131622314453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_84">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="92.77175903320312" y="-9.210651397705078" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_85">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.996457576751709" y="-73.2888412475586" z="0.03375736251473427"/>
</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 (69.4, -14.53, 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_2188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2189">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.541694641113281" y="-156.97727966308594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2189">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.81524658203125" y="38.54286193847656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.984411239624023" y="-154.83700561523438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.448787689208984" y="-83.88240814208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.782285690307617" y="-79.54877471923828" z="0.03379794955253601"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.864575386047363" y="-62.45270919799805" z="0.033792074769735336"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.926287889480591" y="-157.63214111328125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.204118728637695" y="-134.06869506835938" 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_hero_2188">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2189">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2190">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2191">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2192">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_2193">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2194">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_2195">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_2196">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_2188">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.541694641113281" y="-156.97727966308594" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2189">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-85.81524658203125" y="38.54286193847656" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2190">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.984411239624023" y="-154.83700561523438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2191">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="24.448787689208984" y="-83.88240814208984" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2192">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.782285690307617" y="-79.54877471923828" z="0.03379794955253601"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_2193">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.864575386047363" y="-62.45270919799805" z="0.033792074769735336"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2194">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.926287889480591" y="-157.63214111328125" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_2195">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.204118728637695" y="-134.06869506835938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_2196">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="69.39615631103516" y="-14.530056953430176" 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 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_5023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5040">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_5023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.390650749206543" y="-70.82743072509766" z="0.03378543630242348"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.930816173553467" y="-151.98239135742188" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.89368438720703" y="99.28558349609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.65984344482422" y="-43.744041442871094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.17502212524414" y="-67.07535552978516" z="0.0338544063270092"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.209514617919922" y="-79.48384094238281" z="0.033794477581977844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.150940895080566" y="34.751495361328125" z="0.0030244444496929646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.920012474060059" y="-158.15542602539062" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.00678253173828" y="-12.582643508911133" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.98314666748047" y="-91.29522705078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.96331787109375" y="1.6588630676269531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5040">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.479206085205078" y="-155.52957153320312" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.85539245605469" y="-76.77462005615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.21616554260254" y="52.174095153808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.37632369995117" y="92.84127807617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.06415557861328" y="66.84880828857422" 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_5023">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5024">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5025">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5026">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5027">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_5029">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_5030">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_5032">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5033">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5037">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5038">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5042">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5043">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_5047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_5023">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.390650749206543" y="-70.82743072509766" z="0.03378543630242348"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5024">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.930816173553467" y="-151.98239135742188" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5025">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="94.89368438720703" y="99.28558349609375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5026">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="80.65984344482422" y="-43.744041442871094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5027">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.17502212524414" y="-67.07535552978516" z="0.0338544063270092"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_5029">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.209514617919922" y="-79.48384094238281" z="0.033794477581977844"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_5030">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.150940895080566" y="34.751495361328125" z="0.0030244444496929646"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_5032">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.920012474060059" y="-158.15542602539062" z="0.0013900374760851264"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5033">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="32.00678253173828" y="-12.582643508911133" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5037">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="20.98314666748047" y="-91.29522705078125" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5038">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-74.96331787109375" y="1.6588630676269531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5042">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="73.85539245605469" y="-76.77462005615234" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5043">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.21616554260254" y="52.174095153808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="46.37632369995117" y="92.84127807617188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_5047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-78.06415557861328" y="66.84880828857422" 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 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_17380">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17380">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.43378210067749" y="37.311622619628906" z="0.003012542612850666"/>
</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_29641?
```
<?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_29621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29641">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.517553329467773" y="-73.15579986572266" z="0.033802106976509094"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.47380065917969" y="62.4494743347168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.108443021774292" y="20.217357635498047" z="0.003062095493078232"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.2020745277404785" y="-76.35142517089844" z="0.03376815840601921"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.12409973144531" y="57.69007110595703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.415853500366211" y="91.13265991210938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.14923095703125" y="20.486595153808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.329449653625488" y="-78.12381744384766" z="0.03375263139605522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.49935150146484" y="-7.443907737731934" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.491942405700684" y="-73.07064056396484" z="0.03380763903260231"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.31985092163086" y="-70.8547134399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.581188201904297" y="23.408971786499023" z="0.00302886962890625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.17197036743164" y="32.55086898803711" z="0.0030677795875817537"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.162522315979004" y="-251.64537048339844" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.180829048156738" y="29.170259475708008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.47609329223633" y="-88.7821273803711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.814247131347656" y="-16.41459083557129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.49387741088867" y="56.617767333984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.49283599853516" y="-29.95958137512207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29641">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-58.830177307128906" y="-39.57332229614258" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.667744636535645" y="-20.013168334960938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.738545417785645" y="33.1837158203125" z="0.0030587767250835896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.19527530670166" y="21.906309127807617" z="0.0030667113605886698"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.014759063720703" y="24.141067504882812" z="0.003021354554221034"/>
</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_29621">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29622">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29623">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29624">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29625">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29626">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29627">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29628">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29629">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29630">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29631">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29633">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29634">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29635">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29636">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29637">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29638">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29639">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29640">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29642">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29643">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29644">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29645">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29621">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.517553329467773" y="-73.15579986572266" z="0.033802106976509094"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29622">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-69.47380065917969" y="62.4494743347168" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29623">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.108443021774292" y="20.217357635498047" z="0.003062095493078232"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29624">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.2020745277404785" y="-76.35142517089844" z="0.03376815840601921"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29625">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.12409973144531" y="57.69007110595703" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29626">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.415853500366211" y="91.13265991210938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29627">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="70.14923095703125" y="20.486595153808594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29628">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.329449653625488" y="-78.12381744384766" z="0.03375263139605522"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29629">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-87.49935150146484" y="-7.443907737731934" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29630">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.491942405700684" y="-73.07064056396484" z="0.03380763903260231"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29631">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="52.31985092163086" y="-70.8547134399414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29633">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.581188201904297" y="23.408971786499023" z="0.00302886962890625"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29634">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.17197036743164" y="32.55086898803711" z="0.0030677795875817537"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29635">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.162522315979004" y="-251.64537048339844" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29636">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.180829048156738" y="29.170259475708008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29637">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="38.47609329223633" y="-88.7821273803711" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29638">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="40.814247131347656" y="-16.41459083557129" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29639">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.49387741088867" y="56.617767333984375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29640">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="96.49283599853516" y="-29.95958137512207" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29642">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.667744636535645" y="-20.013168334960938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29643">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.738545417785645" y="33.1837158203125" z="0.0030587767250835896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29644">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.19527530670166" y="21.906309127807617" z="0.0030667113605886698"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29645">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.014759063720703" y="24.141067504882812" z="0.003021354554221034"/>
</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 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_17734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.960190773010254" y="-70.51229095458984" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.29218673706055" y="-93.32572174072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.53543090820312" y="32.77409744262695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.24246215820312" y="90.61669158935547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.79096794128418" y="-85.4847640991211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.6947021484375" y="-95.03904724121094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.30886173248291" y="-76.12049865722656" z="0.033753395080566406"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.029784202575684" y="-76.81502532958984" z="0.03382480517029762"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.56340789794922" y="55.296241760253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.013641357421875" y="-24.36822509765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.08325958251953" y="-45.17385482788086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.512227058410645" y="-142.36756896972656" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.38841247558594" y="-43.63505172729492" 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_17734">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17735">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17753">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17734">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.960190773010254" y="-70.51229095458984" z="0.033804092556238174"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17735">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.29218673706055" y="-93.32572174072266" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.53543090820312" y="32.77409744262695" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-67.24246215820312" y="90.61669158935547" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.79096794128418" y="-85.4847640991211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.6947021484375" y="-95.03904724121094" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.30886173248291" y="-76.12049865722656" z="0.033753395080566406"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-92.56340789794922" y="55.296241760253906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.013641357421875" y="-24.36822509765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-75.08325958251953" y="-45.17385482788086" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.512227058410645" y="-142.36756896972656" z="0.0020974730141460896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17753">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-49.38841247558594" y="-43.63505172729492" 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 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_adversary_27261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27265">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27266">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27268">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_27261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.509945273399353" y="-70.98844909667969" z="0.03375457599759102"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.353299617767334" y="27.73818588256836" z="0.003044738667085767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.0069465637207" y="84.58158874511719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.105020523071289" y="-69.75155639648438" z="0.03385532274842262"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27265">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.619335174560547" y="-86.98998260498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27266">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.962890625" y="-53.72422790527344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.24742126464844" y="48.70308303833008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27268">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.964968681335449" y="5.495702266693115" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.5377197265625" y="-44.0172233581543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.997265577316284" y="-151.06527709960938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.293439865112305" y="-159.2093048095703" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.754697799682617" y="-77.5089111328125" z="0.03382991626858711"/>
</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_27261">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27262">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27263">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27264">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27265">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27266">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27267">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27268">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_27269">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27270">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_27271">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_27272">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_27273">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_27261">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.509945273399353" y="-70.98844909667969" z="0.03375457599759102"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27262">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="2.353299617767334" y="27.73818588256836" z="0.003044738667085767"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27263">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-41.0069465637207" y="84.58158874511719" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27264">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.105020523071289" y="-69.75155639648438" z="0.03385532274842262"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27265">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.619335174560547" y="-86.98998260498047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27266">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="83.962890625" y="-53.72422790527344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27267">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="98.24742126464844" y="48.70308303833008" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27268">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.964968681335449" y="5.495702266693115" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_27269">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.5377197265625" y="-44.0172233581543" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27270">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.997265577316284" y="-151.06527709960938" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_27271">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.293439865112305" y="-159.2093048095703" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_27272">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.754697799682617" y="-77.5089111328125" z="0.03382991626858711"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_27273">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.968446731567383" y="25.43665313720703" z="0.0030498504638671875"/>
</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 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_17469">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17471">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17469">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.3320951461792" y="33.48088073730469" z="0.00304660783149302"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.41724967956543" y="-75.58147430419922" z="0.0338030606508255"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17471">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.772704124450684" y="-152.68836975097656" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.27299880981445" y="-49.24042510986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.8839690685272217" y="70.12873077392578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.960058212280273" y="-143.96588134765625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.41612243652344" y="87.31963348388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.39785766601562" y="-52.813575744628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.1591911315918" y="80.99988555908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.397162437438965" y="8.108139038085938" 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_17469">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17477">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17481">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17469">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.3320951461792" y="33.48088073730469" z="0.00304660783149302"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.41724967956543" y="-75.58147430419922" z="0.0338030606508255"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.27299880981445" y="-49.24042510986328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-0.8839690685272217" y="70.12873077392578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17477">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.960058212280273" y="-143.96588134765625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.41612243652344" y="87.31963348388672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.39785766601562" y="-52.813575744628906" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.1591911315918" y="80.99988555908203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17481">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="14.397162437438965" y="8.108139038085938" 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 order you to remove pedestrian actor named pedestrian_close_to_adversary_17709?
```
<?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_17698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17709">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17710">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.3492374420166" y="-72.82246398925781" z="0.03379436582326889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.429244041442871" y="-84.82147979736328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.803855895996094" y="-144.1387939453125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.249277114868164" y="-21.8206729888916" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.76925659179688" y="50.754600524902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.95653247833252" y="52.79067611694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.411483764648438" y="38.73041915893555" z="0.003043327247723937"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.159114837646484" y="-57.28765106201172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.923002243041992" y="-156.62103271484375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5188944339752197" y="-64.89103698730469" z="0.03385482728481293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17709">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.9903634786605835" y="-79.02313232421875" z="0.03377773240208626"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17710">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.77298355102539" y="94.75830841064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.096769332885742" y="-148.73687744140625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.07740783691406" y="-7.316664695739746" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.74413537979126" y="1.5859596729278564" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.830175399780273" y="-73.86963653564453" z="0.03377189487218857"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.320341110229492" y="-11.118743896484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.27510452270508" y="-66.05303192138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.26753997802734" y="96.23625946044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.43862533569336" y="-45.44089889526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.192160606384277" y="-64.7573471069336" z="0.03384685516357422"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.751062393188477" y="55.34779357910156" 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_17698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17701">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17702">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17703">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17704">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_17705">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17706">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17707">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17708">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17710">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_17711">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17712">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17713">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17714">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17715">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17716">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17717">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17718">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_17719">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_17720">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_17698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.3492374420166" y="-72.82246398925781" z="0.03379436582326889"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.429244041442871" y="-84.82147979736328" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17701">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.803855895996094" y="-144.1387939453125" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17702">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-29.249277114868164" y="-21.8206729888916" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17703">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="93.76925659179688" y="50.754600524902344" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17704">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.95653247833252" y="52.79067611694336" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_17705">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.411483764648438" y="38.73041915893555" z="0.003043327247723937"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17706">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-53.159114837646484" y="-57.28765106201172" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17707">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.923002243041992" y="-156.62103271484375" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17708">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.5188944339752197" y="-64.89103698730469" z="0.03385482728481293"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17710">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="62.77298355102539" y="94.75830841064453" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_17711">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.096769332885742" y="-148.73687744140625" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17712">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="90.07740783691406" y="-7.316664695739746" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17713">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="5.74413537979126" y="1.5859596729278564" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17714">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.830175399780273" y="-73.86963653564453" z="0.03377189487218857"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17715">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="29.320341110229492" y="-11.118743896484375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17716">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="56.27510452270508" y="-66.05303192138672" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17717">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="65.26753997802734" y="96.23625946044922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17718">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-20.43862533569336" y="-45.44089889526367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_17719">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.192160606384277" y="-64.7573471069336" z="0.03384685516357422"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_17720">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.751062393188477" y="55.34779357910156" 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 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_8555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8561">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8567">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8568">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8569">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_8555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.545045852661133" y="-148.2737579345703" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0975745916366577" y="24.3325252532959" z="0.0031388471834361553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.945995330810547" y="-84.73095703125" z="0.03386203572154045"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.9003267288208" y="-74.31214141845703" z="0.03386489674448967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.4186595678329468" y="35.278968811035156" z="0.0031235122587531805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.636682510375977" y="-155.73387145996094" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8561">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.031590461730957" y="21.76170539855957" z="0.003117904532700777"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.253839015960693" y="-147.03282165527344" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.40071105957031" y="-48.95474624633789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.436519622802734" y="-19.24977684020996" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.551658630371094" y="45.60811233520508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8567">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.369584083557129" y="-147.61187744140625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8568">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.27220344543457" y="20.69838523864746" z="0.0031077575404196978"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8569">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.966789245605469" y="-153.4371795654297" 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>
``` | 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_8555">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8556">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8557">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8558">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8559">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8560">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8561">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8562">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8563">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8565">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8566">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8567">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8568">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_8555">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.545045852661133" y="-148.2737579345703" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8556">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.0975745916366577" y="24.3325252532959" z="0.0031388471834361553"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8557">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.945995330810547" y="-84.73095703125" z="0.03386203572154045"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8558">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.9003267288208" y="-74.31214141845703" z="0.03386489674448967"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8559">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.4186595678329468" y="35.278968811035156" z="0.0031235122587531805"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8560">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.636682510375977" y="-155.73387145996094" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8561">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.031590461730957" y="21.76170539855957" z="0.003117904532700777"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8562">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.253839015960693" y="-147.03282165527344" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8563">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-80.40071105957031" y="-48.95474624633789" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8565">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="22.436519622802734" y="-19.24977684020996" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8566">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-44.551658630371094" y="45.60811233520508" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8567">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.369584083557129" y="-147.61187744140625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8568">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.27220344543457" y="20.69838523864746" z="0.0031077575404196978"/>
</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 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_7045">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7050">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7052">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_7045">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.288611888885498" y="-138.18441772460938" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.84130859375" y="67.97299194335938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.510940551757812" y="-156.900390625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.99673843383789" y="-148.35597229003906" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7050">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.78327178955078" y="-36.023189544677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7052">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.922439098358154" y="-65.4421157836914" z="0.03385520726442337"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.059622764587402" y="34.49651336669922" z="0.003114051651209593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.019920349121094" y="-84.5224838256836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.3342170715332" y="44.8348503112793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3895843029022217" y="51.1098518371582" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7620376944541931" y="25.709436416625977" z="0.00311450962908566"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.93893814086914" y="-74.76237487792969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.155998229980469" y="-157.71124267578125" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3586041927337646" y="18.96184730529785" z="0.003100166330114007"/>
</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_7045">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7046">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7047">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7048">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7050">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_7052">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7053">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7054">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7056">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7057">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7058">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_7059">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_7060">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7061">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_7062">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_7045">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.288611888885498" y="-138.18441772460938" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7046">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-32.84130859375" y="67.97299194335938" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7047">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-23.510940551757812" y="-156.900390625" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7048">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.99673843383789" y="-148.35597229003906" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7050">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-47.78327178955078" y="-36.023189544677734" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_7052">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.922439098358154" y="-65.4421157836914" z="0.03385520726442337"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7053">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.059622764587402" y="34.49651336669922" z="0.003114051651209593"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7054">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="39.019920349121094" y="-84.5224838256836" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7056">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-46.3342170715332" y="44.8348503112793" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7057">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.3895843029022217" y="51.1098518371582" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7058">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7620376944541931" y="25.709436416625977" z="0.00311450962908566"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_7059">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-50.93893814086914" y="-74.76237487792969" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_7060">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.155998229980469" y="-157.71124267578125" z="0.0018838500836864114"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7061">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.3586041927337646" y="18.96184730529785" z="0.003100166330114007"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_7062">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-10.77777099609375" y="24.329256057739258" z="0.003108711214736104"/>
</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 remove pedestrian actor named pedestrian_close_to_hero_14484?
```
<?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_14470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14475">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_14484">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_14470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.68898868560791" y="33.89070510864258" z="0.0030306242406368256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.2930617332458496" y="14.151089668273926" z="0.003037528833374381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.485376834869385" y="31.158777236938477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3218548595905304" y="38.498470306396484" z="0.0030146026983857155"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14475">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.028402328491211" y="34.12181091308594" z="0.0030170439276844263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.132433891296387" y="37.35845947265625" z="0.003023872384801507"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.371827602386475" y="34.78959655761719" z="0.0030185698997229338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.499055862426758" y="22.113386154174805" z="0.003023033030331135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.36172103881836" y="6.95344877243042" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2837748527526855" y="15.555968284606934" z="0.0030262756627053022"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.557241916656494" y="-1.2478865385055542" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_14484">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.58983039855957" y="-160.9686737060547" 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_standing_14470">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14472">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14473">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14474">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14475">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14476">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14478">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14479">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14480">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_14482">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_14483">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_14470">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.68898868560791" y="33.89070510864258" z="0.0030306242406368256"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14472">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="3.2930617332458496" y="14.151089668273926" z="0.003037528833374381"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14473">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.485376834869385" y="31.158777236938477" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14474">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.3218548595905304" y="38.498470306396484" z="0.0030146026983857155"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14475">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.028402328491211" y="34.12181091308594" z="0.0030170439276844263"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14476">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.132433891296387" y="37.35845947265625" z="0.003023872384801507"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14478">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.371827602386475" y="34.78959655761719" z="0.0030185698997229338"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14479">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="4.499055862426758" y="22.113386154174805" z="0.003023033030331135"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14480">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="55.36172103881836" y="6.95344877243042" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_14482">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.2837748527526855" y="15.555968284606934" z="0.0030262756627053022"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_14483">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="6.557241916656494" y="-1.2478865385055542" 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 order you to remove pedestrian actor named pedestrian_w_transform_8756?
```
<?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_8736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8746">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8747">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8756">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8759">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_8736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.161956787109375" y="-161.28427124023438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.004822731018066" y="-77.57703399658203" z="0.03379390761256218"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.602418899536133" y="-66.92280578613281" z="0.033836934715509415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.11050033569336" y="0.7788358330726624" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.84001922607422" y="10.046122550964355" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.325645446777344" y="-157.76771545410156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.192153930664062" y="-45.90876770019531" z="0.03379867598414421"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.377441167831421" y="-146.58114624023438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8746">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.72587585449219" y="14.44446086883545" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8747">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.7701187133789" y="24.906137466430664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.094707012176514" y="-155.10617065429688" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.12549591064453" y="-161.8734893798828" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.657508850097656" y="56.62504196166992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.58850383758545" y="19.248323440551758" z="0.003035583533346653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8756">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.51483154296875" y="-76.07902526855469" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.68618392944336" y="84.57542419433594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8759">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.07872772216797" y="-48.35667419433594" 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_8736">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8737">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8738">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8739">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8741">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8743">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_8744">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8745">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8746">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8747">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8749">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_8750">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8752">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_8755">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8758">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_8759">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_8736">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.161956787109375" y="-161.28427124023438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8737">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.004822731018066" y="-77.57703399658203" z="0.03379390761256218"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8738">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.602418899536133" y="-66.92280578613281" z="0.033836934715509415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8739">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-31.11050033569336" y="0.7788358330726624" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8741">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="86.84001922607422" y="10.046122550964355" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8743">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.325645446777344" y="-157.76771545410156" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_8744">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-21.192153930664062" y="-45.90876770019531" z="0.03379867598414421"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8745">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.377441167831421" y="-146.58114624023438" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8746">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-68.72587585449219" y="14.44446086883545" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8747">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="74.7701187133789" y="24.906137466430664" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8749">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.094707012176514" y="-155.10617065429688" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_8750">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.12549591064453" y="-161.8734893798828" z="0.0016471862327307463"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8752">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-59.657508850097656" y="56.62504196166992" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_8755">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.58850383758545" y="19.248323440551758" z="0.003035583533346653"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8758">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-55.68618392944336" y="84.57542419433594" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_8759">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="78.07872772216797" y="-48.35667419433594" 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_adversary_4854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_4854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.635128021240234" y="-68.99671936035156" z="0.03379222750663757"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.33692932128906" y="-6.791545867919922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.42046356201172" y="9.958473205566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.813295364379883" y="46.792903900146484" z="0.0030270384158939123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.538864135742188" y="-80.49304962158203" z="0.033763885498046875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.288971900939941" y="-61.257957458496094" z="0.033749770373106"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.446673393249512" y="27.805587768554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.171655654907227" y="-63.85731506347656" z="0.03374572843313217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.83866119384766" y="-74.73017883300781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.43238830566406" y="-36.96897506713867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.28850173950195" y="-8.504098892211914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.486699104309082" y="-77.05506134033203" z="0.03375053405761719"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.638443946838379" y="72.34968566894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.906474113464355" y="-152.2494354248047" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.94324493408203" y="95.3332290649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.8774528503418" y="-86.06875610351562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7635701894760132" y="-18.358306884765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.646717071533203" y="-58.917633056640625" z="0.0338079072535038"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.335855484008789" y="-143.79933166503906" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.30301284790039" y="-4.888397216796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.657888412475586" y="20.26279067993164" z="0.00304412841796875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.741313934326172" y="-73.97801971435547" z="0.033795278519392014"/>
</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_4854">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4855">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4856">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4857">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4858">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4859">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4860">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4861">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4862">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4863">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4864">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4865">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4866">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4867">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4868">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4869">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4870">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4871">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_4872">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_4873">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4874">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_4875">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_4876">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_4854">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.635128021240234" y="-68.99671936035156" z="0.03379222750663757"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4855">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="84.33692932128906" y="-6.791545867919922" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4856">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="61.42046356201172" y="9.958473205566406" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4857">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="9.813295364379883" y="46.792903900146484" z="0.0030270384158939123"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4858">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.538864135742188" y="-80.49304962158203" z="0.033763885498046875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4859">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.288971900939941" y="-61.257957458496094" z="0.033749770373106"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4860">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.446673393249512" y="27.805587768554688" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4861">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.171655654907227" y="-63.85731506347656" z="0.03374572843313217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4862">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="81.83866119384766" y="-74.73017883300781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4863">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.43238830566406" y="-36.96897506713867" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4864">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-38.28850173950195" y="-8.504098892211914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4865">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.486699104309082" y="-77.05506134033203" z="0.03375053405761719"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4866">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="11.638443946838379" y="72.34968566894531" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4867">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.906474113464355" y="-152.2494354248047" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4868">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="91.94324493408203" y="95.3332290649414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4869">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="34.8774528503418" y="-86.06875610351562" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4870">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="0.7635701894760132" y="-18.358306884765625" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4871">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-24.646717071533203" y="-58.917633056640625" z="0.0338079072535038"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_4872">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.335855484008789" y="-143.79933166503906" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_4873">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="60.30301284790039" y="-4.888397216796875" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4874">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.657888412475586" y="20.26279067993164" z="0.00304412841796875"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_4875">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-18.741313934326172" y="-73.97801971435547" z="0.033795278519392014"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_4876">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="8.197673797607422" y="17.931106567382812" z="0.0030191040132194757"/>
</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 remove pedestrian actor named pedestrian_w_transform_29661?
```
<?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_29659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29661">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29662">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29664">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29668">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29669">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29670">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29671">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1334409713745117" y="-167.03009033203125" z="0.0017548751784488559"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29661">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-90.11953735351562" y="-49.52650833129883" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29662">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.34503173828125" y="58.72824478149414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.321914672851562" y="-150.0008544921875" z="0.0016706465976312757"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29664">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5488964319229126" y="-50.92232894897461" z="0.03382564336061478"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.95945358276367" y="-66.91832733154297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29668">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.3851318359375" y="10.552131652832031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29669">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.21479797363281" y="-75.51634979248047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29670">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.821720123291016" y="-34.800537109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29671">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.12180233001709" y="69.22876739501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.88533020019531" y="-26.542997360229492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.975541114807129" y="17.490312576293945" z="0.003033714136108756"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.33009338378906" y="1.0628607273101807" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.29550552368164" y="-163.68017578125" z="0.0017026519635692239"/>
</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_29659">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29662">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29663">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_29664">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29666">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29668">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29669">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29670">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29671">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29672">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_29673">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_29676">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_29677">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_29659">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-3.1334409713745117" y="-167.03009033203125" z="0.0017548751784488559"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29662">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-99.34503173828125" y="58.72824478149414" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29663">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-15.321914672851562" y="-150.0008544921875" z="0.0016706465976312757"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_29664">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-1.5488964319229126" y="-50.92232894897461" z="0.03382564336061478"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29666">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="54.95945358276367" y="-66.91832733154297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29668">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-40.3851318359375" y="10.552131652832031" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29669">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-98.21479797363281" y="-75.51634979248047" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29670">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="23.821720123291016" y="-34.800537109375" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29671">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.12180233001709" y="69.22876739501953" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29672">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="45.88533020019531" y="-26.542997360229492" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_29673">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-8.975541114807129" y="17.490312576293945" z="0.003033714136108756"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_29676">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-65.33009338378906" y="1.0628607273101807" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_29677">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-19.29550552368164" y="-163.68017578125" z="0.0017026519635692239"/>
</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_hero_28465">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28465">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.002326965332031" y="-244.781494140625" 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_28465">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_28467">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28465">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-12.002326965332031" y="-244.781494140625" z="0.001678848173469305"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_28467">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-11.114524841308594" y="30.0234317779541" z="0.0030583953484892845"/>
</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 (-2.32, 4.6, 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_hero_881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.709493160247803" y="-145.84507751464844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.251026153564453" y="16.092100143432617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.765731334686279" y="-165.0709991455078" 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_hero_881">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_882">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_883">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_885">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_881">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-6.709493160247803" y="-145.84507751464844" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_882">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.251026153564453" y="16.092100143432617" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_883">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.765731334686279" y="-165.0709991455078" z="0.001423797570168972"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_885">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.319815158843994" y="4.603751182556152" 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 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_28175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.38148307800293" y="-71.84571075439453" z="0.033808935433626175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.84014129638672" y="30.276365280151367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.33356475830078" y="55.27375030517578" 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_28175">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28176">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_28177">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_28178">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_28175">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-16.38148307800293" y="-71.84571075439453" z="0.033808935433626175"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28176">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-61.84014129638672" y="30.276365280151367" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_28177">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="95.33356475830078" y="55.27375030517578" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_28178">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-2.7090137004852295" y="-162.2749786376953" 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 you to add pedestrian at location (10.79, -88.23, 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_11509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_11509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1720516681671143" y="35.12258529663086" z="0.0030473326332867146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.510995388031006" y="25.501340866088867" z="0.0030819701496511698"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.20991516113281" y="25.235828399658203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.195068359375" y="-66.04756164550781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.614859580993652" y="-142.5199432373047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.887473106384277" y="-157.8419189453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.33920288085938" y="65.2240219116211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.7341365814209" y="-62.94662094116211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.668396949768066" y="-65.5043716430664" z="0.033812444657087326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.22293853759766" y="-92.72838592529297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.593067169189453" y="-62.59860610961914" 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_11509">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_11511">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11512">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11514">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11515">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_11516">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11517">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11518">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_11519">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11520">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11521">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_11522">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_11509">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="1.1720516681671143" y="35.12258529663086" z="0.0030473326332867146"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_11511">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-7.510995388031006" y="25.501340866088867" z="0.0030819701496511698"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11512">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-86.20991516113281" y="25.235828399658203" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11514">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="99.195068359375" y="-66.04756164550781" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11515">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.614859580993652" y="-142.5199432373047" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_11516">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-9.887473106384277" y="-157.8419189453125" z="0.0014652633108198643"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11517">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-82.33920288085938" y="65.2240219116211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11518">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-26.7341365814209" y="-62.94662094116211" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_11519">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.668396949768066" y="-65.5043716430664" z="0.033812444657087326"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11520">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-89.22293853759766" y="-92.72838592529297" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11521">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="19.593067169189453" y="-62.59860610961914" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_11522">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="10.789765357971191" y="-88.22991943359375" 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 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_3691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.246511459350586" y="20.19956398010254" z="0.003140144282951951"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.98171997070312" y="25.23628044128418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.2935562133789" y="-49.09214782714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.18961334228516" y="-132.50381469726562" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.487475395202637" y="38.9833984375" z="0.0031296920496970415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.092322826385498" y="-69.93698120117188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.74622917175293" y="-71.62496185302734" z="0.03386779874563217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.67603302001953" y="-33.84598159790039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.772047996520996" y="27.193601608276367" z="0.0031198118813335896"/>
</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_3691">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3692">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3693">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_hero_3694">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3695">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3696">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_adversary_3697">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_w_transform_3698">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3699">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" y="0.0" z="0.9"/>
<Dimensions width="2" length="2" height="2"/>
</BoundingBox>
<Properties>
<Property name="type" value="simulation"/>
</Properties>
</Pedestrian>
</ScenarioObject>
<ScenarioObject name="pedestrian_close_to_standing_3700">
<Pedestrian model="walker.pedestrian.0001" mass="80" name="walker.pedestrian.0001" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
<BoundingBox>
<Center x="1.5" 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_3691">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.246511459350586" y="20.19956398010254" z="0.003140144282951951"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3692">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="97.98171997070312" y="25.23628044128418" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3693">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-95.2935562133789" y="-49.09214782714844" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_hero_3694">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-93.18961334228516" y="-132.50381469726562" z="0.0015143966302275658"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3695">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-4.487475395202637" y="38.9833984375" z="0.0031296920496970415"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3696">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-5.092322826385498" y="-69.93698120117188" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_adversary_3697">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-17.74622917175293" y="-71.62496185302734" z="0.03386779874563217"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_w_transform_3698">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="71.67603302001953" y="-33.84598159790039" z="0.5"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3699">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-14.772047996520996" y="27.193601608276367" z="0.0031198118813335896"/>
</Position>
</TeleportAction>
</PrivateAction>
</Private>
<Private entityRef="pedestrian_close_to_standing_3700">
<PrivateAction>
<TeleportAction>
<Position>
<WorldPosition x="-13.00351333618164" y="19.231220245361328" z="0.0031179427169263363"/>
</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>
``` |